+ python -m lidar_slam --no-model /working/cd0f6d16-5d9f-424f-8917-df007eb4756f Lidar SLAM 0.0.14 ===================================================== The recording path: /working/cd0f6d16-5d9f-424f-8917-df007eb4756f 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 0.025769231 Adjusted end_distance from 9.223372036854776e+18 to 449.975769231 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025769231 meters Centerline goodness : 0.491599 Centerline is valid? [0, False] SLAMing on 0.055769231 meters Centerline goodness : 0.513286 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999925e-01 3.80382532e-04 6.89401613e-05 8.07737658e-04] [-3.80417722e-04 9.99999797e-01 5.11149029e-04 -4.20967560e-03] [-6.87457152e-05 -5.11175217e-04 9.99999867e-01 -5.54313855e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.085769231 meters Centerline goodness : 0.475354 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999042e-01 1.37932042e-03 1.16982982e-04 4.01461099e-03] [-1.37946133e-03 9.99998313e-01 1.21312521e-03 -8.32252688e-03] [-1.15309496e-04 -1.21328542e-03 9.99999257e-01 -1.53382767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11576923100000001 meters Centerline goodness : 0.467529 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99996217e-01 2.71308273e-03 -4.53223016e-04 9.13229238e-03] [-2.71214262e-03 9.99994196e-01 2.06216603e-03 -1.05179488e-02] [ 4.58815212e-04 -2.06092902e-03 9.99997771e-01 -4.39620628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145769231 meters Centerline goodness : 0.455612 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99993819e-01 3.47291313e-03 -5.47604077e-04 1.10797273e-02] [-3.47174340e-03 9.99991720e-01 2.12277054e-03 -1.06403938e-02] [ 5.54971741e-04 -2.12085628e-03 9.99997597e-01 -5.12997218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17576923100000003 meters Centerline goodness : 0.403759 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99975972e-01 6.92844426e-03 -2.29578508e-04 1.70938423e-02] [-6.92760479e-03 9.99969965e-01 3.47520487e-03 -1.37211542e-02] [ 2.53649376e-04 -3.47353094e-03 9.99993935e-01 -8.06868233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20576923100000002 meters Centerline goodness : 0.433498 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99969680e-01 7.78016178e-03 -3.28138154e-04 1.91278892e-02] [-7.77899413e-03 9.99963891e-01 3.42103451e-03 -1.25583624e-02] [ 3.54742507e-04 -3.41837820e-03 9.99994094e-01 -8.87370909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23576923100000002 meters Centerline goodness : 0.427372 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99963365e-01 8.54807990e-03 -4.45074107e-04 2.13039622e-02] [-8.54656891e-03 9.99958056e-01 3.29283271e-03 -1.06220002e-02] [ 4.73202836e-04 -3.28890822e-03 9.99994480e-01 -9.98127727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.265769231 meters Centerline goodness : 0.444279 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 0.9999063 0.01365069 -0.00102029 0.03180041] [-0.01364293 0.99988056 0.00726188 -0.01222667] [ 0.00111929 -0.00724728 0.99997311 -0.01656831] [ 0. 0. 0. 1. ]] SLAMing on 0.295769231 meters Centerline goodness : 0.412359 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 0.99989987 0.01406202 -0.00158331 0.0362285 ] [-0.01405026 0.99987533 0.00720545 -0.01082114] [ 0.00168444 -0.00718248 0.99997279 -0.01909556] [ 0. 0. 0. 1. ]] SLAMing on 0.32576923100000005 meters Centerline goodness : 0.074005 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99988221 0.01516 -0.00239424 0.04687088] [-0.01514234 0.99985922 0.00722854 -0.00896873] [ 0.00250349 -0.00719144 0.99997101 -0.0259737 ] [ 0. 0. 0. 1. ]] SLAMing on 0.355769231 meters Centerline goodness : 0.435949 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99988151 0.0151858 -0.00252232 0.04869497] [-0.01516813 0.99986127 0.00688225 -0.00636738] [ 0.00262649 -0.00684318 0.99997314 -0.02732339] [ 0. 0. 0. 1. ]] SLAMing on 0.38576923100000005 meters Centerline goodness : 0.379745 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.05 [[ 9.99845764e-01 1.53006992e-02 8.62187389e-03 5.98474623e-02] [-1.53404123e-02 9.99871936e-01 4.55893398e-03 -8.06799337e-04] [-8.55101486e-03 -4.69049393e-03 9.99952439e-01 -4.64929897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.415769231 meters Centerline goodness : 0.331984 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.05 [[ 0.99984223 0.01545378 0.00875756 0.062399 ] [-0.01548779 0.99987273 0.00382909 0.00580413] [-0.00869727 -0.00396412 0.99995432 -0.04670472] [ 0. 0. 0. 1. ]] SLAMing on 0.44576923100000004 meters Centerline goodness : 0.369740 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.05 [[ 0.9998468 0.01528551 0.00852841 0.06465231] [-0.0153145 0.99987713 0.00334525 0.00919422] [-0.00847623 -0.00347535 0.99995804 -0.04846235] [ 0. 0. 0. 1. ]] SLAMing on 0.475769231 meters Centerline goodness : 0.333810 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.05 [[ 0.99985243 0.01508811 0.00821355 0.06758664] [-0.01511179 0.99988181 0.00282906 0.01293223] [-0.00816989 -0.00295276 0.99996227 -0.05041322] [ 0. 0. 0. 1. ]] SLAMing on 0.505769231 meters Centerline goodness : 0.306309 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.06 [[ 0.99985757 0.0151093 0.00751923 0.07805199] [-0.01512857 0.9998824 0.00251279 0.01943887] [-0.00748038 -0.00262619 0.99996857 -0.05740029] [ 0. 0. 0. 1. ]] SLAMing on 0.535769231 meters Centerline goodness : 0.321413 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.06 [[ 0.99986371 0.01484071 0.00723345 0.08045311] [-0.01485648 0.99988736 0.00213187 0.02226763] [-0.007201 -0.00223905 0.99997157 -0.05877942] [ 0. 0. 0. 1. ]] SLAMing on 0.565769231 meters Centerline goodness : 0.531383 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.06 [[ 0.99986941 0.01458898 0.00695087 0.0829251 ] [-0.01460269 0.99989152 0.00192581 0.02339988] [-0.00692202 -0.00202706 0.99997399 -0.06023111] [ 0. 0. 0. 1. ]] SLAMing on 0.595769231 meters Centerline goodness : 0.291330 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.06 [[ 0.9999586 0.00833019 0.00366097 0.10674424] [-0.00833898 0.99996237 0.00239322 0.02465098] [-0.00364089 -0.00242365 0.99999043 -0.05548602] [ 0. 0. 0. 1. ]] SLAMing on 0.625769231 meters Centerline goodness : 0.075851 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.06 [[ 0.99997182 0.00693396 0.00287652 0.11338688] [-0.00693857 0.99997465 0.00159813 0.02567464] [-0.00286536 -0.00161805 0.99999459 -0.05905972] [ 0. 0. 0. 1. ]] SLAMing on 0.655769231 meters Centerline goodness : 0.074011 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.06 [[ 0.99997459 0.00665739 0.00254987 0.11577373] [-0.00666183 0.99997631 0.00173411 0.02452878] [-0.00253827 -0.00175106 0.99999525 -0.06018215] [ 0. 0. 0. 1. ]] SLAMing on 0.685769231 meters SLAMing on 0.715769231 meters Centerline goodness : 0.228440 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.07 [[ 9.99970978e-01 3.16458991e-03 6.93026240e-03 1.67242477e-01] [-3.17080763e-03 9.99994580e-01 8.86380152e-04 2.18525785e-02] [-6.92741981e-03 -9.08328956e-04 9.99975593e-01 -6.97634280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.745769231 meters Centerline goodness : 0.300000 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.07 [[ 0.9999744 0.00306424 0.00646614 0.17050501] [-0.00307203 0.99999457 0.00119462 0.01866792] [-0.00646245 -0.00121445 0.99997838 -0.07116034] [ 0. 0. 0. 1. ]] SLAMing on 0.7757692310000001 meters Centerline goodness : 0.116953 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.07 [[ 0.99997745 0.00284216 0.006084 0.17521537] [-0.00285324 0.99999428 0.00181414 0.01318567] [-0.00607881 -0.00183146 0.99997985 -0.07287959] [ 0. 0. 0. 1. ]] SLAMing on 0.805769231 meters Centerline goodness : 0.259472 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.07 [[ 0.99997873 0.00289299 0.00584581 0.17732855] [-0.0029049 0.99999372 0.00202995 0.01136486] [-0.0058399 -0.00204689 0.99998085 -0.07386507] [ 0. 0. 0. 1. ]] SLAMing on 0.835769231 meters Centerline goodness : 0.259472 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.07 [[ 0.99997873 0.00289299 0.00584581 0.17732855] [-0.0029049 0.99999372 0.00202995 0.01136486] [-0.0058399 -0.00204689 0.99998085 -0.07386507] [ 0. 0. 0. 1. ]] SLAMing on 0.865769231 meters Centerline goodness : 0.074773 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.07 [[ 0.99997842 0.00292909 0.00587997 0.18038865] [-0.00294237 0.99999314 0.00225027 0.0101306 ] [-0.00587333 -0.00226752 0.99998018 -0.07431789] [ 0. 0. 0. 1. ]] SLAMing on 0.895769231 meters Centerline goodness : 0.084015 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.08 [[ 0.99997974 0.00301943 0.00560398 0.18299263] [-0.0030329 0.99999253 0.00239793 0.00965453] [-0.0055967 -0.00241487 0.99998142 -0.07561441] [ 0. 0. 0. 1. ]] SLAMing on 0.925769231 meters Centerline goodness : 0.212591 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 0.99998067 0.00313963 0.00536643 0.18544003] [-0.00315324 0.99999183 0.00252892 0.00860095] [-0.00535845 -0.00254579 0.9999824 -0.07687444] [ 0. 0. 0. 1. ]] SLAMing on 0.955769231 meters Centerline goodness : 0.521926 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 0.99997959 0.00343445 0.0053867 0.18861228] [-0.00344915 0.99999035 0.00272178 0.00617741] [-0.0053773 -0.0027403 0.99998179 -0.07754657] [ 0. 0. 0. 1. ]] SLAMing on 0.985769231 meters SLAMing on 1.0157692310000002 meters Centerline goodness : 0.061751 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.08 [[ 0.99997323 0.00514512 0.00520332 0.19673248] [-0.00516379 0.99998025 0.00358162 0.00672273] [-0.00518479 -0.00360839 0.99998005 -0.0802182 ] [ 0. 0. 0. 1. ]] SLAMing on 1.045769231 meters Centerline goodness : 0.216025 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.08 [[ 0.99997325 0.00534865 0.00498988 0.19889051] [-0.00536708 0.9999788 0.0036873 0.00579283] [-0.00497005 -0.00371399 0.99998075 -0.08099328] [ 0. 0. 0. 1. ]] SLAMing on 1.075769231 meters Centerline goodness : 0.075191 Centerline is valid? [False, False] Translation: X:0.20, Y:0.00, Z:-0.08 [[ 0.99997357 0.00552367 0.00472671 0.20143829] [-0.00554195 0.99997718 0.00386344 0.00421101] [-0.00470526 -0.00388953 0.99998137 -0.08209483] [ 0. 0. 0. 1. ]] SLAMing on 1.105769231 meters Centerline goodness : 0.071233 Centerline is valid? [False, False] Translation: X:0.21, Y:0.00, Z:-0.09 [[ 0.99997977 0.00511572 0.00378129 0.21158758] [-0.00512941 0.99998029 0.00361953 0.00336404] [-0.0037627 -0.00363885 0.9999863 -0.08775097] [ 0. 0. 0. 1. ]] SLAMing on 1.135769231 meters Centerline goodness : 0.075968 Centerline is valid? [False, False] Translation: X:0.21, Y:0.00, Z:-0.09 [[ 0.9999804 0.00514409 0.00357035 0.21380515] [-0.00515715 0.99998001 0.0036595 0.00333571] [-0.00355145 -0.00367784 0.99998693 -0.08877443] [ 0. 0. 0. 1. ]] SLAMing on 1.165769231 meters Centerline goodness : 0.073024 Centerline is valid? [False, False] Translation: X:0.22, Y:0.00, Z:-0.09 [[ 0.99998095 0.0052055 0.00331802 0.21626234] [-0.00521747 0.99997988 0.00360835 0.00388915] [-0.00329917 -0.00362559 0.99998799 -0.08971384] [ 0. 0. 0. 1. ]] SLAMing on 1.195769231 meters Centerline goodness : 0.197091 Centerline is valid? [False, False] Translation: X:0.23, Y:0.00, Z:-0.10 [[ 0.99998612 0.00487826 0.00199062 0.2299348 ] [-0.00488526 0.99998185 0.00352744 0.00344699] [-0.00197338 -0.00353712 0.9999918 -0.09773361] [ 0. 0. 0. 1. ]] SLAMing on 1.2257692310000001 meters Centerline goodness : 0.057172 Centerline is valid? [False, False] Translation: X:0.23, Y:0.00, Z:-0.10 [[ 0.9999873 0.00480063 0.00153726 0.23369957] [-0.00480631 0.99998157 0.0037086 0.00169939] [-0.00151943 -0.00371595 0.99999194 -0.09961096] [ 0. 0. 0. 1. ]] SLAMing on 1.2557692310000002 meters Centerline goodness : 0.233696 Centerline is valid? [False, False] Translation: X:0.24, Y:0.00, Z:-0.10 [[ 9.99998421e-01 1.66060260e-03 6.32192541e-04 2.43467268e-01] [-1.66104356e-03 9.99998377e-01 6.97620530e-04 3.68531075e-03] [-6.31033044e-04 -6.98669528e-04 9.99999557e-01 -1.04520125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.285769231 meters Centerline goodness : 0.200384 Centerline is valid? [False, False] Translation: X:0.25, Y:0.00, Z:-0.11 [[ 9.99998747e-01 1.55471668e-03 2.97693104e-04 2.46207573e-01] [-1.55496988e-03 9.99998428e-01 8.52231931e-04 2.40965879e-03] [-2.96367657e-04 -8.52693767e-04 9.99999593e-01 -1.05425360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.315769231 meters Centerline goodness : 0.056033 Centerline is valid? [False, False] Translation: X:0.25, Y:0.00, Z:-0.11 [[ 9.99998898e-01 1.48199403e-03 -8.69047531e-05 2.49420544e-01] [-1.48190738e-03 9.99998413e-01 9.88828449e-04 8.88724936e-04] [ 8.83700530e-05 -9.88698574e-04 9.99999507e-01 -1.06553894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.345769231 meters Centerline goodness : 0.253116 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.00, Z:-0.11 [[ 9.99999149e-01 3.04433594e-04 -1.26865539e-03 2.62447024e-01] [-3.03677819e-04 9.99999776e-01 5.95879271e-04 -2.36887863e-03] [ 1.26883651e-03 -5.95493501e-04 9.99999018e-01 -1.13655745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.375769231 meters Centerline goodness : 0.215942 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.00, Z:-0.12 [[ 9.99998666e-01 2.17276118e-04 -1.61908633e-03 2.65731329e-01] [-2.16034544e-04 9.99999683e-01 7.66971446e-04 -3.88062795e-03] [ 1.61925246e-03 -7.66620645e-04 9.99998395e-01 -1.15240883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.405769231 meters Centerline goodness : 0.054237 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.00, Z:-0.12 [[ 9.99997977e-01 9.80623024e-05 -2.00882745e-03 2.69059164e-01] [-9.63086015e-05 9.99999614e-01 8.73075381e-04 -4.49601433e-03] [ 2.00891229e-03 -8.72880148e-04 9.99997601e-01 -1.16513790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.435769231 meters Centerline goodness : 0.206857 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.01, Z:-0.12 [[ 9.99996623e-01 -2.67900313e-04 -2.58495194e-03 2.75110368e-01] [ 2.71279626e-04 9.99999109e-01 1.30704015e-03 -8.78642494e-03] [ 2.58459948e-03 -1.30773698e-03 9.99995805e-01 -1.18391436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4657692310000001 meters Centerline goodness : 0.249458 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.01, Z:-0.12 [[ 9.99993299e-01 -1.34420929e-03 -3.40510712e-03 2.82705152e-01] [ 1.34676730e-03 9.99998813e-01 7.49045935e-04 -1.05292720e-02] [ 3.40409621e-03 -7.53626802e-04 9.99993922e-01 -1.22468521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4957692310000001 meters Centerline goodness : 0.248451 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.13 [[ 9.99985403e-01 -3.01475475e-03 -4.48397374e-03 2.94161792e-01] [ 3.01733271e-03 9.99995286e-01 5.68274597e-04 -1.82493525e-02] [ 4.48223940e-03 -5.81795943e-04 9.99989785e-01 -1.28899322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5257692310000002 meters Centerline goodness : 0.264709 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.13 [[ 0.99998295 -0.0031583 -0.00491093 0.29762748] [ 0.00316413 0.9999943 0.00117926 -0.0234838 ] [ 0.00490717 -0.00119478 0.99998725 -0.13035245] [ 0. 0. 0. 1. ]] SLAMing on 1.555769231 meters Centerline goodness : 0.267320 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.03, Z:-0.13 [[ 0.99998051 -0.00322876 -0.00534367 0.30095956] [ 0.00323857 0.99999308 0.00182865 -0.02922361] [ 0.00533773 -0.00184592 0.99998405 -0.13133862] [ 0. 0. 0. 1. ]] SLAMing on 1.585769231 meters Centerline goodness : 0.052241 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.04, Z:-0.13 [[ 9.99979827e-01 -6.31670951e-03 6.66706787e-04 3.43737552e-01] [ 6.31637317e-03 9.99979924e-01 5.05385741e-04 -3.76925343e-02] [-6.69885777e-04 -5.01164377e-04 9.99999650e-01 -1.34977011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.615769231 meters Centerline goodness : 0.205798 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.04, Z:-0.14 [[ 9.99981638e-01 -6.05132039e-03 3.22906218e-04 3.46380142e-01] [ 6.05091887e-03 9.99980936e-01 1.23028108e-03 -4.31594916e-02] [-3.30344888e-04 -1.22830461e-03 9.99999191e-01 -1.35572224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.645769231 meters Centerline goodness : 0.258903 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.05, Z:-0.14 [[ 9.99985818e-01 -5.31597423e-03 -3.23805015e-04 3.52942328e-01] [ 5.31678170e-03 9.99982625e-01 2.54607796e-03 -5.19598254e-02] [ 3.10264504e-04 -2.54776345e-03 9.99996706e-01 -1.38041202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.675769231 meters Centerline goodness : 0.228656 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.14 [[ 9.99987741e-01 -4.91205711e-03 -6.24254711e-04 3.55761677e-01] [ 4.91395310e-03 9.99983205e-01 3.07286772e-03 -5.59374620e-02] [ 6.09150125e-04 -3.07589761e-03 9.99995084e-01 -1.39088944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.705769231 meters SLAMing on 1.7357692310000001 meters SLAMing on 1.7657692310000002 meters SLAMing on 1.7957692310000002 meters SLAMing on 1.825769231 meters SLAMing on 1.855769231 meters Centerline goodness : 0.327744 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.15 [[ 0.99977869 0.02093957 0.00202481 0.47444122] [-0.02094565 0.99977603 0.00302943 -0.07270529] [-0.00196092 -0.00307117 0.99999336 -0.14501984] [ 0. 0. 0. 1. ]] SLAMing on 1.885769231 meters SLAMing on 1.915769231 meters Centerline goodness : 0.191130 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:-0.15 [[ 0.99974593 0.02250615 0.00124656 0.48593289] [-0.02251077 0.99973929 0.00382243 -0.07403261] [-0.0011602 -0.00384952 0.99999192 -0.14966998] [ 0. 0. 0. 1. ]] SLAMing on 1.945769231 meters SLAMing on 1.9757692310000001 meters SLAMing on 2.0057692310000004 meters Centerline goodness : 0.347231 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.15 [[ 0.9996836 0.02426436 -0.00662823 0.54122827] [-0.02423563 0.99969668 0.00438 -0.07609361] [ 0.0067325 -0.00421798 0.99996844 -0.14660148] [ 0. 0. 0. 1. ]] SLAMing on 2.035769231 meters Centerline goodness : 0.341927 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.08, Z:-0.15 [[ 0.99965793 0.02511668 -0.00729169 0.54795761] [-0.02508099 0.99967319 0.00494503 -0.07691124] [ 0.00741351 -0.00476046 0.99996119 -0.15016006] [ 0. 0. 0. 1. ]] SLAMing on 2.065769231 meters Centerline goodness : 0.345745 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.07, Z:-0.15 [[ 0.99967648 0.02268464 -0.01150405 0.57652688] [-0.02260776 0.99972149 0.00677021 -0.07426893] [ 0.01165442 -0.00650793 0.99991091 -0.14902978] [ 0. 0. 0. 1. ]] SLAMing on 2.0957692310000002 meters Centerline goodness : 0.345268 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.07, Z:-0.15 [[ 0.99967402 0.02263607 -0.01180913 0.57949985] [-0.02255623 0.99972211 0.0068504 -0.0748689 ] [ 0.01196092 -0.0065818 0.9999068 -0.15005513] [ 0. 0. 0. 1. ]] SLAMing on 2.125769231 meters Centerline goodness : 0.357963 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.07, Z:-0.16 [[ 0.99971922 0.01976852 -0.01306455 0.59085423] [-0.01972348 0.99979911 0.0035677 -0.07497102] [ 0.01313246 -0.00330902 0.99990829 -0.15507401] [ 0. 0. 0. 1. ]] SLAMing on 2.1557692310000003 meters Centerline goodness : 0.075580 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:-0.16 [[ 0.99971713 0.0195786 -0.01350335 0.59430455] [-0.01952775 0.99980176 0.00388786 -0.07891047] [ 0.01357679 -0.00362307 0.99990127 -0.15636969] [ 0. 0. 0. 1. ]] SLAMing on 2.185769231 meters Centerline goodness : 0.143875 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.08, Z:-0.16 [[ 9.99755984e-01 1.66742987e-02 -1.44893061e-02 6.03139118e-01] [-1.66653902e-02 9.99860852e-01 7.35363589e-04 -7.92477069e-02] [ 1.44995516e-02 -4.93714208e-04 9.99894754e-01 -1.61265821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2157692310000003 meters Centerline goodness : 0.079771 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.08, Z:-0.16 [[ 0.99979006 0.00983635 -0.01797471 0.6288416 ] [-0.00979831 0.99994957 0.00220351 -0.08353958] [ 0.01799548 -0.00202692 0.99983601 -0.15673317] [ 0. 0. 0. 1. ]] SLAMing on 2.245769231 meters Centerline goodness : 0.095370 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.17 [[ 0.99993596 0.00461808 -0.01033199 0.6484979 ] [-0.00454699 0.9999659 0.0068931 -0.08823381] [ 0.01036347 -0.00684567 0.99992286 -0.16512708] [ 0. 0. 0. 1. ]] SLAMing on 2.275769231 meters Centerline goodness : 0.092271 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.17 [[ 9.99933768e-01 -3.74464115e-05 -1.15090344e-02 6.60427232e-01] [ 7.44245461e-05 9.99994837e-01 3.21255436e-03 -9.23718110e-02] [ 1.15088547e-02 -3.21319814e-03 9.99928608e-01 -1.70687526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.305769231 meters Centerline goodness : 0.255337 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.17 [[ 0.99992348 -0.00108518 -0.01232294 0.66813092] [ 0.00112085 0.9999952 0.00288791 -0.09495557] [ 0.01231974 -0.0029015 0.9999199 -0.17481561] [ 0. 0. 0. 1. ]] SLAMing on 2.335769231 meters Centerline goodness : 0.100957 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.18 [[ 0.99991919 -0.00101848 -0.01267181 0.67079748] [ 0.0010608 0.99999388 0.0033334 -0.09868234] [ 0.01266834 -0.00334658 0.99991415 -0.17562268] [ 0. 0. 0. 1. ]] SLAMing on 2.3657692310000003 meters Centerline goodness : 0.220238 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.20 [[ 0.999987 -0.00202644 -0.00467963 0.68362511] [ 0.00203752 0.99999513 0.00236415 -0.10016856] [ 0.00467482 -0.00237366 0.99998626 -0.19950168] [ 0. 0. 0. 1. ]] SLAMing on 2.395769231 meters Centerline goodness : 0.234116 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.20 [[ 0.99998544 -0.00177937 -0.00509507 0.6879501 ] [ 0.0017946 0.99999393 0.00298666 -0.10491195] [ 0.00508972 -0.00299576 0.99998256 -0.19995418] [ 0. 0. 0. 1. ]] SLAMing on 2.4257692310000003 meters Centerline goodness : 0.231596 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.20 [[ 0.99998411 -0.00163362 -0.00539537 0.69025743] [ 0.00165089 0.99999352 0.00319861 -0.1062804 ] [ 0.00539011 -0.00320747 0.99998033 -0.20026996] [ 0. 0. 0. 1. ]] SLAMing on 2.455769231 meters Centerline goodness : 0.237728 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.20 [[ 0.99998229 -0.00125034 -0.00581938 0.69448917] [ 0.00127141 0.99999265 0.00361702 -0.1089582 ] [ 0.00581482 -0.00362436 0.99997653 -0.20064828] [ 0. 0. 0. 1. ]] SLAMing on 2.4857692310000004 meters Centerline goodness : 0.099913 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.20 [[ 0.99998048 -0.00109672 -0.00615184 0.69712776] [ 0.00112098 0.9999916 0.00394258 -0.11144969] [ 0.00614747 -0.0039494 0.99997331 -0.20159347] [ 0. 0. 0. 1. ]] SLAMing on 2.515769231 meters Centerline goodness : 0.106916 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.20 [[ 9.99979013e-01 -9.60345182e-04 -6.40715022e-03 6.99175915e-01] [ 9.87703984e-04 9.99990403e-01 4.26824536e-03 -1.13879951e-01] [ 6.40298974e-03 -4.27448415e-03 9.99970365e-01 -2.02308705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.545769231 meters Centerline goodness : 0.107017 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.21 [[ 0.99996914 -0.00165175 -0.00768063 0.71145636] [ 0.00168615 0.99998857 0.00447506 -0.11830851] [ 0.00767316 -0.00448788 0.99996049 -0.2080985 ] [ 0. 0. 0. 1. ]] SLAMing on 2.575769231 meters Centerline goodness : 0.150798 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.21 [[ 0.99996675 -0.00149442 -0.00801618 0.71362264] [ 0.00153396 0.99998668 0.00492884 -0.12168677] [ 0.00800871 -0.00494097 0.99995572 -0.20837025] [ 0. 0. 0. 1. ]] SLAMing on 2.605769231 meters Centerline goodness : 0.137909 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.21 [[ 0.99995549 -0.00231537 -0.00914621 0.72326406] [ 0.00236007 0.99998531 0.00487938 -0.12640461] [ 0.00913478 -0.00490075 0.99994627 -0.21221378] [ 0. 0. 0. 1. ]] SLAMing on 2.6357692310000003 meters Centerline goodness : 0.119897 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.21 [[ 0.99995325 -0.00215778 -0.00942511 0.72527267] [ 0.00220753 0.99998367 0.00527199 -0.12902879] [ 0.00941358 -0.00529255 0.99994169 -0.2127658 ] [ 0. 0. 0. 1. ]] SLAMing on 2.665769231 meters Centerline goodness : 0.085007 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.21 [[ 0.99994813 -0.00184298 -0.01001732 0.72958888] [ 0.00190159 0.99998111 0.00584426 -0.13248907] [ 0.01000636 -0.00586301 0.99993275 -0.21358057] [ 0. 0. 0. 1. ]] SLAMing on 2.6957692310000003 meters Centerline goodness : 0.088239 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.13, Z:-0.22 [[ 9.99997251e-01 1.26080338e-03 -1.97680040e-03 7.48755937e-01] [-1.26161247e-03 9.99999121e-01 -4.08099605e-04 -1.32010479e-01] [ 1.97628413e-03 4.10592439e-04 9.99997963e-01 -2.22790183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.725769231 meters Centerline goodness : 0.087168 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.13, Z:-0.22 [[ 9.99996259e-01 1.45168041e-03 -2.31849378e-03 7.50811982e-01] [-1.45193155e-03 9.99998940e-01 -1.06640690e-04 -1.34146166e-01] [ 2.31833651e-03 1.10006585e-04 9.99997307e-01 -2.23085095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7557692310000004 meters Centerline goodness : 0.156584 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.23 [[ 9.99991920e-01 1.87846531e-03 -3.55403218e-03 7.63075851e-01] [-1.87665381e-03 9.99998108e-01 5.12968291e-04 -1.38377587e-01] [ 3.55498905e-03 -5.06294459e-04 9.99993553e-01 -2.29892004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.785769231 meters Centerline goodness : 0.156584 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.23 [[ 9.99991920e-01 1.87846531e-03 -3.55403218e-03 7.63075851e-01] [-1.87665381e-03 9.99998108e-01 5.12968291e-04 -1.38377587e-01] [ 3.55498905e-03 -5.06294459e-04 9.99993553e-01 -2.29892004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.815769231 meters Centerline goodness : 0.169932 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:-0.23 [[ 9.99990641e-01 1.99702472e-03 -3.83805739e-03 7.65102505e-01] [-1.99379904e-03 9.99997656e-01 8.44088881e-04 -1.40569975e-01] [ 3.83973406e-03 -8.36428666e-04 9.99992278e-01 -2.30486286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8457692310000002 meters Centerline goodness : 0.086277 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.23 [[ 0.9999877 0.00204206 -0.00452067 0.76945208] [-0.0020349 0.99999667 0.00158797 -0.14654797] [ 0.0045239 -0.00157875 0.99998852 -0.23073163] [ 0. 0. 0. 1. ]] SLAMing on 2.875769231 meters Centerline goodness : 0.086296 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.23 [[ 0.99998577 0.00213589 -0.00488943 0.77152146] [-0.00212597 0.99999567 0.00203303 -0.14992646] [ 0.00489375 -0.00202261 0.99998598 -0.23079767] [ 0. 0. 0. 1. ]] SLAMing on 2.9057692310000003 meters Centerline goodness : 0.084372 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.23 [[ 0.99998381 0.00219482 -0.00525021 0.7737719 ] [-0.00218253 0.99999487 0.00234625 -0.15212673] [ 0.00525534 -0.00233475 0.99998347 -0.23119276] [ 0. 0. 0. 1. ]] SLAMing on 2.935769231 meters Centerline goodness : 0.086730 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.15, Z:-0.23 [[ 0.99998195 0.00231361 -0.00554534 0.7753293 ] [-0.00229963 0.99999416 0.00252691 -0.15319335] [ 0.00555115 -0.00251412 0.99998143 -0.23104405] [ 0. 0. 0. 1. ]] SLAMing on 2.9657692310000003 meters Centerline goodness : 0.086449 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.15, Z:-0.23 [[ 0.99997545 0.00329813 -0.00618223 0.7788533 ] [-0.00328124 0.99999087 0.00273908 -0.15248846] [ 0.00619121 -0.00271872 0.99997714 -0.23022693] [ 0. 0. 0. 1. ]] SLAMing on 2.995769231 meters Centerline goodness : 0.086730 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:-0.24 [[ 9.99939903e-01 1.06723127e-02 2.50842212e-03 7.98736516e-01] [-1.06736513e-02 9.99942899e-01 5.20848618e-04 -1.51659067e-01] [-2.50272023e-03 -5.47591340e-04 9.99996718e-01 -2.39043089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0257692310000004 meters Centerline goodness : 0.086344 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:-0.24 [[ 0.99988752 0.01483121 0.00223414 0.8004853 ] [-0.01484237 0.99987702 0.00506502 -0.1548512 ] [-0.00215875 -0.00509761 0.99998468 -0.23923079] [ 0. 0. 0. 1. ]] SLAMing on 3.055769231 meters Centerline goodness : 0.087269 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:-0.24 [[ 0.9998835 0.01514773 0.00187999 0.80253375] [-0.01515675 0.99987323 0.00487915 -0.15249972] [-0.00180585 -0.00490707 0.99998633 -0.23963387] [ 0. 0. 0. 1. ]] SLAMing on 3.085769231 meters Centerline goodness : 0.087389 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:-0.24 [[ 0.99988215 0.01527929 0.00149259 0.80452619] [-0.01528603 0.99987253 0.00461146 -0.15015324] [-0.00142194 -0.00463373 0.99998825 -0.239815 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1157692310000003 meters Centerline goodness : 0.087478 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.15, Z:-0.24 [[ 9.99878048e-01 1.55961506e-02 8.05431139e-04 8.08487050e-01] [-1.55995571e-02 9.99868585e-01 4.41217177e-03 -1.47592506e-01] [-7.36512397e-04 -4.42419807e-03 9.99989942e-01 -2.40141765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.145769231 meters Centerline goodness : 0.157456 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.15, Z:-0.24 [[ 9.99878587e-01 1.55729416e-02 5.42464830e-04 8.09971227e-01] [-1.55751268e-02 9.99869504e-01 4.28846904e-03 -1.46788154e-01] [-4.75609963e-04 -4.29639733e-03 9.99990657e-01 -2.40320374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1757692310000003 meters Centerline goodness : 0.087809 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.15, Z:-0.24 [[ 9.99880033e-01 1.54892516e-02 4.59407273e-05 8.13266993e-01] [-1.54893091e-02 9.99871481e-01 4.13546458e-03 -1.45964603e-01] [ 1.81204282e-05 -4.13568005e-03 9.99991448e-01 -2.41190706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.205769231 meters Centerline goodness : 0.087533 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:-0.24 [[ 9.99881038e-01 1.54228832e-02 -2.13121260e-04 8.14747056e-01] [-1.54219108e-02 9.99873118e-01 3.98909605e-03 -1.44967426e-01] [ 2.74617581e-04 -3.98533476e-03 9.99992021e-01 -2.41524682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2357692310000004 meters Centerline goodness : 0.087200 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.24 [[ 9.99881993e-01 1.53540484e-02 -5.04013456e-04 8.16466358e-01] [-1.53520798e-02 9.99875298e-01 3.70151305e-03 -1.42940927e-01] [ 5.60783816e-04 -3.69333859e-03 9.99993022e-01 -2.41955920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.265769231 meters Centerline goodness : 0.089692 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.24 [[ 9.99879366e-01 1.55035404e-02 -9.45108657e-04 8.18842741e-01] [-1.55004043e-02 9.99874612e-01 3.23989822e-03 -1.39112592e-01] [ 9.95220045e-04 -3.22485781e-03 9.99994305e-01 -2.41838550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2957692310000004 meters Centerline goodness : 0.089446 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.24 [[ 0.99987976 0.01546164 -0.00118714 0.82014693] [-0.0154579 0.99987574 0.00309235 -0.13825685] [ 0.00123481 -0.00307363 0.99999451 -0.24199311] [ 0. 0. 0. 1. ]] SLAMing on 3.325769231 meters Centerline goodness : 0.090503 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.24 [[ 0.99988082 0.01534747 -0.00167406 0.82290585] [-0.0153423 0.99987762 0.00306 -0.13834518] [ 0.00172082 -0.00303395 0.99999392 -0.24216333] [ 0. 0. 0. 1. ]] SLAMing on 3.355769231 meters Centerline goodness : 0.090659 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.24 [[ 0.9999244 0.01211749 -0.00208702 0.82476832] [-0.01211979 0.99992596 -0.00109255 -0.13520346] [ 0.00207363 0.00111776 0.99999723 -0.24266005] [ 0. 0. 0. 1. ]] SLAMing on 3.3857692310000003 meters Centerline goodness : 0.093007 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.14, Z:-0.24 [[ 0.99995517 0.00761996 -0.0056208 0.85173018] [-0.00761187 0.99996996 0.0014591 -0.1351177 ] [ 0.00563175 -0.00141625 0.99998314 -0.24210044] [ 0. 0. 0. 1. ]] SLAMing on 3.415769231 meters Centerline goodness : 0.094071 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.14, Z:-0.24 [[ 0.99995399 0.00758608 -0.00587182 0.85293127] [-0.00757696 0.99997006 0.00157382 -0.13618645] [ 0.00588358 -0.00152926 0.99998152 -0.24213904] [ 0. 0. 0. 1. ]] SLAMing on 3.4457692310000003 meters Centerline goodness : 0.092540 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:-0.24 [[ 0.99994867 0.00414496 -0.00924483 0.87611244] [-0.00410658 0.99998288 0.00416742 -0.13430752] [ 0.00926194 -0.00412924 0.99994858 -0.24041313] [ 0. 0. 0. 1. ]] SLAMing on 3.475769231 meters Centerline goodness : 0.094591 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:-0.24 [[ 0.99994531 0.00411641 -0.00961407 0.87838098] [-0.00407758 0.99998346 0.00405512 -0.1334939 ] [ 0.0096306 -0.0040157 0.99994556 -0.24091882] [ 0. 0. 0. 1. ]] SLAMing on 3.5057692310000004 meters Centerline goodness : 0.091903 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:-0.24 [[ 0.9999427 0.00412386 -0.00987872 0.88003379] [-0.00408434 0.99998359 0.00401748 -0.13325024] [ 0.00989513 -0.00397691 0.99994313 -0.24157662] [ 0. 0. 0. 1. ]] SLAMing on 3.535769231 meters Centerline goodness : 0.096648 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:-0.25 [[ 0.99998496 0.00421335 -0.00351168 0.84095962] [-0.00419829 0.99998201 0.00428493 -0.13308137] [ 0.00352967 -0.00427012 0.99998465 -0.25018559] [ 0. 0. 0. 1. ]] SLAMing on 3.5657692310000004 meters Centerline goodness : 0.094214 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:-0.25 [[ 0.99998386 0.00423411 -0.00378951 0.84259833] [-0.0042186 0.99998272 0.00409408 -0.13168746] [ 0.00380677 -0.00407803 0.99998444 -0.2507812 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5957692310000002 meters Centerline goodness : 0.100078 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:-0.25 [[ 0.99998308 0.00422339 -0.00399927 0.84387244] [-0.00420811 0.99998384 0.00382139 -0.12979249] [ 0.00401534 -0.0038045 0.9999847 -0.25132185] [ 0. 0. 0. 1. ]] SLAMing on 3.625769231 meters Centerline goodness : 0.122879 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.13, Z:-0.25 [[ 0.99998101 0.00441794 -0.00429694 0.84552663] [-0.00440236 0.99998373 0.00362865 -0.12779299] [ 0.0043129 -0.00360966 0.99998418 -0.25126459] [ 0. 0. 0. 1. ]] SLAMing on 3.6557692310000003 meters Centerline goodness : 0.119807 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.13, Z:-0.25 [[ 0.99997942 0.00441448 -0.00465427 0.84696784] [-0.00439822 0.99998421 0.00349772 -0.12707827] [ 0.00466964 -0.00347717 0.99998305 -0.25089501] [ 0. 0. 0. 1. ]] SLAMing on 3.685769231 meters Centerline goodness : 0.118232 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.25 [[ 0.99997657 0.00465298 -0.0050202 0.84853995] [-0.00463662 0.99998392 0.00326456 -0.12473005] [ 0.00503531 -0.00324121 0.99998207 -0.25029264] [ 0. 0. 0. 1. ]] SLAMing on 3.7157692310000003 meters Centerline goodness : 0.115944 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.25 [[ 0.99997522 0.00463197 -0.00530053 0.85007391] [-0.00461651 0.99998507 0.00292438 -0.12241138] [ 0.00531399 -0.00289983 0.99998168 -0.25080843] [ 0. 0. 0. 1. ]] SLAMing on 3.745769231 meters Centerline goodness : 0.116580 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.25 [[ 0.99997422 0.00462026 -0.00549584 0.85128367] [-0.00460625 0.99998612 0.00255846 -0.11982564] [ 0.00550759 -0.00253308 0.99998162 -0.25152259] [ 0. 0. 0. 1. ]] SLAMing on 3.7757692310000004 meters Centerline goodness : 0.117318 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.25 [[ 0.99996972 0.00510141 -0.00587696 0.8533959 ] [-0.00508856 0.99998464 0.00219906 -0.11601461] [ 0.00588809 -0.00216908 0.99998031 -0.2520296 ] [ 0. 0. 0. 1. ]] SLAMing on 3.805769231 meters Centerline goodness : 0.116482 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.25 [[ 0.99996736 0.00518758 -0.00619417 0.8547197 ] [-0.00517526 0.9999846 0.00200428 -0.11447867] [ 0.00620447 -0.00197215 0.99997881 -0.25191037] [ 0. 0. 0. 1. ]] SLAMing on 3.8357692310000004 meters Centerline goodness : 0.113537 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.25 [[ 0.9999626 0.00541484 -0.00674424 0.8571029 ] [-0.00540254 0.99998371 0.0018411 -0.11258318] [ 0.0067541 -0.00180459 0.99997556 -0.25167754] [ 0. 0. 0. 1. ]] SLAMing on 3.8657692310000003 meters Centerline goodness : 0.113507 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.25 [[ 0.99996134 0.00531952 -0.00700093 0.85819129] [-0.00530636 0.99998412 0.00189616 -0.11331997] [ 0.00701091 -0.00185893 0.9999737 -0.25176799] [ 0. 0. 0. 1. ]] SLAMing on 3.895769231 meters Centerline goodness : 0.114445 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:-0.25 [[ 0.99996004 0.00515524 -0.00730321 0.85948229] [-0.00513991 0.99998455 0.00211656 -0.11527617] [ 0.00731401 -0.00207894 0.99997109 -0.25192206] [ 0. 0. 0. 1. ]] SLAMing on 3.9257692310000003 meters Centerline goodness : 0.111309 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.25 [[ 9.99970655e-01 9.68218911e-04 -7.59938797e-03 8.61241904e-01] [-9.84986769e-04 9.99997088e-01 -2.20304243e-03 -1.14572424e-01] [ 7.59723282e-03 2.21046308e-03 9.99968697e-01 -2.52571686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.955769231 meters Centerline goodness : 0.110027 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.12, Z:-0.25 [[ 9.99922424e-01 7.19685024e-04 -1.24349307e-02 9.07093196e-01] [-7.49737229e-04 9.99996809e-01 -2.41226436e-03 -1.16545878e-01] [ 1.24331550e-02 2.42140016e-03 9.99919774e-01 -2.48894879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9857692310000004 meters Centerline goodness : 0.107272 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:-0.25 [[ 0.99998113 -0.00381987 -0.00481168 0.92321184] [ 0.00383362 0.99998859 0.00285094 -0.1209274 ] [ 0.00480073 -0.00286933 0.99998436 -0.25256333] [ 0. 0. 0. 1. ]] SLAMing on 4.015769231 meters Centerline goodness : 0.096515 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:-0.25 [[ 0.99997951 -0.00388315 -0.00509018 0.9242625 ] [ 0.00389779 0.99998828 0.00287018 -0.12123207] [ 0.00507897 -0.00288997 0.99998293 -0.25247144] [ 0. 0. 0. 1. ]] SLAMing on 4.045769231 meters Centerline goodness : 0.097103 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:-0.26 [[ 9.99989271e-01 -4.63171845e-03 -7.41071339e-05 8.77355561e-01] [ 4.63190678e-03 9.99985399e-01 2.78337212e-03 -1.21440678e-01] [ 6.12142558e-05 -2.78368551e-03 9.99996124e-01 -2.55292499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.075769231000001 meters Centerline goodness : 0.100911 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:-0.26 [[ 9.99969040e-01 -7.84867867e-03 -5.64130665e-04 8.79525677e-01] [ 7.84781289e-03 9.99968049e-01 -1.52088022e-03 -1.17806488e-01] [ 5.76049541e-04 1.51640594e-03 9.99998684e-01 -2.56044245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.105769231 meters Centerline goodness : 0.100268 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:-0.26 [[ 9.99968825e-01 -7.85287740e-03 -8.25346936e-04 8.80593162e-01] [ 7.85141132e-03 9.99967620e-01 -1.76479556e-03 -1.16215521e-01] [ 8.39178935e-04 1.75826041e-03 9.99998102e-01 -2.56362247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.135769231 meters Centerline goodness : 0.092596 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.26 [[ 0.99999456 -0.00243867 -0.00221928 0.9039972 ] [ 0.00242466 0.99997726 -0.00629305 -0.11610729] [ 0.00223458 0.00628764 0.99997774 -0.25517915] [ 0. 0. 0. 1. ]] SLAMing on 4.1657692310000005 meters Centerline goodness : 0.099081 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.11, Z:-0.26 [[ 9.99997334e-01 -2.22564363e-03 -6.15068697e-04 8.86713414e-01] [ 2.22736531e-03 9.99993564e-01 2.81279048e-03 -1.14742807e-01] [ 6.08804469e-04 -2.81415296e-03 9.99995855e-01 -2.58570144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.195769231 meters Centerline goodness : 0.099858 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.11, Z:-0.26 [[ 9.99997092e-01 -2.30120612e-03 -7.21924239e-04 8.86965200e-01] [ 2.30307051e-03 9.99993988e-01 2.59241483e-03 -1.13613748e-01] [ 7.15954218e-04 -2.59406993e-03 9.99996379e-01 -2.58386411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.225769231 meters Centerline goodness : 0.099932 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.26 [[ 9.99999088e-01 -1.21519898e-04 -1.34520524e-03 8.65396903e-01] [ 1.14160507e-04 9.99985035e-01 -5.46955658e-03 -1.11680733e-01] [ 1.34584977e-03 5.46939802e-03 9.99984137e-01 -2.58513222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.255769231 meters Centerline goodness : 0.098155 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.26 [[ 9.99998606e-01 -4.60465735e-04 -1.60492684e-03 8.66464693e-01] [ 4.51219293e-04 9.99983327e-01 -5.75689389e-03 -1.10771722e-01] [ 1.60755093e-03 5.75616169e-03 9.99982141e-01 -2.58253725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.285769231000001 meters Centerline goodness : 0.099262 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.11, Z:-0.26 [[ 9.99995657e-01 -9.43503954e-04 2.79225664e-03 8.17572273e-01] [ 9.58644398e-04 9.99984820e-01 -5.42593492e-03 -1.10747388e-01] [-2.78709486e-03 5.42858813e-03 9.99981381e-01 -2.59238086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.315769231 meters Centerline goodness : 0.097848 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.11, Z:-0.26 [[ 9.99997584e-01 4.84922155e-05 2.19774833e-03 8.22843884e-01] [-3.86651378e-05 9.99990003e-01 -4.47125186e-03 -1.09159605e-01] [-2.19794318e-03 4.47115608e-03 9.99987589e-01 -2.62950429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.345769231 meters Centerline goodness : 0.097636 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.11, Z:-0.26 [[ 9.99997870e-01 -9.83715921e-05 2.06141270e-03 8.23575079e-01] [ 1.08438744e-04 9.99988067e-01 -4.88407524e-03 -1.06897084e-01] [-2.06090764e-03 4.88428837e-03 9.99985948e-01 -2.63396131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3757692310000005 meters Centerline goodness : 0.097177 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.26 [[ 0.99998765 0.00260507 0.00423354 0.75862633] [-0.00255378 0.99992383 -0.01207563 -0.10364168] [-0.00426468 0.01206467 0.99991812 -0.2646537 ] [ 0. 0. 0. 1. ]] SLAMing on 4.405769231000001 meters Centerline goodness : 0.096505 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.26 [[ 9.99997496e-01 1.20253112e-04 2.23481682e-03 7.37560575e-01] [-1.10959953e-04 9.99991349e-01 -4.15801240e-03 -1.01582213e-01] [-2.23529750e-03 4.15775401e-03 9.99988858e-01 -2.62735025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.435769231 meters Centerline goodness : 0.097366 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.26 [[ 9.99981746e-01 -6.99729088e-04 6.00154412e-03 6.89316591e-01] [ 7.29289037e-04 9.99987608e-01 -4.92461726e-03 -9.96002070e-02] [-5.99802385e-03 4.92890422e-03 9.99969864e-01 -2.63523877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.465769231 meters Centerline goodness : 0.099432 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.26 [[ 0.99999415 -0.0027163 0.00208122 0.67012647] [ 0.00270853 0.99998939 0.00372541 -0.09791652] [-0.00209132 -0.00371975 0.99999089 -0.26097275] [ 0. 0. 0. 1. ]] SLAMing on 4.495769231000001 meters Centerline goodness : 0.097879 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.26 [[ 9.99999947e-01 1.15276087e-04 -3.05138301e-04 6.54871225e-01] [-1.16633466e-04 9.99990082e-01 -4.45213171e-03 -9.42883611e-02] [ 3.04622051e-04 4.45216706e-03 9.99990043e-01 -2.64151469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.525769231 meters Centerline goodness : 0.096180 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.26 [[ 9.99999898e-01 -2.86883158e-04 -3.49653257e-04 6.54937440e-01] [ 2.85134915e-04 9.99987510e-01 -4.98976894e-03 -9.20223544e-02] [ 3.51080371e-04 4.98966873e-03 9.99987490e-01 -2.64014815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.555769231 meters Centerline goodness : 0.091712 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.26 [[ 0.99999359 -0.00214856 0.00286501 0.6076048 ] [ 0.00216756 0.99997557 -0.00664522 -0.09068813] [-0.00285066 0.00665138 0.99997382 -0.26495199] [ 0. 0. 0. 1. ]] SLAMing on 4.5857692310000004 meters Centerline goodness : 0.093846 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.26 [[ 0.9999936 -0.00232808 0.00271644 0.60803525] [ 0.0023463 0.99997466 -0.00672115 -0.09063309] [-0.00270072 0.00672748 0.99997372 -0.26492261] [ 0. 0. 0. 1. ]] SLAMing on 4.615769231000001 meters Centerline goodness : 0.074113 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 0.99999328 -0.00271409 0.00246599 0.60915738] [ 0.00273182 0.99997025 -0.00721375 -0.08863316] [-0.00244634 0.00722044 0.99997094 -0.26569005] [ 0. 0. 0. 1. ]] SLAMing on 4.645769231 meters Centerline goodness : 0.073970 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 0.9999935 -0.00279747 0.0022752 0.60986294] [ 0.00281426 0.99996859 -0.00740976 -0.08758782] [-0.0022544 0.00741612 0.99996996 -0.26595123] [ 0. 0. 0. 1. ]] SLAMing on 4.675769231 meters Centerline goodness : 0.073970 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 0.9999935 -0.00279747 0.0022752 0.60986294] [ 0.00281426 0.99996859 -0.00740976 -0.08758782] [-0.0022544 0.00741612 0.99996996 -0.26595123] [ 0. 0. 0. 1. ]] SLAMing on 4.7057692310000006 meters Centerline goodness : 0.082911 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 9.99997111e-01 6.96741236e-04 2.30052279e-03 6.09725355e-01] [-6.89813401e-04 9.99995229e-01 -3.01083885e-03 -9.05442018e-02] [-2.30260960e-03 3.00924322e-03 9.99992821e-01 -2.65664507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.735769231 meters Centerline goodness : 0.073676 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 9.99997334e-01 5.99569830e-04 2.22994080e-03 6.10039836e-01] [-5.92445251e-04 9.99994723e-01 -3.19425257e-03 -8.96721767e-02] [-2.23184421e-03 3.19292293e-03 9.99992412e-01 -2.65880678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.765769231 meters Centerline goodness : 0.076434 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 9.99997517e-01 4.91099372e-04 2.17366977e-03 6.10275747e-01] [-4.83494119e-04 9.99993765e-01 -3.49795152e-03 -8.80750749e-02] [-2.17537406e-03 3.49689187e-03 9.99991520e-01 -2.65984699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.795769231 meters Centerline goodness : 0.083865 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 9.99997805e-01 4.43982185e-04 2.04755824e-03 6.10393103e-01] [-4.35788414e-04 9.99991903e-01 -4.00043965e-03 -8.50686128e-02] [-2.04931779e-03 3.99953857e-03 9.99989902e-01 -2.65476629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.825769231000001 meters Centerline goodness : 0.084208 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.27 [[ 9.99998023e-01 4.30283635e-04 1.94157391e-03 6.10507556e-01] [-4.22353523e-04 9.99991576e-01 -4.08293607e-03 -8.46040407e-02] [-1.94331437e-03 4.08210796e-03 9.99989780e-01 -2.65138965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.855769231 meters Centerline goodness : 0.072758 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.27 [[ 9.99998130e-01 4.51681343e-04 1.88024441e-03 6.10687518e-01] [-4.44054915e-04 9.99991682e-01 -4.05452672e-03 -8.46762103e-02] [-1.88206013e-03 4.05368421e-03 9.99990013e-01 -2.65159167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.885769231 meters Centerline goodness : 0.988647 Centerline is valid? [False, True] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 9.99998458e-01 4.15115277e-04 1.70657532e-03 6.11330134e-01] [-4.08539710e-04 9.99992499e-01 -3.85162246e-03 -8.59585746e-02] [-1.70816139e-03 3.85091931e-03 9.99991126e-01 -2.65467110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9157692310000005 meters Centerline goodness : 0.990261 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.09, Z:-0.27 [[ 9.99997957e-01 -1.79431188e-03 9.30888098e-04 6.42004366e-01] [ 1.79430892e-03 9.99998390e-01 4.01373194e-06 -8.76699694e-02] [-9.30893801e-04 -2.34342292e-06 9.99999567e-01 -2.66998516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.945769231000001 meters Centerline goodness : 0.989138 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.09, Z:-0.27 [[ 9.99983821e-01 -5.68059478e-03 2.97511584e-04 6.72349495e-01] [ 5.68059466e-03 9.99983865e-01 1.23796149e-06 -9.02699116e-02] [-2.97513817e-04 4.52101253e-07 9.99999956e-01 -2.67170419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.975769231 meters Centerline goodness : 0.990966 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.09, Z:-0.27 [[ 9.99977065e-01 -6.71260248e-03 9.00318673e-04 7.02822318e-01] [ 6.71260183e-03 9.99977470e-01 3.74627379e-06 -9.10431581e-02] [-9.00323536e-04 2.29729291e-06 9.99999595e-01 -2.67898799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.005769231 meters Centerline goodness : 0.990823 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.09, Z:-0.27 [[ 9.99972097e-01 -7.41476724e-03 9.09531004e-04 7.32824348e-01] [ 7.41476698e-03 9.99972510e-01 3.65642772e-06 -9.14368271e-02] [-9.09533113e-04 3.08763476e-06 9.99999586e-01 -2.67272529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.035769231000001 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.09, Z:-0.27 [[ 9.99956592e-01 -8.84154220e-03 2.93970838e-03 7.63462841e-01] [ 8.84154436e-03 9.99960913e-01 1.22642436e-05 -9.19448005e-02] [-2.93970191e-03 1.37278508e-05 9.99995679e-01 -2.68788920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.065769231 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.09, Z:-0.27 [[ 9.99938173e-01 -1.03061679e-02 4.17530912e-03 7.94492053e-01] [ 1.03061842e-02 9.99946890e-01 1.76113457e-05 -9.31950934e-02] [-4.17526888e-03 2.54212481e-05 9.99991283e-01 -2.70355645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.095769231 meters Centerline goodness : 0.996273 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.10, Z:-0.27 [[ 9.99902524e-01 -1.31354932e-02 4.73295385e-03 8.26304054e-01] [ 1.31355465e-02 9.99913725e-01 1.98177086e-05 -9.83111494e-02] [-4.73280583e-03 4.23541588e-05 9.99988799e-01 -2.71648299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1257692310000005 meters Centerline goodness : 0.996865 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.10, Z:-0.27 [[ 9.99886863e-01 -1.43396821e-02 4.54264381e-03 8.57851738e-01] [ 1.43397440e-02 9.99897180e-01 1.89302765e-05 -1.00663175e-01] [-4.54244819e-03 4.62122147e-05 9.99989682e-01 -2.72778820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.155769231000001 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.10, Z:-0.27 [[ 9.99876506e-01 -1.50661016e-02 4.47052967e-03 8.88249925e-01] [ 1.50661697e-02 9.99886499e-01 1.84411296e-05 -1.02903986e-01] [-4.47030010e-03 4.89149067e-05 9.99990007e-01 -2.74255783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.185769231 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.11, Z:-0.27 [[ 9.99873022e-01 -1.56269038e-02 3.12081776e-03 9.18957166e-01] [ 1.56269390e-02 9.99877892e-01 1.31201570e-05 -1.07777641e-01] [-3.12064171e-03 3.56503376e-05 9.99995130e-01 -2.72581539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.215769231 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.11, Z:-0.28 [[ 9.99879060e-01 -1.49263104e-02 4.36688281e-03 9.48230807e-01] [ 1.49263757e-02 9.99888595e-01 1.76252302e-05 -1.09969790e-01] [-4.36665940e-03 4.75586349e-05 9.99990465e-01 -2.75459721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.245769231000001 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.11, Z:-0.27 [[ 9.99898422e-01 -1.29642980e-02 5.92226954e-03 9.78863832e-01] [ 1.29643827e-02 9.99915959e-01 2.40929279e-05 -1.12662620e-01] [-5.92208417e-03 5.26880879e-05 9.99982463e-01 -2.73737108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.275769231 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.11, Z:-0.27 [[ 9.99916342e-01 -1.06426798e-02 7.35137586e-03 1.01049077e+00] [ 1.06427466e-02 9.99943364e-01 3.00267205e-05 -1.13232897e-01] [-7.35127907e-03 4.82146220e-05 9.99972978e-01 -2.74680210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.305769231 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.11, Z:-0.28 [[ 9.99935440e-01 -5.30360025e-03 1.00492321e-02 1.04212586e+00] [ 5.30345887e-03 9.99985936e-01 4.07166718e-05 -1.13455125e-01] [-1.00493067e-02 1.25816461e-05 9.99949504e-01 -2.76428245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3357692310000004 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.11, Z:-0.28 [[ 9.99946556e-01 -3.14594101e-03 9.84829395e-03 1.07322520e+00] [ 3.14570241e-03 9.99995051e-01 3.97179303e-05 -1.12733496e-01] [-9.84837017e-03 -8.73600558e-06 9.99951504e-01 -2.77438912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.365769231000001 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.11, Z:-0.28 [[ 9.99952946e-01 -1.15145314e-03 9.63224755e-03 1.10541322e+00] [ 1.15113506e-03 9.99999337e-01 3.85662015e-05 -1.11817762e-01] [-9.63228557e-03 -2.74763689e-05 9.99953608e-01 -2.79061751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.395769231 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.11, Z:-0.28 [[ 9.99968877e-01 2.71032931e-03 7.40933094e-03 1.13653432e+00] [-2.71062158e-03 9.99996326e-01 2.94040950e-05 -1.09794964e-01] [-7.40922402e-03 -4.94870722e-05 9.99972550e-01 -2.79944719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.425769231 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.11, Z:-0.28 [[ 9.99968331e-01 4.41618420e-03 6.62073114e-03 1.16941156e+00] [-4.41645513e-03 9.99990247e-01 2.63013487e-05 -1.08577926e-01] [-6.62055042e-03 -5.55406778e-05 9.99978082e-01 -2.80074972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4557692310000006 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.10, Z:-0.28 [[ 9.99926558e-01 8.78934877e-03 8.34424699e-03 1.20149229e+00] [-8.78992409e-03 9.99961367e-01 3.22762601e-05 -1.03575619e-01] [-8.34364094e-03 -1.05619187e-04 9.99965186e-01 -2.79416618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.485769231000001 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.10, Z:-0.28 [[ 9.99879000e-01 1.20002733e-02 9.89841846e-03 1.23321570e+00] [-1.20012381e-02 9.99927982e-01 3.80740328e-05 -1.00202978e-01] [-9.89724869e-03 -1.56862703e-04 9.99951009e-01 -2.80142409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.515769231 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.10, Z:-0.28 [[ 9.99824380e-01 1.50329044e-02 1.11901998e-02 1.26629201e+00] [-1.50343028e-02 9.99886978e-01 4.08488602e-05 -9.71680471e-02] [-1.11883210e-02 -2.09078539e-04 9.99937387e-01 -2.80720934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.545769231 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.09, Z:-0.28 [[ 9.99749815e-01 1.95417204e-02 1.08824805e-02 1.29787226e+00] [-1.95432887e-02 9.99809011e-01 3.77759528e-05 -9.20138448e-02] [-1.08796638e-02 -2.50445959e-04 9.99940783e-01 -2.80928419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.575769231000001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.09, Z:-0.28 [[ 9.99731977e-01 2.08467488e-02 1.00691279e-02 1.33123933e+00] [-2.08481423e-02 9.99782653e-01 3.34312861e-05 -8.88069354e-02] [-1.00662424e-02 -2.43344936e-04 9.99949304e-01 -2.81536402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.605769231 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.08, Z:-0.28 [[ 9.99720195e-01 2.19819268e-02 8.73654201e-03 1.36342112e+00] [-2.19830076e-02 9.99758344e-01 2.76859326e-05 -8.36523118e-02] [-8.73382218e-03 -2.19733655e-04 9.99961835e-01 -2.82833348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.635769231 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.08, Z:-0.28 [[ 9.99715085e-01 2.24818898e-02 8.01959785e-03 1.39543306e+00] [-2.24828071e-02 9.99747229e-01 2.42332515e-05 -8.18561750e-02] [-8.01702592e-03 -2.04529418e-04 9.99967842e-01 -2.82636346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6657692310000005 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.08, Z:-0.28 [[ 9.99704908e-01 2.29594502e-02 7.93473845e-03 1.42811573e+00] [-2.29603533e-02 9.99736376e-01 2.27235214e-05 -8.01828173e-02] [-7.93212494e-03 -2.04901214e-04 9.99968519e-01 -2.83441152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.695769231000001 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.08, Z:-0.28 [[ 9.99696583e-01 2.30727395e-02 8.62499500e-03 1.46102685e+00] [-2.30737958e-02 9.99733764e-01 2.29695973e-05 -7.74849248e-02] [-8.62216875e-03 -2.21974001e-04 9.99962804e-01 -2.83862753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.725769231 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.07, Z:-0.28 [[ 9.99689430e-01 2.28380059e-02 9.97344607e-03 1.49324898e+00] [-2.28393853e-02 9.99739147e-01 2.44165618e-05 -7.14468695e-02] [-9.97028684e-03 -2.52196356e-04 9.99950264e-01 -2.83056752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.755769231 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.07, Z:-0.28 [[ 9.99708744e-01 2.15335719e-02 1.08964783e-02 1.52655488e+00] [-2.15351195e-02 9.99768092e-01 2.46992940e-05 -6.71824350e-02] [-1.08934194e-02 -2.59349062e-04 9.99940631e-01 -2.84760765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.785769231000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.07, Z:-0.29 [[ 9.99729187e-01 2.09796006e-02 1.00702226e-02 1.55923973e+00] [-2.09808782e-02 9.99779877e-01 2.12332016e-05 -6.52746649e-02] [-1.00675604e-02 -2.32509565e-04 9.99949294e-01 -2.85691590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.815769231 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.06, Z:-0.29 [[ 9.99757505e-01 2.00144226e-02 9.18449770e-03 1.59104850e+00] [-2.00154314e-02 9.99799671e-01 1.79170139e-05 -6.36915691e-02] [-9.18229918e-03 -2.01744353e-04 9.99957821e-01 -2.86898603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.845769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.06, Z:-0.29 [[ 9.99795347e-01 1.85430898e-02 8.08807394e-03 1.62354794e+00] [-1.85438120e-02 9.99828049e-01 1.43050561e-05 -6.21809330e-02] [-8.08641792e-03 -1.64285851e-04 9.99967291e-01 -2.88243866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8757692310000005 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.06, Z:-0.29 [[ 9.99851893e-01 1.53846537e-02 7.71394307e-03 1.65535417e+00] [-1.53852159e-02 9.99881640e-01 1.35333692e-05 -6.02427242e-02] [-7.71282185e-03 -1.32212044e-04 9.99970247e-01 -2.89401898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.905769231000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.06, Z:-0.29 [[ 9.99893376e-01 1.27540775e-02 7.11120050e-03 1.68701989e+00] [-1.27544815e-02 9.99918658e-01 1.14724713e-05 -5.88991022e-02] [-7.11047574e-03 -1.02170924e-04 9.99974715e-01 -2.89275333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.935769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.06, Z:-0.29 [[ 9.99907105e-01 1.20302471e-02 6.40744650e-03 1.72011078e+00] [-1.20305554e-02 9.99927630e-01 9.56937141e-06 -5.81085902e-02] [-6.40686767e-03 -8.66536222e-05 9.99979472e-01 -2.89339588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.965769231 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.06, Z:-0.29 [[ 9.99909643e-01 1.18792508e-02 6.29205821e-03 1.75333855e+00] [-1.18795390e-02 9.99929436e-01 8.41845519e-06 -5.72469828e-02] [-6.29151421e-03 -8.31644452e-05 9.99980205e-01 -2.90029957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.995769231000001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.05, Z:-0.29 [[ 9.99890670e-01 1.25924946e-02 7.75100707e-03 1.78584217e+00] [-1.25929378e-02 9.99920706e-01 8.37418077e-06 -5.45954907e-02] [-7.75028701e-03 -1.05981215e-04 9.99969960e-01 -2.89352548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.025769231000001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.05, Z:-0.29 [[ 9.99870565e-01 1.34209004e-02 8.87312696e-03 1.81862558e+00] [-1.34214985e-02 9.99909928e-01 7.86190391e-06 -5.31916397e-02] [-8.87222222e-03 -1.26951546e-04 9.99960633e-01 -2.90081446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.055769231 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.05, Z:-0.29 [[ 9.99853136e-01 1.47481070e-02 8.72927925e-03 1.85088866e+00] [-1.47487216e-02 9.99891232e-01 6.03951954e-06 -4.97959932e-02] [-8.72824070e-03 -1.34784342e-04 9.99961899e-01 -2.91485549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0857692310000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.05, Z:-0.29 [[ 9.99849915e-01 1.53466067e-02 8.03922206e-03 1.88421823e+00] [-1.53471377e-02 9.99882226e-01 4.37074876e-06 -4.80866586e-02] [-8.03820817e-03 -1.27749141e-04 9.99967685e-01 -2.92370926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.115769231000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.05, Z:-0.29 [[ 9.99856742e-01 1.51924213e-02 7.46225870e-03 1.91649763e+00] [-1.51928645e-02 9.99884582e-01 2.70794572e-06 -4.65270324e-02] [-7.46135628e-03 -1.16080643e-04 9.99972157e-01 -2.92540320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.145769231 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.04, Z:-0.29 [[ 9.99872699e-01 1.30189049e-02 9.22458508e-03 1.94974121e+00] [-1.30194694e-02 9.99915243e-01 1.14966853e-06 -4.43056061e-02] [-9.22378826e-03 -1.21248726e-04 9.99957453e-01 -2.92135449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.175769231 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.04, Z:-0.29 [[ 9.99880460e-01 1.21398291e-02 9.57555294e-03 1.98302406e+00] [-1.21403788e-02 9.99926303e-01 -7.26685166e-07 -4.37437053e-02] [-9.57485608e-03 -1.15524242e-04 9.99954153e-01 -2.91975433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2057692310000006 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.04, Z:-0.29 [[ 9.99901812e-01 1.08337546e-02 8.88793051e-03 2.01497019e+00] [-1.08341606e-02 9.99941309e-01 -2.46722442e-06 -4.05937694e-02] [-8.88743560e-03 -9.38262845e-05 9.99960502e-01 -2.92024050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.235769231000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.04, Z:-0.29 [[ 9.99901034e-01 1.05707912e-02 9.28332859e-03 2.04826691e+00] [-1.05712144e-02 9.99944123e-01 -3.48568676e-06 -3.81950659e-02] [-9.28284672e-03 -9.46507148e-05 9.99956909e-01 -2.92322307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.265769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.04, Z:-0.29 [[ 9.99888091e-01 1.10812634e-02 1.00503948e-02 2.08030359e+00] [-1.10817632e-02 9.99938595e-01 -5.96757805e-06 -3.64239410e-02] [-1.00498438e-02 -1.05409184e-04 9.99949493e-01 -2.92342204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.295769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.03, Z:-0.29 [[ 9.99836867e-01 1.47711744e-02 1.03948310e-02 2.11367465e+00] [-1.47718881e-02 9.99890890e-01 -8.11875667e-06 -3.34516207e-02] [-1.03938167e-02 -1.45433848e-04 9.99945972e-01 -2.92851346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.325769231000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.03, Z:-0.29 [[ 9.99810794e-01 1.70973721e-02 9.27660774e-03 2.14668855e+00] [-1.70980268e-02 9.99853818e-01 -8.74129927e-06 -3.16052785e-02] [-9.27540112e-03 -1.49872042e-04 9.99956971e-01 -2.93650431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.355769231 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.03, Z:-0.30 [[ 9.99753426e-01 2.08971159e-02 7.50990817e-03 2.17923972e+00] [-2.08976450e-02 9.99781620e-01 -8.02270734e-06 -2.53514923e-02] [-7.50843581e-03 -1.48918666e-04 9.99971800e-01 -2.95378545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.385769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.02, Z:-0.30 [[ 9.99724100e-01 2.23056365e-02 7.36083332e-03 2.21188738e+00] [-2.23061730e-02 9.99751186e-01 -9.21142542e-06 -2.18961693e-02] [-7.35920731e-03 -1.54983137e-04 9.99972909e-01 -2.95438557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4157692310000005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.02, Z:-0.29 [[ 9.99690593e-01 2.35510705e-02 8.00409215e-03 2.24385445e+00] [-2.35517303e-02 9.99722619e-01 -1.18342250e-05 -1.87057173e-02] [-8.00215068e-03 -1.76679656e-04 9.99967967e-01 -2.94990880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.445769231000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.01, Z:-0.29 [[ 9.99647910e-01 2.43585783e-02 1.05221485e-02 2.27631745e+00] [-2.43597377e-02 9.99703257e-01 -1.79715826e-05 -1.27759225e-02] [-1.05194639e-02 -2.38351522e-04 9.99944641e-01 -2.94417407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.475769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.01, Z:-0.30 [[ 9.99687251e-01 2.29945557e-02 9.83114460e-03 2.30800417e+00] [-2.29954857e-02 9.99735569e-01 -1.84458857e-05 -6.02169623e-03] [-9.82896909e-03 -2.07631828e-04 9.99951673e-01 -2.95881218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.505769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.00, Z:-0.30 [[ 9.99744548e-01 2.08352293e-02 8.75968062e-03 2.34100524e+00] [-2.08358747e-02 9.99782909e-01 -1.75852665e-05 -3.63879932e-03] [-8.75814537e-03 -1.64934833e-04 9.99961633e-01 -2.98172237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.535769231000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.00, Z:-0.30 [[ 9.99816750e-01 1.74359859e-02 7.90269108e-03 2.37368547e+00] [-1.74363952e-02 9.99847974e-01 -1.71098297e-05 -2.51899868e-03] [-7.90178800e-03 -1.20687751e-04 9.99968773e-01 -2.99811149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.565769231000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.00, Z:-0.30 [[ 9.99920258e-01 8.14581094e-03 9.65004240e-03 2.40624647e+00] [-8.14596629e-03 9.99966821e-01 -2.32078072e-05 -1.59828752e-03] [-9.64991126e-03 -5.54029635e-05 9.99953437e-01 -3.00209863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.595769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.00, Z:-0.30 [[ 9.99919561e-01 8.23090034e-03 9.65003653e-03 2.43975394e+00] [-8.23103832e-03 9.99966124e-01 -2.54174723e-05 -1.82579316e-03] [-9.64991883e-03 -5.40143927e-05 9.99953437e-01 -3.00635353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6257692310000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.00, Z:-0.30 [[ 9.99936505e-01 4.36966268e-03 1.03871322e-02 2.47160243e+00] [-4.36960649e-03 9.99990453e-01 -2.81033980e-05 -4.07058109e-04] [-1.03871559e-02 -1.72860668e-05 9.99946052e-01 -2.99765869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.655769231000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:2.50, Y:0.00, Z:-0.30 [[ 9.99957594e-01 -1.60513983e-03 9.06826191e-03 2.50460514e+00] [ 1.60544020e-03 9.99998711e-01 -2.58434585e-05 2.87100043e-03] [-9.06820874e-03 4.04009148e-05 9.99958882e-01 -3.00532610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.685769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.54, Y:0.00, Z:-0.30 [[ 9.99964774e-01 -4.03137328e-03 7.36197105e-03 2.53643259e+00] [ 4.03164455e-03 9.99991873e-01 -2.20075842e-05 2.90043057e-03] [-7.36182249e-03 5.16876594e-05 9.99972900e-01 -3.02029728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.715769231 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:2.57, Y:0.00, Z:-0.30 [[ 9.99956252e-01 -6.37361260e-03 6.84632237e-03 2.56974088e+00] [ 6.37390894e-03 9.99979686e-01 -2.14654658e-05 1.98474411e-03] [-6.84604648e-03 6.51023621e-05 9.99976563e-01 -3.03049231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.745769231000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.00, Z:-0.30 [[ 9.99904612e-01 -1.12370044e-02 8.03095687e-03 2.60215717e+00] [ 1.12375851e-02 9.99936856e-01 -2.71840875e-05 -1.50481150e-03] [-8.03014429e-03 1.17430056e-04 9.99967751e-01 -3.03540746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.775769231000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.00, Z:-0.30 [[ 9.99865021e-01 -1.38073840e-02 8.90479560e-03 2.63475528e+00] [ 1.38082204e-02 9.99904661e-01 -3.24549233e-05 -4.15153343e-03] [-8.90349851e-03 1.55409923e-04 9.99960351e-01 -3.02907958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.805769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.01, Z:-0.30 [[ 9.99776378e-01 -1.90687234e-02 9.14213915e-03 2.66604356e+00] [ 1.90698294e-02 9.99818154e-01 -3.38061811e-05 -1.19053664e-02] [-9.13983204e-03 2.08137655e-04 9.99958209e-01 -3.03521483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8357692310000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.02, Z:-0.30 [[ 9.99726061e-01 -2.18096284e-02 8.49371918e-03 2.69740619e+00] [ 2.18106841e-02 9.99762118e-01 -3.16752936e-05 -1.68835326e-02] [-8.49100785e-03 2.16920442e-04 9.99963927e-01 -3.04200995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.865769231000001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.02, Z:-0.30 [[ 9.99672455e-01 -2.42397887e-02 8.21072284e-03 2.72998552e+00] [ 2.42408589e-02 9.99706147e-01 -3.08373166e-05 -2.17346906e-02] [-8.20756260e-03 2.29862190e-04 9.99966291e-01 -3.04782560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.895769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.03, Z:-0.30 [[ 9.99638458e-01 -2.56353095e-02 8.11078073e-03 2.76135141e+00] [ 2.56364031e-02 9.99671333e-01 -3.08817237e-05 -2.57190226e-02] [-8.10732332e-03 2.38801803e-04 9.99967107e-01 -3.04707805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.925769231 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.03, Z:-0.30 [[ 9.99675078e-01 -2.45329431e-02 6.91910857e-03 2.79364226e+00] [ 2.45337133e-02 9.99699003e-01 -2.64539948e-05 -3.33191416e-02] [-6.91637695e-03 1.96196826e-04 9.99976062e-01 -3.04393240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9557692310000006 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.04, Z:-0.30 [[ 9.99794437e-01 -1.93497596e-02 6.05560280e-03 2.82542529e+00] [ 1.93502567e-02 9.99812766e-01 -2.35031336e-05 -4.21194390e-02] [-6.05401420e-03 1.40675771e-04 9.99981664e-01 -3.04607855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.985769231000001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.05, Z:-0.30 [[ 9.99842922e-01 -1.64722519e-02 6.54191721e-03 2.85595492e+00] [ 1.64727721e-02 9.99864314e-01 -2.56395997e-05 -4.54150026e-02] [-6.54060722e-03 1.33399084e-04 9.99978601e-01 -3.04542066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.015769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.05, Z:-0.31 [[ 9.99873490e-01 -1.41265975e-02 7.31050551e-03 2.88783416e+00] [ 1.41271839e-02 9.99900206e-01 -2.85755860e-05 -4.83534106e-02] [-7.30937229e-03 1.31848827e-04 9.99973277e-01 -3.05112342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.045769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.06, Z:-0.31 [[ 9.99901654e-01 -1.22593822e-02 6.81104746e-03 2.91954396e+00] [ 1.22598497e-02 9.99924845e-01 -2.68910795e-05 -5.56069244e-02] [-6.81020591e-03 1.10390853e-04 9.99976804e-01 -3.05127133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.075769231000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.06, Z:-0.31 [[ 9.99911880e-01 -1.17720829e-02 6.13599525e-03 2.95200483e+00] [ 1.17724545e-02 9.99930702e-01 -2.44439340e-05 -6.02109631e-02] [-6.13528228e-03 9.66775050e-05 9.99981174e-01 -3.05531908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.105769231000001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.07, Z:-0.31 [[ 9.99900406e-01 -1.23143963e-02 6.89440319e-03 2.98415116e+00] [ 1.23148807e-02 9.99924169e-01 -2.78128055e-05 -6.70321007e-02] [-6.89353788e-03 1.12713789e-04 9.99976233e-01 -3.06559045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.135769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.07, Z:-0.31 [[ 9.99887412e-01 -1.22829239e-02 8.61939132e-03 3.01540872e+00] [ 1.22836854e-02 9.99924552e-01 -3.54164687e-05 -7.09772991e-02] [-8.61830598e-03 1.41290373e-04 9.99962852e-01 -3.06411907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1657692310000005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.08, Z:-0.31 [[ 9.99870401e-01 -1.22964331e-02 1.03912701e-02 3.04721679e+00] [ 1.22975455e-02 9.99924381e-01 -4.31586953e-05 -7.52359417e-02] [-1.03899537e-02 1.70940219e-04 9.99946008e-01 -3.06210068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.195769231000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.08, Z:-0.31 [[ 9.99895137e-01 -9.74135602e-03 1.07154677e-02 3.07872605e+00] [ 9.74239818e-03 9.99952541e-01 -4.50618901e-05 -8.25078734e-02] [-1.07145202e-02 1.49451518e-04 9.99942587e-01 -3.05503090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.225769231 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.08, Z:-0.31 [[ 9.99932827e-01 -6.47642914e-03 9.61232369e-03 3.11101314e+00] [ 6.47711940e-03 9.99979022e-01 -4.06799227e-05 -8.39274472e-02] [-9.61185859e-03 1.02937358e-04 9.99953800e-01 -3.06387190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.255769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.09, Z:-0.31 [[ 9.99974194e-01 3.05200046e-03 6.50360952e-03 3.14196981e+00] [-3.05188524e-03 9.99995343e-01 -2.76403260e-05 -8.55114254e-02] [-6.50366359e-03 7.79134276e-06 9.99978851e-01 -3.07869965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.285769231000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.09, Z:-0.31 [[ 9.99946817e-01 8.27118819e-03 6.16035847e-03 3.17456188e+00] [-8.27118215e-03 9.99965793e-01 -2.64571165e-05 -8.67355202e-02] [-6.16036658e-03 -2.44977376e-05 9.99981024e-01 -3.08244822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.315769231000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.09, Z:-0.31 [[ 9.99886037e-01 1.33640480e-02 7.02245716e-03 3.20641953e+00] [-1.33641633e-02 9.99910695e-01 -3.05095694e-05 -8.77563035e-02] [-7.02223776e-03 -6.33431716e-05 9.99975342e-01 -3.08917567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.345769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.09, Z:-0.31 [[ 9.99719231e-01 2.22083225e-02 8.26128316e-03 3.23843472e+00] [-2.22087784e-02 9.99753354e-01 -3.65568560e-05 -8.68517086e-02] [-8.26005741e-03 -1.46926415e-04 9.99965874e-01 -3.08754274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3757692310000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.09, Z:-0.31 [[ 9.99650996e-01 2.54767210e-02 6.98734347e-03 3.27124737e+00] [-2.54771311e-02 9.99675405e-01 -3.03275840e-05 -8.54701389e-02] [-6.98584805e-03 -1.47700466e-04 9.99975588e-01 -3.09551877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.405769231000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.08, Z:-0.31 [[ 9.99551175e-01 2.97336028e-02 3.65543033e-03 3.30289646e+00] [-2.97337448e-02 9.99557854e-01 -1.55161540e-05 -8.29657081e-02] [-3.65427545e-03 -9.31804424e-05 9.99993319e-01 -3.10661250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.435769231 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.08, Z:-0.31 [[ 9.99527983e-01 3.05455868e-02 3.28313876e-03 3.33495803e+00] [-3.05457041e-02 9.99533371e-01 -1.44064715e-05 -8.10870524e-02] [-3.28204680e-03 -8.58861137e-05 9.99994610e-01 -3.10860537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.465769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.08, Z:-0.31 [[ 9.99503086e-01 3.12485812e-02 4.13617451e-03 3.36654290e+00] [-3.12487678e-02 9.99511638e-01 -1.95311102e-05 -7.83155341e-02] [-4.13476488e-03 -1.09728952e-04 9.99991446e-01 -3.10690127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.495769231000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.07, Z:-0.31 [[ 9.99470469e-01 3.17001889e-02 7.34020676e-03 3.39885277e+00] [-3.17007692e-02 9.99497404e-01 -3.72938202e-05 -7.09947162e-02] [-7.33769982e-03 -1.95416129e-04 9.99973060e-01 -3.10541201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.525769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.07, Z:-0.31 [[ 9.99451949e-01 3.19009075e-02 8.83933340e-03 3.43048904e+00] [-3.19017404e-02 9.99491009e-01 -4.67974956e-05 -6.84095885e-02] [-8.83632714e-03 -2.35218271e-04 9.99960931e-01 -3.10590155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.555769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.06, Z:-0.31 [[ 9.99495818e-01 3.02623931e-02 9.60716831e-03 3.46330814e+00] [-3.02632832e-02 9.99541961e-01 -5.27493554e-05 -6.40256759e-02] [-9.60436417e-03 -2.38021695e-04 9.99953849e-01 -3.11120145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5857692310000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.06, Z:-0.31 [[ 9.99562247e-01 2.82617115e-02 8.75157094e-03 3.49534134e+00] [-2.82623602e-02 9.99600538e-01 -4.95558231e-05 -6.12066228e-02] [-8.74947556e-03 -1.97805921e-04 9.99961703e-01 -3.11911735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.615769231000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.06, Z:-0.31 [[ 9.99631096e-01 2.61220375e-02 7.43717201e-03 3.52798348e+00] [-2.61224400e-02 9.99658750e-01 -4.30315146e-05 -5.79785982e-02] [-7.43575815e-03 -1.51261440e-04 9.99972343e-01 -3.12736473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.645769231000001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.05, Z:-0.31 [[ 9.99755724e-01 2.12111246e-02 6.21132192e-03 3.56044991e+00] [-2.12113051e-02 9.99775014e-01 -3.68076113e-05 -5.27315581e-02] [-6.21070519e-03 -9.49516245e-05 9.99980709e-01 -3.13409878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.675769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.05, Z:-0.31 [[ 9.99841842e-01 1.54552148e-02 8.79931105e-03 3.59367772e+00] [-1.54553324e-02 9.99880558e-01 -5.46308600e-05 -4.97783486e-02] [-8.79910437e-03 -8.13740578e-05 9.99961284e-01 -3.12405592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7057692310000006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.05, Z:-0.31 [[ 9.99876293e-01 1.24806145e-02 9.57248938e-03 3.62656993e+00] [-1.24805985e-02 9.99922112e-01 -6.14088090e-05 -4.84062931e-02] [-9.57251022e-03 -5.80691847e-05 9.99954181e-01 -3.11701934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.735769231000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.05, Z:-0.31 [[ 9.99909473e-01 9.21006056e-03 9.80916136e-03 3.66005868e+00] [-9.20986753e-03 9.99957586e-01 -6.48506800e-05 -4.68314351e-02] [-9.80934259e-03 -2.54962674e-05 9.99951887e-01 -3.12200803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.765769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.05, Z:-0.31 [[ 9.99959244e-01 2.12778277e-03 8.77397495e-03 3.69174717e+00] [-2.12734292e-03 9.99997735e-01 -5.94631715e-05 -4.52142598e-02] [-8.77408160e-03 4.07954945e-05 9.99961506e-01 -3.14181420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.795769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.05, Z:-0.31 [[ 9.99966603e-01 -8.25260506e-04 8.13094040e-03 3.72438431e+00] [ 8.25745789e-04 9.99999657e-01 -5.63265392e-05 -4.57769879e-02] [-8.13089113e-03 6.30387479e-05 9.99966942e-01 -3.14929394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.825769231000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.05, Z:-0.31 [[ 9.99963509e-01 -3.70569276e-03 7.69734601e-03 3.75638374e+00] [ 3.70622350e-03 9.99993130e-01 -5.46873132e-05 -4.50980231e-02] [-7.69709048e-03 8.32134023e-05 9.99970373e-01 -3.14036512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.855769231000001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.04, Z:-0.31 [[ 9.99960691e-01 -3.97682885e-03 7.92475301e-03 3.78867001e+00] [ 3.97741608e-03 9.99992088e-01 -5.83412903e-05 -4.44578950e-02] [-7.92445830e-03 8.98590370e-05 9.99968597e-01 -3.13838547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.885769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.04, Z:-0.31 [[ 9.99957796e-01 -3.89279966e-03 8.32181726e-03 3.82002349e+00] [ 3.89344825e-03 9.99992419e-01 -6.17391582e-05 -4.38555511e-02] [-8.32151383e-03 9.41371174e-05 9.99965371e-01 -3.14251096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9157692310000005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.04, Z:-0.32 [[ 9.99958626e-01 -3.81662174e-03 8.25706899e-03 3.85113571e+00] [ 3.81726008e-03 9.99992712e-01 -6.15500644e-05 -4.20388474e-02] [-8.25677391e-03 9.30668977e-05 9.99965908e-01 -3.15036316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.945769231000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.04, Z:-0.32 [[ 9.99966265e-01 -3.00741956e-03 7.64353580e-03 3.88316189e+00] [ 3.00794419e-03 9.99995474e-01 -5.71425579e-05 -4.15447646e-02] [-7.64332936e-03 8.01319594e-05 9.99970786e-01 -3.15805830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.975769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.04, Z:-0.32 [[ 9.99970282e-01 -1.31007279e-03 7.59728287e-03 3.91391796e+00] [ 1.31054522e-03 9.99999140e-01 -5.72059733e-05 -4.07914593e-02] [-7.59720139e-03 6.71608560e-05 9.99971139e-01 -3.17119063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.04, Z:-0.32 [[ 9.99968777e-01 -1.87260379e-03 7.67708357e-03 3.94634312e+00] [ 1.87310404e-03 9.99998244e-01 -5.79722226e-05 -4.07167395e-02] [-7.67696153e-03 7.23503888e-05 9.99970529e-01 -3.17663550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.035769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.04, Z:-0.32 [[ 9.99968953e-01 -3.01033701e-03 7.28223771e-03 3.97941381e+00] [ 3.01081521e-03 9.99995466e-01 -5.47043044e-05 -4.17728112e-02] [-7.28204001e-03 7.66280780e-05 9.99973483e-01 -3.18330945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.04, Z:-0.32 [[ 9.99951814e-01 -7.64968314e-03 6.15243955e-03 4.01203899e+00] [ 7.65011684e-03 9.99970736e-01 -4.69604976e-05 -4.48260238e-02] [-6.15190027e-03 9.40251161e-05 9.99981072e-01 -3.19434887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.095769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.05, Z:-0.32 [[ 9.99931600e-01 -1.00031302e-02 6.06083128e-03 4.04448153e+00] [ 1.00036059e-02 9.99949962e-01 -4.81796691e-05 -4.62156978e-02] [-6.06004605e-03 1.08806541e-04 9.99981632e-01 -3.19756723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125769231000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.05, Z:-0.32 [[ 9.99892968e-01 -1.22418731e-02 8.01176576e-03 4.07706053e+00] [ 1.22427806e-02 9.99925052e-01 -6.42313813e-05 -4.80091275e-02] [-8.01037898e-03 1.62310797e-04 9.99967903e-01 -3.19131466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.155769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.05, Z:-0.32 [[ 9.99881377e-01 -1.23169643e-02 9.24798872e-03 4.10817044e+00] [ 1.23181820e-02 9.99924126e-01 -7.47215679e-05 -4.97036383e-02] [-9.24636669e-03 1.88631112e-04 9.99957234e-01 -3.18760904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.185769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.05, Z:-0.32 [[ 9.99875938e-01 -1.23706638e-02 9.75063804e-03 4.14001112e+00] [ 1.23720234e-02 9.99923460e-01 -7.91242869e-05 -5.10414281e-02] [-9.74891291e-03 1.99749592e-04 9.99952458e-01 -3.18600700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.215769231000001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.05, Z:-0.32 [[ 9.99880902e-01 -1.20886033e-02 9.59410112e-03 4.17244330e+00] [ 1.20899108e-02 9.99926911e-01 -7.82930152e-05 -5.16086152e-02] [-9.59245344e-03 1.94275517e-04 9.99953972e-01 -3.18593231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.05, Z:-0.32 [[ 9.99882384e-01 -1.19085902e-02 9.66456009e-03 4.20372525e+00] [ 1.19099133e-02 9.99929071e-01 -7.93621354e-05 -5.16929116e-02] [-9.66292951e-03 1.94456874e-04 9.99953294e-01 -3.19123659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.275769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.05, Z:-0.32 [[ 9.99877693e-01 -1.19683249e-02 1.00676694e-02 4.23575375e+00] [ 1.19697672e-02 9.99928356e-01 -8.30129642e-05 -5.17852755e-02] [-1.00659546e-02 2.03510470e-04 9.99949316e-01 -3.19654765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305769231000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.05, Z:-0.32 [[ 9.99871324e-01 -1.24439924e-02 1.01233188e-02 4.26837307e+00] [ 1.24454799e-02 9.99922548e-01 -8.39479381e-05 -5.16067378e-02] [-1.01214901e-02 2.09926696e-04 9.99948754e-01 -3.19806429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.335769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.05, Z:-0.32 [[ 9.99873051e-01 -1.27304553e-02 9.58216668e-03 4.29981700e+00] [ 1.27318055e-02 9.99918944e-01 -7.99127669e-05 -5.13959734e-02] [-9.58037266e-03 2.01900904e-04 9.99954087e-01 -3.19445413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.365769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.05, Z:-0.32 [[ 9.99876659e-01 -1.26872569e-02 9.25741100e-03 4.33203006e+00] [ 1.26885177e-02 9.99919495e-01 -7.74715550e-05 -5.03868691e-02] [-9.25568283e-03 1.94924823e-04 9.99957146e-01 -3.19349522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.395769231000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.05, Z:-0.32 [[ 9.99865026e-01 -1.32649049e-02 9.69391620e-03 4.36467263e+00] [ 1.32663191e-02 9.99911995e-01 -8.16014547e-05 -4.99453348e-02] [-9.69198065e-03 2.10193027e-04 9.99953010e-01 -3.19667577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425769231 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.05, Z:-0.32 [[ 9.99829463e-01 -1.49771673e-02 1.08041250e-02 4.39721346e+00] [ 1.49790302e-02 9.99887804e-01 -9.15286088e-05 -5.06189131e-02] [-1.08015420e-02 2.53348315e-04 9.99941630e-01 -3.21012201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.455769231000001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.05, Z:-0.32 [[ 9.99806509e-01 -1.64437149e-02 1.07957654e-02 4.42854367e+00] [ 1.64456665e-02 9.99864757e-01 -9.20134882e-05 -5.19919235e-02] [-1.07927923e-02 2.69539241e-04 9.99941720e-01 -3.21071944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.05, Z:-0.32 [[ 9.99807353e-01 -1.63923061e-02 1.07957622e-02 4.46121123e+00] [ 1.63942587e-02 9.99865601e-01 -9.23817256e-05 -5.23741668e-02] [-1.07927969e-02 2.69352447e-04 9.99941720e-01 -3.21486883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.515769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.05, Z:-0.32 [[ 9.99790601e-01 -1.77777002e-02 1.01344704e-02 4.49315102e+00] [ 1.77794969e-02 9.99841928e-01 -8.72158932e-05 -5.37880294e-02] [-1.01313179e-02 2.67383415e-04 9.99948641e-01 -3.21711920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545769231000001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.06, Z:-0.32 [[ 9.99794652e-01 -1.81344087e-02 9.04418539e-03 4.52461415e+00] [ 1.81358565e-02 9.99835529e-01 -7.80775160e-05 -5.61796214e-02] [-9.04128199e-03 2.42085531e-04 9.99959097e-01 -3.21652016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.575769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.06, Z:-0.32 [[ 9.99806961e-01 -1.72160056e-02 9.46831366e-03 4.55636288e+00] [ 1.72175596e-02 9.99851763e-01 -8.26280119e-05 -5.77199480e-02] [-9.46548759e-03 2.45633316e-04 9.99955171e-01 -3.21939774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.605769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.06, Z:-0.32 [[ 9.99834223e-01 -1.42708569e-02 1.13079453e-02 4.58727258e+00] [ 1.42728927e-02 9.99898132e-01 -9.93421603e-05 -6.06456987e-02] [-1.13053757e-02 2.60722781e-04 9.99936058e-01 -3.21805706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.635769231000001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.06, Z:-0.32 [[ 9.99861754e-01 -1.22845041e-02 1.12055155e-02 4.61933269e+00] [ 1.22863826e-02 9.99924515e-01 -9.88110022e-05 -6.09492423e-02] [-1.12034559e-02 2.36472593e-04 9.99937211e-01 -3.21913771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.06, Z:-0.32 [[ 9.99926301e-01 -8.19122284e-03 8.96088305e-03 4.65125151e+00] [ 8.19226239e-03 9.99966440e-01 -7.93096148e-05 -6.08604284e-02] [-8.95993267e-03 1.52713675e-04 9.99959847e-01 -3.22614799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.695769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.06, Z:-0.32 [[ 9.99950688e-01 -5.85800179e-03 8.01900758e-03 4.68286876e+00] [ 5.85876231e-03 9.99982835e-01 -7.13516506e-05 -6.19662163e-02] [-8.01845195e-03 1.18329592e-04 9.99967845e-01 -3.23831703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725769231000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.06, Z:-0.32 [[ 9.99967313e-01 -3.69252454e-03 7.19290969e-03 4.71468400e+00] [ 3.69308148e-03 9.99993178e-01 -6.41476864e-05 -6.28750068e-02] [-7.19262376e-03 9.07095911e-05 9.99974129e-01 -3.24513268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.755769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.06, Z:-0.32 [[ 9.99974331e-01 3.54096140e-04 7.15625394e-03 4.74612339e+00] [-3.53645591e-04 9.99999935e-01 -6.42241207e-05 -6.32755768e-02] [-7.15627622e-03 6.16916945e-05 9.99974392e-01 -3.24921806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785769231000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.06, Z:-0.32 [[ 9.99970065e-01 1.68306452e-03 7.55227000e-03 4.77834494e+00] [-1.68259886e-03 9.99998582e-01 -6.80114835e-05 -6.31809266e-02] [-7.55237376e-03 5.53020066e-05 9.99971479e-01 -3.24774706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.815769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.06, Z:-0.32 [[ 9.99953606e-01 3.86550085e-03 8.82295156e-03 4.81049181e+00] [-3.86494572e-03 9.99992528e-01 -7.99687720e-05 -6.35677633e-02] [-8.82319475e-03 4.58648330e-05 9.99961074e-01 -3.24573046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.845769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.06, Z:-0.33 [[ 9.99943242e-01 5.02767858e-03 9.39333641e-03 4.84311286e+00] [-5.02710046e-03 9.99987360e-01 -8.51559791e-05 -6.34111176e-02] [-9.39364582e-03 3.79299001e-05 9.99955878e-01 -3.25523243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.875769231000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.06, Z:-0.33 [[ 9.99932029e-01 6.52624868e-03 9.66154341e-03 4.87509165e+00] [-6.52568859e-03 9.99978703e-01 -8.94952225e-05 -6.31213135e-02] [-9.66192172e-03 2.64409159e-05 9.99953322e-01 -3.25467196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.06, Z:-0.33 [[ 9.99930434e-01 8.58636679e-03 8.08714103e-03 4.90781786e+00] [-8.58603378e-03 9.99963136e-01 -7.58970527e-05 -6.25738355e-02] [-8.08749459e-03 6.45530681e-06 9.99967296e-01 -3.27634925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.935769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.06, Z:-0.33 [[ 9.99933863e-01 9.18488167e-03 6.92150794e-03 4.93975704e+00] [-9.18464491e-03 9.99957818e-01 -6.59924265e-05 -6.30385927e-02] [-6.92182211e-03 2.41646936e-06 9.99976044e-01 -3.28629216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965769231000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.06, Z:-0.33 [[ 9.99929843e-01 9.49027193e-03 7.08825849e-03 4.97290152e+00] [-9.49002254e-03 9.99954966e-01 -6.88184421e-05 -6.22440602e-02] [-7.08859238e-03 1.54588118e-06 9.99974876e-01 -3.28272036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.995769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.06, Z:-0.33 [[ 9.99919659e-01 9.61666410e-03 8.25799230e-03 5.00642342e+00] [-9.61631409e-03 9.99953759e-01 -8.20908098e-05 -6.16528983e-02] [-8.25839988e-03 2.67276684e-06 9.99965899e-01 -3.27706028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.025769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.06, Z:-0.33 [[ 9.99911577e-01 9.50821974e-03 9.29689605e-03 5.03877148e+00] [-9.50775180e-03 9.99954796e-01 -9.45295941e-05 -6.14144994e-02] [-9.29737459e-03 6.12865539e-06 9.99956778e-01 -3.27627528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.055769231000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.06, Z:-0.33 [[ 9.99918543e-01 8.78008789e-03 9.26377555e-03 5.07037223e+00] [-8.77957672e-03 9.99961454e-01 -9.58458765e-05 -6.17628805e-02] [-9.26426000e-03 1.45060411e-05 9.99957086e-01 -3.28598021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.06, Z:-0.33 [[ 9.99929696e-01 7.79850371e-03 8.93236985e-03 5.10309691e+00] [-7.79797700e-03 9.99969591e-01 -9.37933235e-05 -6.23971581e-02] [-8.93282968e-03 2.41323148e-05 9.99960101e-01 -3.30003176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.115769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.06, Z:-0.33 [[ 9.99940799e-01 4.60758219e-03 9.85744232e-03 5.13482118e+00] [-4.60676460e-03 9.99989383e-01 -1.05645706e-04 -6.31697012e-02] [-9.85782444e-03 6.02285357e-05 9.99951409e-01 -3.29354190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.06, Z:-0.33 [[ 9.99936517e-01 3.54288421e-03 1.06962516e-02 5.16671908e+00] [-3.54183727e-03 9.99993721e-01 -1.16820481e-04 -6.31355724e-02] [-1.06965983e-02 7.89286826e-05 9.99942787e-01 -3.28826210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.175769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.06, Z:-0.33 [[ 9.99932419e-01 2.73882793e-03 1.12984696e-02 5.19935570e+00] [-2.73759409e-03 9.99996245e-01 -1.24667706e-04 -6.33452186e-02] [-1.12987686e-02 9.37286572e-05 9.99936162e-01 -3.29374145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205769231000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.07, Z:-0.33 [[ 9.99954441e-01 6.51002399e-04 9.52320738e-03 5.23222737e+00] [-6.50018235e-04 9.99999783e-01 -1.06438620e-04 -6.57013174e-02] [-9.52327461e-03 1.00243512e-04 9.99954648e-01 -3.31552945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.235769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.07, Z:-0.33 [[ 9.99961555e-01 -1.32772054e-03 8.66745575e-03 5.26371935e+00] [ 1.32862536e-03 9.99999113e-01 -9.86357355e-05 -6.84519499e-02] [-8.66731710e-03 1.10147745e-04 9.99962432e-01 -3.32281019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.07, Z:-0.33 [[ 9.99959733e-01 -4.35545562e-03 7.84613865e-03 5.29635731e+00] [ 4.35629393e-03 9.99990507e-01 -8.97561667e-05 -7.15564468e-02] [-7.84567323e-03 1.23932639e-04 9.99969215e-01 -3.32805816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.295769231000001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.08, Z:-0.33 [[ 9.99916342e-01 -9.99064559e-03 8.21555060e-03 5.32789677e+00] [ 9.99176910e-03 9.99950076e-01 -9.57193137e-05 -7.82986123e-02] [-8.21418415e-03 1.77799191e-04 9.99966247e-01 -3.32329776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.08, Z:-0.33 [[ 9.99889612e-01 -1.15038780e-02 9.40348172e-03 5.35934148e+00] [ 1.15054400e-02 9.99933804e-01 -1.12034329e-04 -8.18445130e-02] [-9.40157042e-03 2.20213156e-04 9.99955780e-01 -3.32181181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.355769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.08, Z:-0.33 [[ 9.99881106e-01 -1.13601603e-02 1.04268748e-02 5.39178615e+00] [ 1.13620771e-02 9.99935442e-01 -1.24610613e-04 -8.46217661e-02] [-1.04247861e-02 2.43066753e-04 9.99945631e-01 -3.31825592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.09, Z:-0.33 [[ 9.99933007e-01 -6.34730170e-03 9.67957664e-03 5.42282901e+00] [ 6.34872201e-03 9.99979840e-01 -1.16011985e-04 -8.64888811e-02] [-9.67864514e-03 1.77457154e-04 9.99953145e-01 -3.31347150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.415769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.09, Z:-0.33 [[ 9.99962547e-01 -2.66679873e-03 8.23364820e-03 5.45502033e+00] [ 2.66770692e-03 9.99996437e-01 -9.93218436e-05 -8.65547628e-02] [-8.23335399e-03 1.21283084e-04 9.99966098e-01 -3.32196977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.445769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.09, Z:-0.33 [[ 9.99973314e-01 1.22913196e-03 7.20142734e-03 5.48660255e+00] [-1.22853585e-03 9.99999242e-01 -8.71987780e-05 -8.67750104e-02] [-7.20152905e-03 7.83492394e-05 9.99974066e-01 -3.33383371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.475769231000001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.09, Z:-0.33 [[ 9.99947902e-01 6.20684744e-03 8.10360425e-03 5.51859182e+00] [-6.20625374e-03 9.99980736e-01 -9.84090820e-05 -8.75837796e-02] [-8.10405896e-03 4.81109309e-05 9.99967160e-01 -3.33421526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.09, Z:-0.33 [[ 9.99937710e-01 7.42475113e-03 8.33365665e-03 5.55119751e+00] [-7.42416729e-03 9.99972435e-01 -1.00991827e-04 -8.88278412e-02] [-8.33417677e-03 3.91150751e-05 9.99965269e-01 -3.33572273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.535769231000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.09, Z:-0.33 [[ 9.99953624e-01 5.95692146e-03 7.56735405e-03 5.58318863e+00] [-5.95638834e-03 9.99982256e-01 -9.29850339e-05 -9.03832359e-02] [-7.56777368e-03 4.79066222e-05 9.99971363e-01 -3.34632027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565769231 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.09, Z:-0.33 [[ 9.99961681e-01 3.81101123e-03 7.88120053e-03 5.61630039e+00] [-3.81035510e-03 9.99992736e-01 -9.82662438e-05 -9.09107357e-02] [-7.88151777e-03 6.82323057e-05 9.99968938e-01 -3.34806876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.595769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.09, Z:-0.33 [[ 9.99962045e-01 1.73574613e-03 8.53794310e-03 5.64808501e+00] [-1.73488449e-03 9.99998489e-01 -1.08323721e-04 -9.21326278e-02] [-8.53811823e-03 9.35072645e-05 9.99963545e-01 -3.34042107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625769231000001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.10, Z:-0.33 [[ 9.99946072e-01 -1.06247568e-03 1.03307383e-02 5.68083301e+00] [ 1.06390981e-03 9.99999425e-01 -1.33327371e-04 -9.59765889e-02] [-1.03305907e-02 1.44311154e-04 9.99946628e-01 -3.33332858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.655769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.10, Z:-0.33 [[ 9.99939207e-01 -1.25349589e-03 1.09549481e-02 5.71324195e+00] [ 1.25514622e-03 9.99999202e-01 -1.43773728e-04 -9.79832926e-02] [-1.09547591e-02 1.57515049e-04 9.99939982e-01 -3.33758383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.685769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.10, Z:-0.34 [[ 9.99946844e-01 -1.01968105e-03 1.02600826e-02 5.74495284e+00] [ 1.02112943e-03 9.99999469e-01 -1.35928834e-04 -1.00981910e-01] [-1.02599386e-02 1.46398481e-04 9.99947355e-01 -3.35028743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.715769231000001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.10, Z:-0.34 [[ 9.99957172e-01 -1.20722038e-03 9.17585234e-03 5.77742205e+00] [ 1.20839056e-03 9.99999262e-01 -1.21985001e-04 -1.03493507e-01] [-9.17569831e-03 1.33067790e-04 9.99957894e-01 -3.36403579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745769231 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.11, Z:-0.34 [[ 9.99961481e-01 -2.32166267e-03 8.46446535e-03 5.81008317e+00] [ 2.32269836e-03 9.99997296e-01 -1.12529073e-04 -1.10120473e-01] [-8.46418121e-03 1.32185138e-04 9.99964169e-01 -3.36943067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.775769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.11, Z:-0.34 [[ 9.99962432e-01 -2.32701630e-03 8.34982644e-03 5.84101679e+00] [ 2.32804348e-03 9.99997284e-01 -1.13301067e-04 -1.12861748e-01] [-8.34954011e-03 1.32735570e-04 9.99965133e-01 -3.36336655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805769231000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.11, Z:-0.34 [[ 9.99965289e-01 -1.74442432e-03 8.14726003e-03 5.87361861e+00] [ 1.74538487e-03 9.99998471e-01 -1.10789634e-04 -1.14650498e-01] [-8.14705431e-03 1.25005893e-04 9.99966804e-01 -3.36524244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.835769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.12, Z:-0.34 [[ 9.99964199e-01 -2.95630712e-04 8.45653017e-03 5.90515359e+00] [ 2.96617819e-04 9.99999949e-01 -1.15473154e-04 -1.16644418e-01] [-8.45649561e-03 1.17977377e-04 9.99964236e-01 -3.36740617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865769231000002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.12, Z:-0.34 [[ 9.99956584e-01 6.42014535e-04 9.29608177e-03 5.93627956e+00] [-6.40858689e-04 9.99999787e-01 -1.27315147e-04 -1.18762268e-01] [-9.29616152e-03 1.21352144e-04 9.99956782e-01 -3.36782559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.895769231000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.12, Z:-0.34 [[ 9.99941744e-01 2.50460769e-03 1.04992983e-02 5.96859889e+00] [-2.50323166e-03 9.99996857e-01 -1.44199422e-04 -1.22040342e-01] [-1.04996264e-02 1.17908846e-04 9.99944870e-01 -3.37052604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.12, Z:-0.34 [[ 9.99943712e-01 2.93839438e-03 1.01950188e-02 6.00146024e+00] [-2.93711835e-03 9.99995677e-01 -1.40132102e-04 -1.23742837e-01] [-1.01953865e-02 1.10180238e-04 9.99948020e-01 -3.38212957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955769231000001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.13, Z:-0.34 [[ 9.99949951e-01 2.78962801e-03 9.60801598e-03 6.03427001e+00] [-2.78847192e-03 9.99996103e-01 -1.33718808e-04 -1.25788062e-01] [-9.60835157e-03 1.06920433e-04 9.99953833e-01 -3.39311529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985769231 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.13, Z:-0.34 [[ 9.99968305e-01 1.97767925e-03 7.71219226e-03 6.06750007e+00] [-1.97690289e-03 9.99998040e-01 -1.08289432e-04 -1.31822041e-01] [-7.71239131e-03 9.30397446e-05 9.99970255e-01 -3.40287752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.015769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.14, Z:-0.34 [[ 9.99974383e-01 1.64674380e-03 6.96573983e-03 6.10072222e+00] [-1.64609495e-03 9.99998640e-01 -9.88819216e-05 -1.36357335e-01] [-6.96589319e-03 8.74131194e-05 9.99975734e-01 -3.40994999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045769231000001 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.14, Z:-0.34 [[ 9.99969853e-01 6.04709390e-04 7.74124994e-03 6.13234459e+00] [-6.03862935e-04 9.99999811e-01 -1.11680335e-04 -1.43036365e-01] [-7.74131602e-03 1.07002315e-04 9.99970030e-01 -3.39960377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.15, Z:-0.34 [[ 9.99962319e-01 8.99791955e-04 8.63433521e-03 6.16454624e+00] [-8.98730510e-04 9.99999588e-01 -1.26812281e-04 -1.45963964e-01] [-8.63444575e-03 1.19047562e-04 9.99962715e-01 -3.40024227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.105769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.15, Z:-0.34 [[ 9.99958187e-01 2.11721921e-03 8.89610805e-03 6.19673298e+00] [-2.11613542e-03 9.99997752e-01 -1.31238420e-04 -1.49403858e-01] [-8.89636592e-03 1.12407564e-04 9.99960420e-01 -3.40360187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135769231000001 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.16, Z:-0.34 [[ 9.99952706e-01 6.00299098e-03 7.65174743e-03 6.22916094e+00] [-6.00230087e-03 9.99981980e-01 -1.13151306e-04 -1.57426973e-01] [-7.65228879e-03 6.72178645e-05 9.99970719e-01 -3.41517305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.16, Z:-0.34 [[ 9.99940467e-01 8.45011555e-03 6.90348366e-03 6.26174285e+00] [-8.44961587e-03 9.99964296e-01 -1.01543340e-04 -1.61481090e-01] [-6.90409523e-03 4.32055093e-05 9.99976166e-01 -3.41839320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.195769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.17, Z:-0.34 [[ 9.99878452e-01 1.38746621e-02 7.11155311e-03 6.29259433e+00] [-1.38742532e-02 9.99903742e-01 -1.06818820e-04 -1.67683243e-01] [-7.11235064e-03 8.13834783e-06 9.99974707e-01 -3.41276790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225769231000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.17, Z:-0.34 [[ 9.99838546e-01 1.63447674e-02 7.46535232e-03 6.32563867e+00] [-1.63443895e-02 9.99866415e-01 -1.11633619e-04 -1.70481711e-01] [-7.46617969e-03 -1.04010308e-05 9.99972128e-01 -3.41893806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.255769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.17, Z:-0.34 [[ 9.99793189e-01 1.87207744e-02 7.94433523e-03 6.35852017e+00] [-1.87204086e-02 9.99824751e-01 -1.20406772e-04 -1.72855542e-01] [-7.94519710e-03 -2.83393307e-05 9.99968436e-01 -3.42780833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285769231000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.18, Z:-0.34 [[ 9.99677943e-01 2.37421338e-02 8.96226006e-03 6.39151524e+00] [-2.37418530e-02 9.99718113e-01 -1.37733586e-04 -1.75587376e-01] [-8.96300381e-03 -7.50914329e-05 9.99959829e-01 -3.42974070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.315769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.18, Z:-0.34 [[ 9.99624577e-01 2.59462303e-02 8.80330883e-03 6.42496226e+00] [-2.59460305e-02 9.99663336e-01 -1.36919720e-04 -1.77126803e-01] [-8.80389762e-03 -9.15426022e-05 9.99961241e-01 -3.43047917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.345769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.18, Z:-0.34 [[ 9.99579320e-01 2.78458892e-02 8.11101293e-03 6.45674046e+00] [-2.78457708e-02 9.99612223e-01 -1.27550400e-04 -1.78291558e-01] [-8.11141942e-03 -9.83606655e-05 9.99967097e-01 -3.43446898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.375769231000001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.18, Z:-0.35 [[ 9.99534191e-01 2.96682018e-02 7.15530066e-03 6.48928199e+00] [-2.96681496e-02 9.99559797e-01 -1.13461211e-04 -1.78814017e-01] [-7.15551707e-03 -9.88761710e-05 9.99974394e-01 -3.45648010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.18, Z:-0.35 [[ 9.99531770e-01 2.97496557e-02 7.15526968e-03 6.52277321e+00] [-2.97495919e-02 9.99557376e-01 -1.15376143e-04 -1.79496872e-01] [-7.15553499e-03 -9.75442325e-05 9.99974394e-01 -3.46073670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.435769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.18, Z:-0.35 [[ 9.99535472e-01 2.98133869e-02 6.32479792e-03 6.55619771e+00] [-2.98133400e-02 9.99555478e-01 -1.01713817e-04 -1.80441713e-01] [-6.32501884e-03 -8.68967822e-05 9.99979993e-01 -3.46291008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465769231000001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.18, Z:-0.35 [[ 9.99600481e-01 2.78240812e-02 4.96985371e-03 6.58784959e+00] [-2.78240252e-02 9.99612834e-01 -8.04388162e-05 -1.79024032e-01] [-4.97016768e-03 -5.78746553e-05 9.99987647e-01 -3.47321260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.495769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.18, Z:-0.35 [[ 9.99626216e-01 2.67329528e-02 5.72513493e-03 6.62082067e+00] [-2.67328530e-02 9.99642609e-01 -9.39809919e-05 -1.77891251e-01] [-5.72560120e-03 -5.91033269e-05 9.99983607e-01 -3.47677513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.525769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.18, Z:-0.35 [[ 9.99625673e-01 2.61664015e-02 7.98958465e-03 6.65392500e+00] [-2.61661710e-02 9.99657598e-01 -1.33395724e-04 -1.77321493e-01] [-7.99033949e-03 -7.57110478e-05 9.99968074e-01 -3.47952958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.555769231000001 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.18, Z:-0.35 [[ 9.99643701e-01 2.42383927e-02 1.11790849e-02 6.68639795e+00] [-2.42377874e-02 9.99706204e-01 -1.89646533e-04 -1.79090003e-01] [-1.11803973e-02 -8.13773213e-05 9.99937494e-01 -3.47294483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.18, Z:-0.35 [[ 9.99693438e-01 2.23873515e-02 1.05753081e-02 6.71927930e+00] [-2.23866887e-02 9.99749370e-01 -1.81069103e-04 -1.81062144e-01] [-1.05767113e-02 -5.57325369e-05 9.99944063e-01 -3.48331452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.615769231000002 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.18, Z:-0.35 [[ 9.99773430e-01 2.00149209e-02 7.24508967e-03 6.75079314e+00] [-2.00145428e-02 9.99799681e-01 -1.24705482e-04 -1.83648757e-01] [-7.24613431e-03 -2.03299299e-05 9.99973746e-01 -3.49710090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645769231000001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.19, Z:-0.35 [[ 9.99776646e-01 1.99028788e-02 7.10869465e-03 6.78337628e+00] [-1.99025040e-02 9.99801918e-01 -1.23465095e-04 -1.85313775e-01] [-7.10974385e-03 -1.80433058e-05 9.99974725e-01 -3.50722629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.675769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.19, Z:-0.35 [[ 9.99780983e-01 1.95456389e-02 7.48030239e-03 6.81591776e+00] [-1.95452030e-02 9.99808966e-01 -1.31388974e-04 -1.86992955e-01] [-7.48144148e-03 -1.48438311e-05 9.99972014e-01 -3.50870640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705769231000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.19, Z:-0.35 [[ 9.99771450e-01 1.97641938e-02 8.15009926e-03 6.84922225e+00] [-1.97636699e-02 9.99804669e-01 -1.44816919e-04 -1.88177141e-01] [-8.15136949e-03 -1.62920503e-05 9.99966777e-01 -3.50054774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.735769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.19, Z:-0.35 [[ 9.99715160e-01 2.18090728e-02 9.69341625e-03 6.88094717e+00] [-2.18084065e-02 9.99762153e-01 -1.74441419e-04 -1.86507393e-01] [-9.69491511e-03 -3.70062308e-05 9.99953003e-01 -3.49132174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.765769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.19, Z:-0.35 [[ 9.99678152e-01 2.35068421e-02 9.54043890e-03 6.91297332e+00] [-2.35062591e-02 9.99723675e-01 -1.73252515e-04 -1.86665616e-01] [-9.54187526e-03 -5.10632744e-05 9.99954474e-01 -3.49692678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.795769231000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.19, Z:-0.35 [[ 9.99627673e-01 2.59362148e-02 8.47513094e-03 6.94507496e+00] [-2.59358301e-02 9.99663598e-01 -1.55317681e-04 -1.87667625e-01] [-8.47630824e-03 -6.45497038e-05 9.99964073e-01 -3.51169005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.19, Z:-0.35 [[ 9.99617512e-01 2.64126636e-02 8.19760014e-03 6.97806263e+00] [-2.64123151e-02 9.99651123e-01 -1.50790796e-04 -1.88030205e-01] [-8.19872297e-03 -6.57844770e-05 9.99966388e-01 -3.51773794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.855769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.19, Z:-0.35 [[ 9.99626208e-01 2.62722834e-02 7.56377561e-03 7.01073536e+00] [-2.62719746e-02 9.99654822e-01 -1.40207056e-04 -1.87509002e-01] [-7.56484832e-03 -5.85606724e-05 9.99971384e-01 -3.52618670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885769231000001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.19, Z:-0.35 [[ 9.99636555e-01 2.61489029e-02 6.55682777e-03 7.04322735e+00] [-2.61486616e-02 9.99658058e-01 -1.22530943e-04 -1.86729817e-01] [-6.55778976e-03 -4.89658614e-05 9.99978496e-01 -3.52110896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.915769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.19, Z:-0.35 [[ 9.99637222e-01 2.58817209e-02 7.45396469e-03 7.07647346e+00] [-2.58813895e-02 9.99665011e-01 -1.40931157e-04 -1.87117374e-01] [-7.45511523e-03 -5.20389329e-05 9.99972209e-01 -3.52068778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945769231000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.19, Z:-0.35 [[ 9.99587679e-01 2.71088009e-02 9.46487805e-03 7.10927918e+00] [-2.71083011e-02 9.99632486e-01 -1.81118868e-04 -1.85403766e-01] [-9.46630949e-03 -7.55325753e-05 9.99955191e-01 -3.51174220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975769231000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.18, Z:-0.35 [[ 9.99527551e-01 2.91029629e-02 9.88392629e-03 7.14130166e+00] [-2.91024955e-02 9.99576414e-01 -1.91133347e-04 -1.84778313e-01] [-9.88530215e-03 -9.66038743e-05 9.99951135e-01 -3.51903372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.18, Z:-0.35 [[ 9.99466412e-01 3.12632875e-02 9.46038339e-03 7.17411445e+00] [-3.12629416e-02 9.99511178e-01 -1.84480908e-04 -1.84020744e-01] [-9.46152643e-03 -1.11376942e-04 9.99955233e-01 -3.52496055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035769231000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.18, Z:-0.35 [[ 9.99332905e-01 3.53139213e-02 9.30973133e-03 7.20700329e+00] [-3.53137467e-02 9.99376258e-01 -1.83188504e-04 -1.81063531e-01] [-9.31039357e-03 -1.45695194e-04 9.99956647e-01 -3.53555967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.18, Z:-0.35 [[ 9.99313506e-01 3.58287528e-02 9.42429402e-03 7.23880501e+00] [-3.58285794e-02 9.99357933e-01 -1.87282318e-04 -1.79810246e-01] [-9.42495308e-03 -1.50505316e-04 9.99955573e-01 -3.54014682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.095769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.18, Z:-0.35 [[ 9.99408123e-01 3.32017580e-02 9.00263952e-03 7.27154781e+00] [-3.32014803e-02 9.99448663e-01 -1.80329991e-04 -1.78238451e-01] [-9.00366331e-03 -1.18677701e-04 9.99959459e-01 -3.54360078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125769231000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.18, Z:-0.35 [[ 9.99461391e-01 3.14868678e-02 9.24693744e-03 7.30421162e+00] [-3.14864854e-02 9.99504160e-01 -1.86970155e-04 -1.78045560e-01] [-9.24823954e-03 -1.04284110e-04 9.99957229e-01 -3.54836711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.155769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.18, Z:-0.35 [[ 9.99487729e-01 3.05493084e-02 9.54041739e-03 7.33713070e+00] [-3.05488407e-02 9.99533256e-01 -1.94777587e-04 -1.77070335e-01] [-9.54191478e-03 -9.67708832e-05 9.99954470e-01 -3.54826539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.185769231 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.17, Z:-0.35 [[ 9.99430223e-01 3.21362112e-02 1.03195835e-02 7.36886628e+00] [-3.21357260e-02 9.99483492e-01 -2.12874282e-04 -1.73205544e-01] [-1.03210943e-02 -1.18874317e-04 9.99946729e-01 -3.54540442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.215769231000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.17, Z:-0.35 [[ 9.99368105e-01 3.40262685e-02 1.02763574e-02 7.40131602e+00] [-3.40258671e-02 9.99420930e-01 -2.13946908e-04 -1.71248956e-01] [-1.02776865e-02 -1.35850256e-04 9.99947174e-01 -3.54434276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.17, Z:-0.35 [[ 9.99295382e-01 3.62364693e-02 9.78048355e-03 7.43401313e+00] [-3.62362030e-02 9.99343232e-01 -2.04490280e-04 -1.68537635e-01] [-9.78147005e-03 -1.50061395e-04 9.99952149e-01 -3.54596272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.275769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.16, Z:-0.36 [[ 9.99162879e-01 3.98906570e-02 9.07063387e-03 7.46586915e+00] [-3.98905642e-02 9.99204036e-01 -1.91219749e-04 -1.61618334e-01] [-9.07104185e-03 -1.70773027e-04 9.99958843e-01 -3.55180788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305769231000001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.16, Z:-0.35 [[ 9.99126452e-01 4.07339993e-02 9.33140573e-03 7.49840978e+00] [-4.07339220e-02 9.99170010e-01 -1.98418779e-04 -1.58839908e-01] [-9.33174315e-03 -1.81859303e-04 9.99956442e-01 -3.54976183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.335769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.16, Z:-0.36 [[ 9.99084974e-01 4.16956506e-02 9.52303286e-03 7.53147635e+00] [-4.16955978e-02 9.99130340e-01 -2.04166165e-04 -1.55446766e-01] [-9.52326390e-03 -1.93089200e-04 9.99954634e-01 -3.55016623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365769231000002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.16, Z:-0.36 [[ 9.99117748e-01 4.10567560e-02 8.83558947e-03 7.56461497e+00] [-4.10566732e-02 9.99156801e-01 -1.90830236e-04 -1.55300557e-01] [-8.83597418e-03 -1.72098034e-04 9.99960947e-01 -3.56301602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.395769231000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.15, Z:-0.36 [[ 9.99281305e-01 3.68565478e-02 8.85825028e-03 7.59667017e+00] [-3.68562843e-02 9.99320558e-01 -1.93037060e-04 -1.52687620e-01] [-8.85934629e-03 -1.33583866e-04 9.99960746e-01 -3.58654313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.15, Z:-0.36 [[ 9.99371861e-01 3.41454349e-02 9.48541916e-03 7.62964841e+00] [-3.41449940e-02 9.99416868e-01 -2.08471209e-04 -1.51720427e-01] [-9.48700625e-03 -1.15539320e-04 9.99954991e-01 -3.59218124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455769231000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.15, Z:-0.36 [[ 9.99456474e-01 3.14485360e-02 9.88665008e-03 7.66143562e+00] [-3.14479052e-02 9.99505368e-01 -2.19292085e-04 -1.52411635e-01] [-9.88865624e-03 -9.17415405e-05 9.99951102e-01 -3.59401341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.15, Z:-0.36 [[ 9.99541214e-01 2.86706062e-02 9.76513832e-03 7.69295437e+00] [-2.86698418e-02 9.99588912e-01 -2.18290490e-04 -1.53924064e-01] [-9.76738251e-03 -6.17746291e-05 9.99952296e-01 -3.59288824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.515769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.16, Z:-0.36 [[ 9.99717289e-01 2.20479311e-02 8.90121265e-03 7.72620086e+00] [-2.20470214e-02 9.99756915e-01 -2.00323374e-04 -1.56684954e-01] [-8.90346561e-03 4.02151433e-06 9.99960363e-01 -3.60466865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545769231000001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.16, Z:-0.36 [[ 9.99776327e-01 1.91137427e-02 9.05319833e-03 7.75879339e+00] [-1.91126664e-02 9.99817315e-01 -2.05394707e-04 -1.58876874e-01] [-9.05547031e-03 3.23180067e-05 9.99958998e-01 -3.60611807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.575769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.16, Z:-0.36 [[ 9.99806732e-01 1.68896011e-02 1.00618325e-02 7.79049618e+00] [-1.68881372e-02 9.99857359e-01 -2.30441288e-04 -1.62102411e-01] [-1.00642894e-02 6.04711433e-05 9.99949352e-01 -3.60688866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.605769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.16, Z:-0.36 [[ 9.99791524e-01 1.73692386e-02 1.07340058e-02 7.82302966e+00] [-1.73675789e-02 9.99849142e-01 -2.47825429e-04 -1.63275903e-01] [-1.07366910e-02 6.13500706e-05 9.99942358e-01 -3.61107374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.635769231000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.16, Z:-0.36 [[ 9.99767415e-01 1.82849676e-02 1.14357188e-02 7.85570262e+00] [-1.82831183e-02 9.99832814e-01 -2.66236697e-04 -1.64276420e-01] [-1.14386750e-02 5.70941750e-05 9.99934575e-01 -3.61363133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.17, Z:-0.36 [[ 9.99692412e-01 2.13359548e-02 1.26435005e-02 7.88759577e+00] [-2.13339056e-02 9.99772362e-01 -2.96938316e-04 -1.67183260e-01] [-1.26469578e-02 2.71117347e-05 9.99920024e-01 -3.61541745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.695769231000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.17, Z:-0.36 [[ 9.99656102e-01 2.29156443e-02 1.27495473e-02 7.92102861e+00] [-2.29136608e-02 9.99737402e-01 -3.01640984e-04 -1.69770585e-01] [-1.27531115e-02 9.39844879e-06 9.99918676e-01 -3.61876821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725769231000001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.17, Z:-0.36 [[ 9.99636535e-01 2.39827876e-02 1.23135935e-02 7.95252796e+00] [-2.39809902e-02 9.99712372e-01 -2.93618044e-04 -1.71900047e-01] [-1.23170936e-02 -1.78084164e-06 9.99924142e-01 -3.62658321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.755769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.17, Z:-0.36 [[ 9.99645314e-01 2.39017860e-02 1.17452050e-02 7.98581094e+00] [-2.39001216e-02 9.99714312e-01 -2.82066132e-04 -1.73916410e-01] [-1.17485914e-02 1.25426054e-06 9.99930983e-01 -3.63580946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785769231000002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.18, Z:-0.36 [[ 9.99654588e-01 2.34083094e-02 1.19480682e-02 8.01768730e+00] [-2.34065248e-02 9.99725988e-01 -2.89192660e-04 -1.75909544e-01] [-1.19515638e-02 9.43001490e-06 9.99928577e-01 -3.64366322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.815769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.18, Z:-0.37 [[ 9.99703086e-01 2.15803454e-02 1.13149531e-02 8.05039418e+00] [-2.15786073e-02 9.99767117e-01 -2.75687009e-04 -1.81100287e-01] [-1.13182675e-02 3.14442237e-05 9.99935946e-01 -3.65347038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.845769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.18, Z:-0.37 [[ 9.99725176e-01 2.12672044e-02 9.86294850e-03 8.08241488e+00] [-2.12658535e-02 9.99773827e-01 -2.41831403e-04 -1.84258016e-01] [-9.86586085e-03 3.20209237e-05 9.99951331e-01 -3.66848345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.875769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.19, Z:-0.37 [[ 9.99735638e-01 2.13956329e-02 8.41911728e-03 8.11509363e+00] [-2.13946447e-02 9.99771087e-01 -2.07432373e-04 -1.87164819e-01] [-8.42162818e-03 2.72535121e-05 9.99964537e-01 -3.67524816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.19, Z:-0.37 [[ 9.99705454e-01 2.31292620e-02 7.35134569e-03 8.14738780e+00] [-2.31285443e-02 9.99732483e-01 -1.82632808e-04 -1.91426583e-01] [-7.35360324e-03 1.25530899e-05 9.99972962e-01 -3.68217272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.935769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.19, Z:-0.37 [[ 9.99661701e-01 2.47961993e-02 7.85066761e-03 8.17929748e+00] [-2.47954257e-02 9.99692527e-01 -1.95866060e-04 -1.94148216e-01] [-7.85311048e-03 1.13915335e-06 9.99969164e-01 -3.68147641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965769231000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.20, Z:-0.37 [[ 9.99607382e-01 2.67143525e-02 8.45132023e-03 8.21196808e+00] [-2.67135115e-02 9.99643108e-01 -2.12394089e-04 -1.96558587e-01] [-8.45397799e-03 -1.34537408e-05 9.99964264e-01 -3.67705286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.995769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.20, Z:-0.37 [[ 9.99497689e-01 3.03141172e-02 9.24252142e-03 8.24498705e+00] [-3.03132481e-02 9.99540420e-01 -2.34132677e-04 -1.98467961e-01] [-9.24537127e-03 -4.61557759e-05 9.99957260e-01 -3.67751853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025769231000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.20, Z:-0.37 [[ 9.99460234e-01 3.15934092e-02 9.00543009e-03 8.27679332e+00] [-3.15926183e-02 9.99500802e-01 -2.30099604e-04 -1.99794978e-01] [-9.00820423e-03 -5.45297111e-05 9.99959424e-01 -3.68577890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.055769231000001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.20, Z:-0.37 [[ 9.99441236e-01 3.22345007e-02 8.84038167e-03 8.30993726e+00] [-3.22337562e-02 9.99480332e-01 -2.26715206e-04 -2.01962046e-01] [-8.84309566e-03 -5.83701827e-05 9.99960897e-01 -3.69846243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.21, Z:-0.37 [[ 9.99461552e-01 3.16422573e-02 8.68184018e-03 8.34180671e+00] [-3.16415036e-02 9.99499257e-01 -2.24186198e-04 -2.06306317e-01] [-8.68458657e-03 -5.06409924e-05 9.99962287e-01 -3.71073018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.115769231000002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.21, Z:-0.37 [[ 9.99486674e-01 3.08533396e-02 8.62902489e-03 8.37428743e+00] [-3.08525537e-02 9.99523922e-01 -2.24201220e-04 -2.08472477e-01] [-8.63183415e-03 -4.21413224e-05 9.99962744e-01 -3.71629410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.21, Z:-0.37 [[ 9.99523797e-01 2.95997338e-02 8.71977072e-03 8.40714851e+00] [-2.95988674e-02 9.99561831e-01 -2.28424829e-04 -2.10710071e-01] [-8.72271130e-03 -2.97792848e-05 9.99961956e-01 -3.72465341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.175769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.21, Z:-0.37 [[ 9.99555552e-01 2.81178218e-02 9.90381958e-03 8.43980735e+00] [-2.81166248e-02 9.99604616e-01 -2.60101151e-04 -2.14169769e-01] [-9.90721724e-03 -1.84764294e-05 9.99950922e-01 -3.71325399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.22, Z:-0.37 [[ 9.99548529e-01 2.81448370e-02 1.05169625e-02 8.47131794e+00] [-2.81434660e-02 9.99603855e-01 -2.78365128e-04 -2.15657507e-01] [-1.05206308e-02 -1.77443224e-05 9.99944656e-01 -3.71403034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.235769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.22, Z:-0.37 [[ 9.99528524e-01 2.89149114e-02 1.03275429e-02 8.50459835e+00] [-2.89136124e-02 9.99581876e-01 -2.75093667e-04 -2.16997207e-01] [-1.03311790e-02 -2.36426061e-05 9.99946632e-01 -3.71654396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.265769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.22, Z:-0.37 [[ 9.99526143e-01 2.89971204e-02 1.03274842e-02 8.53808156e+00] [-2.89958033e-02 9.99579495e-01 -2.77279804e-04 -2.18040653e-01] [-1.03311817e-02 -2.23052863e-05 9.99946632e-01 -3.72080032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.295769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.22, Z:-0.37 [[ 9.99445361e-01 3.18881564e-02 9.59769484e-03 8.57135128e+00] [-3.18871485e-02 9.99491442e-01 -2.58067452e-04 -2.17711190e-01] [-9.60104316e-03 -4.81188023e-05 9.99953908e-01 -3.72556867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.22, Z:-0.37 [[ 9.99373554e-01 3.40210630e-02 9.75023570e-03 8.60347339e+00] [-3.40201054e-02 9.99421114e-01 -2.64100375e-04 -2.18122868e-01] [-9.75357640e-03 -6.77691151e-05 9.99952430e-01 -3.72792066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.355769231000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.22, Z:-0.37 [[ 9.99219453e-01 3.83116931e-02 9.62804291e-03 8.63645657e+00] [-3.83109427e-02 9.99265832e-01 -2.62434387e-04 -2.17912630e-01] [-9.63102862e-03 -1.06629855e-04 9.99953615e-01 -3.73805938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.22, Z:-0.37 [[ 9.99132461e-01 4.05503792e-02 9.48640534e-03 8.66931433e+00] [-4.05497348e-02 9.99177487e-01 -2.60331172e-04 -2.17889355e-01] [-9.48915918e-03 -1.24565897e-04 9.99954969e-01 -3.74095910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.415769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.21, Z:-0.37 [[ 9.98914916e-01 4.57439828e-02 8.74520639e-03 8.70140032e+00] [-4.57436190e-02 9.98953184e-01 -2.41724719e-04 -2.12745531e-01] [-8.74710921e-03 -1.58574962e-04 9.99961731e-01 -3.73433632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.21, Z:-0.37 [[ 9.98806446e-01 4.82586445e-02 7.53565825e-03 8.73489814e+00] [-4.82584434e-02 9.98834861e-01 -2.08613951e-04 -2.09521659e-01] [-7.53694558e-03 -1.55294178e-04 9.99971585e-01 -3.74061390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.475769231000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.21, Z:-0.37 [[ 9.98699503e-01 5.05996560e-02 6.24327668e-03 8.76842980e+00] [-5.05995592e-02 9.98719007e-01 -1.73565818e-04 -2.05984232e-01] [-6.24406145e-03 -1.42566951e-04 9.99980495e-01 -3.74775521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.20, Z:-0.38 [[ 9.98608842e-01 5.24008028e-02 5.87673848e-03 8.80022141e+00] [-5.24007420e-02 9.98626124e-01 -1.64424022e-04 -2.02775688e-01] [-5.87728052e-03 -1.43750175e-04 9.99982718e-01 -3.76307827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.535769231000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.19, Z:-0.38 [[ 9.98606330e-01 5.23990813e-02 6.30355334e-03 8.83270094e+00] [-5.23990029e-02 9.98626213e-01 -1.77687440e-04 -1.93358086e-01] [-6.30420426e-03 -1.52860108e-04 9.99980117e-01 -3.76627906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.19, Z:-0.38 [[ 9.98674404e-01 5.09671198e-02 7.19636924e-03 8.86608102e+00] [-5.09669708e-02 9.98700319e-01 -2.04209866e-04 -1.89231237e-01] [-7.19742425e-03 -1.62837975e-04 9.99974085e-01 -3.76476154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.595769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.18, Z:-0.38 [[ 9.98898328e-01 4.62753437e-02 7.79245780e-03 8.89797397e+00] [-4.62750127e-02 9.98928713e-01 -2.22863884e-04 -1.81563100e-01] [-7.79442294e-03 -1.37977723e-04 9.99969614e-01 -3.76293098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.18, Z:-0.38 [[ 9.99033894e-01 4.33382799e-02 7.28500062e-03 8.93115937e+00] [-4.33379046e-02 9.99060450e-01 -2.09434077e-04 -1.78561465e-01] [-7.28723251e-03 -1.06484921e-04 9.99973442e-01 -3.77924370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.17, Z:-0.38 [[ 9.99160624e-01 4.03897256e-02 6.83507926e-03 8.96314650e+00] [-4.03893176e-02 9.99183999e-01 -1.97765903e-04 -1.74785385e-01] [-6.83748954e-03 -7.84642843e-05 9.99976621e-01 -3.78512774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.685769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.17, Z:-0.38 [[ 9.99364381e-01 3.48322121e-02 7.58622444e-03 8.99514761e+00] [-3.48315365e-02 9.99393173e-01 -2.21203632e-04 -1.65336488e-01] [-7.58932593e-03 -4.31768223e-05 9.99971200e-01 -3.79922028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.16, Z:-0.38 [[ 9.99431391e-01 3.28379201e-02 7.65286827e-03 9.02748023e+00] [-3.28371690e-02 9.99460690e-01 -2.23817344e-04 -1.63034464e-01] [-7.65609069e-03 -2.76084491e-05 9.99970691e-01 -3.79456616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.16, Z:-0.38 [[ 9.99500089e-01 3.06925483e-02 7.58546215e-03 9.06034040e+00] [-3.06917402e-02 9.99528873e-01 -2.22942406e-04 -1.62291902e-01] [-7.58873110e-03 -9.98007831e-06 9.99971205e-01 -3.79379465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.775769231000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.16, Z:-0.38 [[ 9.99638526e-01 2.54539396e-02 8.65534219e-03 9.09215633e+00] [-2.54526739e-02 9.99675995e-01 -2.56365896e-04 -1.60693824e-01] [-8.65906335e-03 3.59716233e-05 9.99962509e-01 -3.78476991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805769231000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.16, Z:-0.38 [[ 9.99698420e-01 2.27519275e-02 9.24222658e-03 9.12383473e+00] [-2.27503527e-02 9.99741139e-01 -2.75499731e-04 -1.60764842e-01] [-9.24610228e-03 6.51527313e-05 9.99957252e-01 -3.78525537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.16, Z:-0.38 [[ 9.99794586e-01 1.83908902e-02 8.51827830e-03 9.15697499e+00] [-1.83893837e-02 9.99830868e-01 -2.55148855e-04 -1.62876756e-01] [-8.52153001e-03 9.84505557e-05 9.99963686e-01 -3.80320858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865769231000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.17, Z:-0.38 [[ 9.99838844e-01 1.64671636e-02 7.14968361e-03 9.18916602e+00] [-1.64660460e-02 9.99864402e-01 -2.15142799e-04 -1.65366989e-01] [-7.15225692e-03 9.73811077e-05 9.99974418e-01 -3.81821974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.895769231000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.17, Z:-0.38 [[ 9.99870140e-01 1.49364729e-02 6.05017428e-03 9.22237844e+00] [-1.49356409e-02 9.99888440e-01 -1.82674995e-04 -1.67402991e-01] [-6.05222785e-03 9.22880424e-05 9.99981681e-01 -3.82361875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.17, Z:-0.38 [[ 9.99878645e-01 1.44297371e-02 5.87185339e-03 9.25411035e+00] [-1.44289381e-02 9.99895882e-01 -1.78413478e-04 -1.69107649e-01] [-5.87381648e-03 9.36672169e-05 9.99982745e-01 -3.82416793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955769231000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.17, Z:-0.38 [[ 9.99836928e-01 1.60768183e-02 8.22511834e-03 9.28575762e+00] [-1.60752892e-02 9.99870752e-01 -2.51985667e-04 -1.72373999e-01] [-8.22810639e-03 1.19723419e-04 9.99966141e-01 -3.80908084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.17, Z:-0.38 [[ 9.99794748e-01 1.80049703e-02 9.28884604e-03 9.31841414e+00] [-1.80030881e-02 9.99837890e-01 -2.86213871e-04 -1.73601822e-01] [-9.29249351e-03 1.18927211e-04 9.99956817e-01 -3.80277464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.015769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.17, Z:-0.38 [[ 9.99741765e-01 2.08862993e-02 8.95356958e-03 9.35188840e+00] [-2.08846526e-02 9.99781853e-01 -2.77376737e-04 -1.74155039e-01] [-8.95740977e-03 9.03129180e-05 9.99959878e-01 -3.80467028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045769231000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.17, Z:-0.38 [[ 9.99617591e-01 2.69959458e-02 5.99092873e-03 9.38414755e+00] [-2.69953158e-02 9.99635543e-01 -1.86011496e-04 -1.72951742e-01] [-5.99376684e-03 2.42133507e-05 9.99982037e-01 -3.83228102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.17, Z:-0.38 [[ 9.99570907e-01 2.88730874e-02 4.93433211e-03 9.41562686e+00] [-2.88726796e-02 9.99583085e-01 -1.53877249e-04 -1.74248925e-01] [-4.93671783e-03 1.13438317e-05 9.99987814e-01 -3.84675028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105769231000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.18, Z:-0.39 [[ 9.99575225e-01 2.87049877e-02 5.03909452e-03 9.44674966e+00] [-2.87045514e-02 9.99587927e-01 -1.58906390e-04 -1.75986189e-01] [-5.04157945e-03 1.41939424e-05 9.99987291e-01 -3.86380956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.135769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.18, Z:-0.39 [[ 9.99604343e-01 2.76520760e-02 5.14968664e-03 9.47805765e+00] [-2.76516107e-02 9.99617608e-01 -1.61535570e-04 -1.77263992e-01] [-5.15218424e-03 1.90745271e-05 9.99986727e-01 -3.86779688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.18, Z:-0.39 [[ 9.99639190e-01 2.63575083e-02 5.17409046e-03 9.51032854e+00] [-2.63570175e-02 9.99652580e-01 -1.63042567e-04 -1.78296147e-01] [-5.17659028e-03 2.66101469e-05 9.99986601e-01 -3.87511456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.195769231000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.18, Z:-0.39 [[ 9.99659336e-01 2.56630147e-02 4.75630896e-03 9.54113146e+00] [-2.56625864e-02 9.99670650e-01 -1.51068190e-04 -1.80223487e-01] [-4.75861933e-03 2.89575370e-05 9.99988677e-01 -3.88364825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.18, Z:-0.39 [[ 9.99653518e-01 2.59768082e-02 4.24853805e-03 9.57244062e+00] [-2.59764658e-02 9.99662545e-01 -1.35781732e-04 -1.81655616e-01] [-4.25063153e-03 2.53726834e-05 9.99990966e-01 -3.88329307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.18, Z:-0.39 [[ 9.99647143e-01 2.62945241e-02 3.76651408e-03 9.60407774e+00] [-2.62942570e-02 9.99654239e-01 -1.20420903e-04 -1.81715061e-01] [-3.76837818e-03 2.13407222e-05 9.99992899e-01 -3.87817838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285769231000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.18, Z:-0.39 [[ 9.99622636e-01 2.72510330e-02 3.45928527e-03 9.63434553e+00] [-2.72508129e-02 9.99628622e-01 -1.10763418e-04 -1.81094850e-01] [-3.46101898e-03 1.64532840e-05 9.99994011e-01 -3.88231645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.315769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.18, Z:-0.39 [[ 9.99548705e-01 2.98604327e-02 3.27726338e-03 9.66568882e+00] [-2.98602494e-02 9.99554078e-01 -1.04855311e-04 -1.79731592e-01] [-3.27893300e-03 6.94808845e-06 9.99994624e-01 -3.89190038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.18, Z:-0.39 [[ 9.99524872e-01 3.06380364e-02 3.36773907e-03 9.69596434e+00] [-3.06378466e-02 9.99530545e-01 -1.07945718e-04 -1.81321943e-01] [-3.36946531e-03 4.71415763e-06 9.99994323e-01 -3.89713516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375769231000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.18, Z:-0.39 [[ 9.99541065e-01 2.97691239e-02 5.60879915e-03 9.72626005e+00] [-2.97685829e-02 9.99556801e-01 -1.79941811e-04 -1.83919465e-01] [-5.61167005e-03 1.28932269e-05 9.99984254e-01 -3.89329811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.19, Z:-0.39 [[ 9.99568348e-01 2.84844592e-02 7.19397732e-03 9.75826364e+00] [-2.84835408e-02 9.99594235e-01 -2.30113383e-04 -1.85335611e-01] [-7.19761291e-03 2.51041080e-05 9.99974097e-01 -3.89400291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.435769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.19, Z:-0.39 [[ 9.99685818e-01 2.41319886e-02 6.77587006e-03 9.79006105e+00] [-2.41310678e-02 9.99708780e-01 -2.17633519e-04 -1.88092809e-01] [-6.77914872e-03 5.40561623e-05 9.99977020e-01 -3.90448169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465769231000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.19, Z:-0.39 [[ 9.99752660e-01 2.15551394e-02 5.47676608e-03 9.82241125e+00] [-2.15544963e-02 9.99767659e-01 -1.76426801e-04 -1.90706195e-01] [-5.47929651e-03 5.83342294e-05 9.99984987e-01 -3.91366229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.19, Z:-0.39 [[ 9.99797050e-01 1.96632482e-02 4.38353347e-03 9.85403330e+00] [-1.96628166e-02 9.99806658e-01 -1.41537921e-04 -1.93124110e-01] [-4.38546905e-03 5.53165808e-05 9.99990382e-01 -3.91621714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525769231000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.19, Z:-0.39 [[ 9.99818773e-01 1.85981800e-02 4.06568406e-03 9.88574226e+00] [-1.85977974e-02 9.99827037e-01 -1.31899554e-04 -1.94726396e-01] [-4.06743394e-03 5.62628816e-05 9.99991726e-01 -3.91359190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555769231000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.20, Z:-0.39 [[ 9.99826401e-01 1.81716776e-02 4.11799069e-03 9.91694965e+00] [-1.81712741e-02 9.99834880e-01 -1.35397408e-04 -1.95876947e-01] [-4.11977113e-03 6.05447653e-05 9.99991512e-01 -3.90269730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.20, Z:-0.39 [[ 9.99813528e-01 1.85002333e-02 5.53625007e-03 9.94897656e+00] [-1.84995133e-02 9.99828853e-01 -1.81233634e-04 -1.99176312e-01] [-5.53865542e-03 7.87819068e-05 9.99984658e-01 -3.89435653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.615769231000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.20, Z:-0.39 [[ 9.99804799e-01 1.84032630e-02 7.18908561e-03 9.98124008e+00] [-1.84020339e-02 9.99830640e-01 -2.37077286e-04 -2.02323835e-01] [-7.19223106e-03 1.04737211e-04 9.99974130e-01 -3.90322917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.21, Z:-0.39 [[ 9.99850608e-01 1.45729693e-02 9.29467159e-03 1.00138224e+01] [-1.45707284e-02 9.99893794e-01 -3.08769638e-04 -2.08447751e-01] [-9.29818413e-03 1.73293374e-04 9.99956756e-01 -3.91407639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.675769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.21, Z:-0.39 [[ 9.99879939e-01 1.23347251e-02 9.37876124e-03 1.00462726e+01] [-1.23323286e-02 9.99923905e-01 -3.13312136e-04 -2.12598139e-01] [-9.38191218e-03 1.97612554e-04 9.99955969e-01 -3.91882057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.22, Z:-0.39 [[ 9.99903949e-01 1.05836734e-02 8.94865248e-03 1.00793815e+01] [-1.05814075e-02 9.99943970e-01 -3.00518740e-04 -2.17106611e-01] [-8.95133169e-03 2.05800536e-04 9.99959915e-01 -3.91870008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.22, Z:-0.39 [[ 9.99945880e-01 7.54072363e-03 7.16764186e-03 1.01112007e+01] [-7.53918500e-03 9.99971551e-01 -2.41659207e-04 -2.24645252e-01] [-7.16926023e-03 1.87607950e-04 9.99974283e-01 -3.92054485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.23, Z:-0.39 [[ 9.99957367e-01 6.70717601e-03 6.34655920e-03 1.01439383e+01] [-6.70594792e-03 9.99977492e-01 -2.14766054e-04 -2.29402752e-01] [-6.34785683e-03 1.72197202e-04 9.99979837e-01 -3.93129008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.24, Z:-0.39 [[ 9.99961948e-01 6.80033551e-03 5.46430774e-03 1.01754532e+01] [-6.79942224e-03 9.99976866e-01 -1.85693071e-04 -2.38078598e-01] [-5.46544410e-03 1.48531869e-04 9.99985053e-01 -3.93615336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.24, Z:-0.39 [[ 9.99950085e-01 8.37927094e-03 5.44201691e-03 1.02082466e+01] [-8.37838383e-03 9.99964883e-01 -1.85787893e-04 -2.43273790e-01] [-5.44338257e-03 1.40183312e-04 9.99985175e-01 -3.93902521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.855769231000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.25, Z:-0.39 [[ 9.99934562e-01 1.07228606e-02 3.98655424e-03 1.02392475e+01] [-1.07030560e-02 9.99930437e-01 -4.95642823e-03 -2.45560182e-01] [-4.03942401e-03 4.91343558e-03 9.99979770e-01 -3.93797001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.26, Z:-0.39 [[ 9.99860065e-01 1.58281688e-02 5.41481721e-03 1.02707008e+01] [-1.58541053e-02 9.99862885e-01 4.78101335e-03 -2.56942352e-01] [-5.33840007e-03 -4.86619140e-03 9.99973910e-01 -3.94784065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.26, Z:-0.40 [[ 9.99811717e-01 1.84504812e-02 6.00925126e-03 1.03037996e+01] [-1.84495665e-02 9.99829771e-01 -2.07621813e-04 -2.58534125e-01] [-6.01205903e-03 9.67146403e-05 9.99981923e-01 -3.95157406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.26, Z:-0.40 [[ 9.99743760e-01 2.16184872e-02 6.71227432e-03 1.03352919e+01] [-2.16174060e-02 9.99766289e-01 -2.33593709e-04 -2.63017388e-01] [-6.71575553e-03 8.84318935e-05 9.99977445e-01 -3.95194040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.975769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.27, Z:-0.40 [[ 9.99721111e-01 2.26596926e-02 6.65127520e-03 1.03674740e+01] [-2.26586458e-02 9.99743233e-01 -2.32704852e-04 -2.65925880e-01] [-6.65484039e-03 8.19310646e-05 9.99977853e-01 -3.95911556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.27, Z:-0.40 [[ 9.99701024e-01 2.36559537e-02 6.18526274e-03 1.04003699e+01] [-2.36550622e-02 9.99720156e-01 -2.17264663e-04 -2.69425784e-01] [-6.18867144e-03 7.08869318e-05 9.99980847e-01 -3.96354998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.035769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.27, Z:-0.40 [[ 9.99677893e-01 2.46825338e-02 5.90619968e-03 1.04329622e+01] [-2.46817329e-02 9.99695338e-01 -2.08472912e-04 -2.72645238e-01] [-5.90954592e-03 6.26305184e-05 9.99982537e-01 -3.96712598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.28, Z:-0.40 [[ 9.99602969e-01 2.75413413e-02 5.94802717e-03 1.04648089e+01] [-2.75405723e-02 9.99620664e-01 -2.11175962e-04 -2.75803115e-01] [-5.95158694e-03 4.72800463e-05 9.99982288e-01 -3.97698937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.28, Z:-0.40 [[ 9.99555293e-01 2.90363904e-02 6.79007133e-03 1.04970188e+01] [-2.90354099e-02 9.99578354e-01 -2.42952169e-04 -2.77479410e-01] [-6.79426278e-03 4.56916224e-05 9.99976918e-01 -3.97570037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.28, Z:-0.40 [[ 9.99507607e-01 3.05032397e-02 7.35496201e-03 1.05287015e+01] [-3.05021240e-02 9.99534667e-01 -2.63848416e-04 -2.79885845e-01] [-7.35958774e-03 3.93765358e-05 9.99972917e-01 -3.97960352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.29, Z:-0.40 [[ 9.99469099e-01 3.19703623e-02 6.27816651e-03 1.05600652e+01] [-3.19695733e-02 9.99488817e-01 -2.26015616e-04 -2.86166401e-01] [-6.28218302e-03 2.51853192e-05 9.99980267e-01 -3.97871449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.29, Z:-0.40 [[ 9.99463561e-01 3.23575400e-02 5.05761839e-03 1.05922948e+01] [-3.23570307e-02 9.99476358e-01 -1.82514514e-04 -2.89523768e-01] [-5.06087572e-03 1.87670932e-05 9.99987194e-01 -3.98493336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.215769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.29, Z:-0.40 [[ 9.99459573e-01 3.24805125e-02 5.05757532e-03 1.06257672e+01] [-3.24799988e-02 9.99472369e-01 -1.83695647e-04 -2.90923835e-01] [-5.06087332e-03 1.93263330e-05 9.99987194e-01 -3.98923187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.29, Z:-0.40 [[ 9.99434910e-01 3.33618059e-02 4.10488926e-03 1.06582017e+01] [-3.33614762e-02 9.99443340e-01 -1.48794610e-04 -2.94743736e-01] [-4.10756829e-03 1.17653625e-05 9.99991564e-01 -4.00557759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.275769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.30, Z:-0.40 [[ 9.99406582e-01 3.40836352e-02 4.97889148e-03 1.06896453e+01] [-3.40831516e-02 9.99418984e-01 -1.81966920e-04 -2.97670808e-01] [-4.98220076e-03 1.21626245e-05 9.99987589e-01 -4.01179991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.30, Z:-0.40 [[ 9.99382455e-01 3.46034013e-02 6.10838207e-03 1.07228673e+01] [-3.46026745e-02 9.99401123e-01 -2.24653429e-04 -3.01748807e-01] [-6.11249767e-03 1.31483391e-05 9.99981318e-01 -4.01477809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.31, Z:-0.40 [[ 9.99385153e-01 3.43214262e-02 7.16625960e-03 1.07546107e+01] [-3.43204055e-02 9.99410846e-01 -2.65394736e-04 -3.09972338e-01] [-7.17114630e-03 1.92826229e-05 9.99974287e-01 -4.00705024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.31, Z:-0.40 [[ 9.99372520e-01 3.47470769e-02 6.87071668e-03 1.07875605e+01] [-3.47461418e-02 9.99396138e-01 -2.55460322e-04 -3.14028383e-01] [-6.87544422e-03 1.65691291e-05 9.99976364e-01 -4.00425585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.32, Z:-0.40 [[ 9.99331869e-01 3.59456408e-02 6.61258648e-03 1.08208194e+01] [-3.59447931e-02 9.99353747e-01 -2.47025777e-04 -3.16981416e-01] [-6.61719257e-03 9.17267860e-06 9.99978106e-01 -4.00528270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.32, Z:-0.40 [[ 9.99178745e-01 3.98340333e-02 7.42197035e-03 1.08537355e+01] [-3.98330599e-02 9.99206310e-01 -2.78993521e-04 -3.19244331e-01] [-7.42719305e-03 -1.68753936e-05 9.99972418e-01 -4.01636169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.32, Z:-0.40 [[ 9.99077340e-01 4.22067256e-02 7.94112244e-03 1.08857842e+01] [-4.22056699e-02 9.99108899e-01 -3.00546760e-04 -3.20247990e-01] [-7.94673119e-03 -3.48909353e-05 9.99968424e-01 -4.02346700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.32, Z:-0.40 [[ 9.98923828e-01 4.57670866e-02 7.52064819e-03 1.09177626e+01] [-4.57662368e-02 9.98952136e-01 -2.85150870e-04 -3.20436661e-01] [-7.52581810e-03 -5.93477669e-05 9.99971679e-01 -4.02360663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.515769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.32, Z:-0.40 [[ 9.98870443e-01 4.69077154e-02 7.58321297e-03 1.09506570e+01] [-4.69068746e-02 9.98899225e-01 -2.88782479e-04 -3.21735438e-01] [-7.58841169e-03 -6.72485377e-05 9.99971205e-01 -4.02037308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.32, Z:-0.40 [[ 9.98847719e-01 4.72512129e-02 8.39988506e-03 1.09835195e+01] [-4.72501781e-02 9.98883035e-01 -3.21716194e-04 -3.22762798e-01] [-8.40570416e-03 -7.55505788e-05 9.99964669e-01 -4.01245367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.32, Z:-0.40 [[ 9.98851478e-01 4.69923015e-02 9.35140243e-03 1.10167258e+01] [-4.69909886e-02 9.98895248e-01 -3.60194636e-04 -3.22467887e-01] [-9.35799783e-03 -7.96507000e-05 9.99956210e-01 -4.00382039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.32, Z:-0.40 [[ 9.98957549e-01 4.43389603e-02 1.08569057e-02 1.10491959e+01] [-4.43370072e-02 9.99016543e-01 -4.20639769e-04 -3.17756065e-01] [-1.08648792e-02 -6.11614351e-05 9.99940974e-01 -4.01725202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.32, Z:-0.40 [[ 9.99034588e-01 4.25618283e-02 1.08804274e-02 1.10808809e+01] [-4.25597404e-02 9.99093834e-01 -4.23472348e-04 -3.16949119e-01] [-1.08885917e-02 -4.00046443e-05 9.99940717e-01 -4.03868535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.32, Z:-0.41 [[ 9.99182369e-01 3.93999895e-02 9.06830219e-03 1.11142268e+01] [-3.93983987e-02 9.99223519e-01 -3.54072885e-04 -3.16946825e-01] [-9.07521129e-03 -3.49320092e-06 9.99958819e-01 -4.05006164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.695769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.32, Z:-0.41 [[ 9.99218416e-01 3.87706986e-02 7.70648309e-03 1.11460164e+01] [-3.87695221e-02 9.99248134e-01 -3.02060671e-04 -3.16815103e-01] [-7.71239995e-03 3.04791956e-06 9.99970259e-01 -4.05428543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.32, Z:-0.41 [[ 9.99226736e-01 3.88235912e-02 6.21763926e-03 1.11787327e+01] [-3.88228227e-02 9.99246080e-01 -2.44289928e-04 -3.15309706e-01] [-6.22243587e-03 2.71472067e-06 9.99980640e-01 -4.05844664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.31, Z:-0.41 [[ 9.99244498e-01 3.86061327e-02 4.47215818e-03 1.12111550e+01] [-3.86057318e-02 9.99254505e-01 -1.75976128e-04 -3.12057237e-01] [-4.47561797e-03 3.19223869e-06 9.99989984e-01 -4.06853169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.31, Z:-0.41 [[ 9.99228608e-01 3.90158917e-02 4.46633798e-03 1.12430725e+01] [-3.90154921e-02 9.99238590e-01 -1.76596563e-04 -3.12718906e-01] [-4.46982733e-03 2.20396435e-06 9.99990010e-01 -4.07302666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.31, Z:-0.41 [[ 9.99167679e-01 4.03155946e-02 6.21301073e-03 1.12762191e+01] [-4.03148352e-02 9.99186996e-01 -2.47478118e-04 -3.14457811e-01] [-6.21793676e-03 -3.20436665e-06 9.99980668e-01 -4.07152592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.32, Z:-0.41 [[ 9.99122284e-01 4.11206777e-02 7.98441678e-03 1.13093752e+01] [-4.11194322e-02 9.99154187e-01 -3.20161361e-04 -3.15588879e-01] [-7.99082871e-03 -8.43433386e-06 9.99968073e-01 -4.07562829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.32, Z:-0.41 [[ 9.99092570e-01 4.15488933e-02 9.36622999e-03 1.13424544e+01] [-4.15471778e-02 9.99136472e-01 -3.77743799e-04 -3.16379715e-01] [-9.37383682e-03 -1.17393992e-05 9.99956065e-01 -4.07179786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.32, Z:-0.41 [[ 9.99084841e-01 4.15901356e-02 9.98709426e-03 1.13755142e+01] [-4.15881667e-02 9.99134756e-01 -4.04832292e-04 -3.17678089e-01] [-9.99529001e-03 -1.08831352e-05 9.99950046e-01 -4.07614441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.935769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.32, Z:-0.41 [[ 9.99128149e-01 4.09500448e-02 8.12623070e-03 1.14073884e+01] [-4.09487109e-02 9.99161195e-01 -3.30535209e-04 -3.22653403e-01] [-8.13294981e-03 -2.51164056e-06 9.99966927e-01 -4.08862289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.33, Z:-0.41 [[ 9.99118488e-01 4.14329635e-02 6.74949435e-03 1.14400723e+01] [-4.14320494e-02 9.99141286e-01 -2.75260332e-04 -3.28568848e-01] [-6.75510332e-03 -4.62769668e-06 9.99977184e-01 -4.09706607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.33, Z:-0.41 [[ 9.99100503e-01 4.18541543e-02 6.81282815e-03 1.14720149e+01] [-4.18532233e-02 9.99123731e-01 -2.79228921e-04 -3.31637674e-01] [-6.81854517e-03 -6.16106295e-06 9.99976753e-01 -4.09832562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025769231000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.34, Z:-0.41 [[ 9.99078277e-01 4.22154166e-02 7.77530419e-03 1.15046461e+01] [-4.22142022e-02 9.99108532e-01 -3.20306269e-04 -3.35165408e-01] [-7.78189462e-03 -8.21722851e-06 9.99969721e-01 -4.10387642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.34, Z:-0.41 [[ 9.99044794e-01 4.28229284e-02 8.70040835e-03 1.15379033e+01] [-4.28214142e-02 9.99082678e-01 -3.60329432e-04 -3.40210702e-01] [-8.70785763e-03 -1.25785470e-05 9.99962086e-01 -4.10110917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.35, Z:-0.41 [[ 9.99006710e-01 4.34452197e-02 9.90483939e-03 1.15704103e+01] [-4.34432661e-02 9.99055811e-01 -4.12404532e-04 -3.48430406e-01] [-9.91340435e-03 -1.83036779e-05 9.99950861e-01 -4.09228478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.115769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.35, Z:-0.41 [[ 9.98973373e-01 4.42508049e-02 9.69878752e-03 1.16027812e+01] [-4.42489523e-02 9.99020453e-01 -4.05619777e-04 -3.52233187e-01] [-9.70723611e-03 -2.39578301e-05 9.99952883e-01 -4.09153684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.36, Z:-0.41 [[ 9.98796760e-01 4.78411523e-02 1.07822194e-02 1.16358147e+01] [-4.78390491e-02 9.98854955e-01 -4.53038064e-04 -3.57503693e-01] [-1.07915471e-02 -6.33181730e-05 9.99941768e-01 -4.09358979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.175769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.36, Z:-0.41 [[ 9.98644761e-01 5.06946837e-02 1.17767238e-02 1.16691402e+01] [-5.06923449e-02 9.98714193e-01 -4.97203898e-04 -3.60706590e-01] [-1.17867868e-02 -1.00459680e-04 9.99930528e-01 -4.09395067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.36, Z:-0.41 [[ 9.98443597e-01 5.43486344e-02 1.25143475e-02 1.17013956e+01] [-5.43462493e-02 9.98522009e-01 -5.30828211e-04 -3.63037634e-01] [-1.25247012e-02 -1.50105819e-04 9.99921552e-01 -4.09608420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.36, Z:-0.41 [[ 9.98189769e-01 5.88485906e-02 1.24108508e-02 1.17346303e+01] [-5.88465660e-02 9.98266899e-01 -5.28568268e-04 -3.64491608e-01] [-1.24204471e-02 -2.02724516e-04 9.99922843e-01 -4.09967239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.36, Z:-0.41 [[ 9.97597968e-01 6.83039694e-02 1.15266189e-02 1.17666228e+01] [-6.83028299e-02 9.97664513e-01 -4.92957868e-04 -3.63078421e-01] [-1.15333696e-02 -2.95526919e-04 9.99933445e-01 -4.10656434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.36, Z:-0.41 [[ 9.97336030e-01 7.20531789e-02 1.13658183e-02 1.17983877e+01] [-7.20522905e-02 9.97400736e-01 -4.88163470e-04 -3.62482215e-01] [-1.13714493e-02 -3.32070226e-04 9.99935288e-01 -4.10675865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.36, Z:-0.41 [[ 9.97003716e-01 7.66144292e-02 1.06686280e-02 1.18319605e+01] [-7.66138962e-02 9.97060730e-01 -4.59248770e-04 -3.58423966e-01] [-1.06724551e-02 -3.59492426e-04 9.99942983e-01 -4.11044028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.355769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.36, Z:-0.41 [[ 9.96917530e-01 7.78019791e-02 1.01138635e-02 1.18650402e+01] [-7.78015442e-02 9.96968770e-01 -4.37037053e-04 -3.57370290e-01] [-1.01172084e-02 -3.51184300e-04 9.99948758e-01 -4.11619599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.36, Z:-0.41 [[ 9.96866223e-01 7.85124133e-02 9.67133709e-03 1.18968241e+01] [-7.85120321e-02 9.96913078e-01 -4.19660997e-04 -3.56165252e-01] [-9.67443102e-03 -3.40970454e-04 9.99953143e-01 -4.12262203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.415769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.35, Z:-0.41 [[ 9.96881861e-01 7.82168731e-02 1.04248207e-02 1.19301671e+01] [-7.82163934e-02 9.96936302e-01 -4.54342758e-04 -3.50627253e-01] [-1.04284195e-02 -3.62465825e-04 9.99945557e-01 -4.12322951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445769231000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.35, Z:-0.41 [[ 9.96882230e-01 7.81274834e-02 1.10415417e-02 1.19635308e+01] [-7.81269165e-02 9.96943304e-01 -4.83323450e-04 -3.47809516e-01] [-1.10455519e-02 -3.80825049e-04 9.99938924e-01 -4.12318998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.475769231000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.34, Z:-0.41 [[ 9.96906023e-01 7.78948952e-02 1.05245374e-02 1.19955600e+01] [-7.78943473e-02 9.96961512e-01 -4.62581231e-04 -3.40648683e-01] [-1.05285915e-02 -3.58651958e-04 9.99944509e-01 -4.14140760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.34, Z:-0.42 [[ 9.96939886e-01 7.75437785e-02 9.89070934e-03 1.20278825e+01] [-7.75432598e-02 9.96988893e-01 -4.36495178e-04 -3.38494791e-01] [-9.89477484e-03 -3.31798391e-04 9.99950990e-01 -4.15340738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.34, Z:-0.42 [[ 9.96995487e-01 7.69178095e-02 9.14599419e-03 1.20613231e+01] [-7.69173332e-02 9.97037392e-01 -4.04336847e-04 -3.36485608e-01] [-9.14999890e-03 -3.00363471e-04 9.99958093e-01 -4.15514547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.33, Z:-0.42 [[ 9.97229385e-01 7.39676201e-02 7.89591206e-03 1.20945653e+01] [-7.39671601e-02 9.97260616e-01 -3.50665894e-04 -3.31591222e-01] [-7.90022005e-03 -2.34343858e-04 9.99968765e-01 -4.15333427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.595769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.33, Z:-0.42 [[ 9.97318350e-01 7.27886914e-02 7.61021619e-03 1.21268451e+01] [-7.27882291e-02 9.97347361e-01 -3.38078948e-04 -3.30243614e-01] [-7.61463736e-03 -2.16761821e-04 9.99970985e-01 -4.15320571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.33, Z:-0.42 [[ 9.97519600e-01 6.96993834e-02 9.83073344e-03 1.21597167e+01] [-6.96984386e-02 9.97568010e-01 -4.39092054e-04 -3.25338506e-01] [-9.83742964e-03 -2.47183841e-04 9.99951581e-01 -4.15976030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.32, Z:-0.42 [[ 9.97549752e-01 6.91670412e-02 1.05077762e-02 1.21920878e+01] [-6.91659094e-02 9.97605059e-01 -4.71509993e-04 -3.23304725e-01] [-1.05152237e-02 -2.56425221e-04 9.99944681e-01 -4.16479152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.32, Z:-0.42 [[ 9.97567537e-01 6.89794350e-02 1.00422899e-02 1.22248249e+01] [-6.89783753e-02 9.97618053e-01 -4.52260977e-04 -3.21172166e-01] [-1.00495664e-02 -2.41539976e-04 9.99949473e-01 -4.17129777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.715769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.32, Z:-0.42 [[ 9.97588176e-01 6.88212305e-02 9.02605664e-03 1.22576232e+01] [-6.88203548e-02 9.97628985e-01 -4.07941956e-04 -3.19823759e-01] [-9.03273079e-03 -2.14218348e-04 9.99959181e-01 -4.18725868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.32, Z:-0.42 [[ 9.97739762e-01 6.66419973e-02 8.61456552e-03 1.22906993e+01] [-6.66411056e-02 9.97776934e-01 -3.90832795e-04 -3.18417950e-01] [-8.62146065e-03 -1.84134750e-04 9.99962818e-01 -4.19225040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.775769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.32, Z:-0.42 [[ 9.97903440e-01 6.39791522e-02 9.76689361e-03 1.23223507e+01] [-6.39778552e-02 9.97951219e-01 -4.45492044e-04 -3.20102189e-01] [-9.77538559e-03 -1.80306863e-04 9.99952204e-01 -4.19036584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805769231000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.32, Z:-0.42 [[ 9.98302943e-01 5.70867756e-02 1.15036386e-02 1.23556346e+01] [-5.70845012e-02 9.98369212e-01 -5.26233322e-04 -3.21990451e-01] [-1.15149196e-02 -1.31339198e-04 9.99933692e-01 -4.19978059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.32, Z:-0.42 [[ 9.98493074e-01 5.36120280e-02 1.17188222e-02 1.23875308e+01] [-5.36094016e-02 9.98561837e-01 -5.38361885e-04 -3.23844792e-01] [-1.17308313e-02 -9.06884322e-05 9.99931187e-01 -4.20966053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.33, Z:-0.42 [[ 9.98877083e-01 4.61198168e-02 1.08414020e-02 1.24208181e+01] [-4.61171088e-02 9.98935915e-01 -4.99780473e-04 -3.27578942e-01] [-1.08529156e-02 -7.54852565e-07 9.99941105e-01 -4.22146363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.895769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.33, Z:-0.42 [[ 9.99048732e-01 4.24258997e-02 1.00833417e-02 1.24522998e+01] [-4.24233509e-02 9.99099615e-01 -4.66626878e-04 -3.30357541e-01] [-1.00940599e-02 3.84138471e-05 9.99949053e-01 -4.23073419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.33, Z:-0.42 [[ 9.99176100e-01 3.94760321e-02 9.42151804e-03 1.24852756e+01] [-3.94736616e-02 9.99220516e-01 -4.37501630e-04 -3.33161095e-01] [-9.43144494e-03 6.52393572e-05 9.99955521e-01 -4.23441938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.34, Z:-0.42 [[ 9.99302583e-01 3.63389241e-02 8.59248725e-03 1.25182389e+01] [-3.63368246e-02 9.99339519e-01 -4.00385053e-04 -3.36949516e-01] [-8.60136164e-03 8.78821154e-05 9.99963004e-01 -4.22714715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.34, Z:-0.42 [[ 9.99295636e-01 3.66103117e-02 8.24119661e-03 1.25513872e+01] [-3.66083777e-02 9.99329614e-01 -3.85447585e-04 -3.40034425e-01] [-8.24978319e-03 8.34792509e-05 9.99965966e-01 -4.22797517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.015769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.34, Z:-0.42 [[ 9.99184705e-01 3.96086433e-02 7.81545579e-03 1.25827757e+01] [-3.96069846e-02 9.99215268e-01 -3.66953958e-04 -3.44386822e-01] [-7.82385730e-03 5.71081451e-05 9.99969392e-01 -4.22863855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.35, Z:-0.42 [[ 9.99089155e-01 4.19624853e-02 7.74664466e-03 1.26153197e+01] [-4.19609163e-02 9.99119186e-01 -3.65023056e-04 -3.47305682e-01] [-7.75513858e-03 3.96342685e-05 9.99969928e-01 -4.23592500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.075769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.35, Z:-0.42 [[ 9.98980013e-01 4.43846130e-02 8.30303462e-03 1.26482661e+01] [-4.43828799e-02 9.99014517e-01 -3.92962387e-04 -3.49802396e-01] [-8.31229360e-03 2.40489812e-05 9.99965452e-01 -4.24455567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.35, Z:-0.42 [[ 9.98976378e-01 4.44663580e-02 8.30293893e-03 1.26817238e+01] [-4.44646111e-02 9.99010882e-01 -3.94972308e-04 -3.51540418e-01] [-8.31228933e-03 2.53810557e-05 9.99965452e-01 -4.24885360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.35, Z:-0.43 [[ 9.98859860e-01 4.68870082e-02 8.97716426e-03 1.27148564e+01] [-4.68850603e-02 9.98900199e-01 -4.27428753e-04 -3.53567989e-01] [-8.98733203e-03 6.04653657e-06 9.99959613e-01 -4.25195435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.35, Z:-0.43 [[ 9.98571220e-01 5.26529943e-02 9.12040048e-03 1.27474908e+01] [-5.26512074e-02 9.98612868e-01 -4.36084542e-04 -3.54604162e-01] [-9.13071044e-03 -4.47386246e-05 9.99958313e-01 -4.25288456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.195769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.36, Z:-0.43 [[ 9.98377714e-01 5.61841902e-02 9.23456362e-03 1.27793222e+01] [-5.61824920e-02 9.98420418e-01 -4.43417483e-04 -3.55486696e-01] [-9.24488993e-03 -7.61226636e-05 9.99957262e-01 -4.25589764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.35, Z:-0.43 [[ 9.97877460e-01 6.41842738e-02 1.09979429e-02 1.28111208e+01] [-6.41823234e-02 9.97938048e-01 -5.30560256e-04 -3.54951598e-01] [-1.10093193e-02 -1.76439410e-04 9.99939380e-01 -4.25371466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.255769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.36, Z:-0.43 [[ 9.97635215e-01 6.78480554e-02 1.09826970e-02 1.28437954e+01] [-6.78463129e-02 9.97695643e-01 -5.31593063e-04 -3.55025525e-01] [-1.09934564e-02 -2.14799534e-04 9.99939547e-01 -4.26069191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.35, Z:-0.43 [[ 9.97435286e-01 7.08733932e-02 9.99061559e-03 1.28761269e+01] [-7.08720841e-02 9.97485294e-01 -4.85454757e-04 -3.54697435e-01] [-9.99989796e-03 -2.23846044e-04 9.99949975e-01 -4.26811884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.315769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.35, Z:-0.43 [[ 9.97210763e-01 7.42176656e-02 7.90134987e-03 1.29086091e+01] [-7.42169490e-02 9.97242045e-01 -3.84272923e-04 -3.51695745e-01] [-7.90807815e-03 -2.03212986e-04 9.99968710e-01 -4.28151131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.35, Z:-0.43 [[ 9.97150529e-01 7.49973281e-02 8.13777447e-03 1.29397169e+01] [-7.49965760e-02 9.97183712e-01 -3.97966871e-04 -3.51166076e-01] [-8.14470261e-03 -2.13472346e-04 9.99966809e-01 -4.28507540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.375769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.35, Z:-0.43 [[ 9.97075035e-01 7.58610528e-02 9.29916288e-03 1.29711386e+01] [-7.58601058e-02 9.97118367e-01 -4.55024828e-04 -3.48228456e-01] [-9.30688477e-03 -2.51741584e-04 9.99956658e-01 -4.28426749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.35, Z:-0.43 [[ 9.97140193e-01 7.49548017e-02 9.65466579e-03 1.30023598e+01] [-7.49537402e-02 9.97186900e-01 -4.72251479e-04 -3.47395934e-01] [-9.66290377e-03 -2.52752381e-04 9.99953281e-01 -4.28944041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.435769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.35, Z:-0.43 [[ 9.97287221e-01 7.30342291e-02 9.17602428e-03 1.30335046e+01] [-7.30331768e-02 9.97329410e-01 -4.50155775e-04 -3.46704200e-01] [-9.18439566e-03 -2.21219601e-04 9.99957798e-01 -4.30084124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465769231000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.35, Z:-0.43 [[ 9.97717863e-01 6.70347765e-02 8.08734270e-03 1.30656258e+01] [-6.70337544e-02 9.97750629e-01 -3.97686510e-04 -3.46223296e-01] [-8.09581009e-03 -1.45346010e-04 9.99967218e-01 -4.31539381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.495769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.35, Z:-0.43 [[ 9.97988442e-01 6.28176422e-02 8.54478435e-03 1.30977614e+01] [-6.28163335e-02 9.98025015e-01 -4.21715953e-04 -3.47600016e-01] [-8.55439973e-03 -1.15884377e-04 9.99963404e-01 -4.31674630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.35, Z:-0.43 [[ 9.98259181e-01 5.82321811e-02 9.36059390e-03 1.31297367e+01] [-5.82303927e-02 9.98303063e-01 -4.63715669e-04 -3.49483715e-01] [-9.37171274e-03 -8.21626357e-05 9.99956081e-01 -4.31943325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.555769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.35, Z:-0.43 [[ 9.98785262e-01 4.81006567e-02 1.06924182e-02 1.31613356e+01] [-4.80977189e-02 9.98842493e-01 -5.31884693e-04 -3.54119506e-01] [-1.07056257e-02 1.69576670e-05 9.99942693e-01 -4.31593805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.36, Z:-0.43 [[ 9.98996802e-01 4.35658085e-02 1.03638762e-02 1.31936716e+01] [-4.35627935e-02 9.99050557e-01 -5.16586668e-04 -3.57898796e-01] [-1.03765418e-02 6.45890283e-05 9.99946160e-01 -4.32272363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.36, Z:-0.43 [[ 9.99283030e-01 3.68353824e-02 8.75098439e-03 1.32258720e+01] [-3.68329642e-02 9.99321340e-01 -4.37398243e-04 -3.60939337e-01] [-8.76115718e-03 1.14759947e-04 9.99961614e-01 -4.32325955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.36, Z:-0.43 [[ 9.99355107e-01 3.48597415e-02 8.61209721e-03 1.32585892e+01] [-3.48573138e-02 9.99392206e-01 -4.31874804e-04 -3.63152781e-01] [-8.62191787e-03 1.31401716e-04 9.99962822e-01 -4.33177578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.675769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.37, Z:-0.43 [[ 9.99390307e-01 3.37285693e-02 9.02209980e-03 1.32914893e+01] [-3.37258427e-02 9.99431019e-01 -4.54220874e-04 -3.66373821e-01] [-9.03228662e-03 1.49666020e-04 9.99959197e-01 -4.33274963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.37, Z:-0.43 [[ 9.99406871e-01 3.25395444e-02 1.12731578e-02 1.33244108e+01] [-3.25351818e-02 9.99470428e-01 -5.70216416e-04 -3.71722866e-01] [-1.12857424e-02 2.03103965e-04 9.99936293e-01 -4.32869917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.735769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.37, Z:-0.43 [[ 9.99391249e-01 3.27964581e-02 1.18963659e-02 1.33566816e+01] [-3.27915895e-02 9.99462029e-01 -6.04130062e-04 -3.74331820e-01] [-1.19097793e-02 2.13661551e-04 9.99929053e-01 -4.32961320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.38, Z:-0.43 [[ 9.99353442e-01 3.36011919e-02 1.27929040e-02 1.33901435e+01] [-3.35955968e-02 9.99435296e-01 -6.52076119e-04 -3.76303749e-01] [-1.28075904e-02 2.21869269e-04 9.99917955e-01 -4.32911404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.38, Z:-0.43 [[ 9.99228489e-01 3.69387578e-02 1.33399966e-02 1.34216535e+01] [-3.69329366e-02 9.99317513e-01 -6.82551927e-04 -3.79885105e-01] [-1.33561048e-02 1.89340084e-04 9.99910785e-01 -4.33447244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.38, Z:-0.43 [[ 9.99167305e-01 3.86957276e-02 1.29359205e-02 1.34550500e+01] [-3.86903725e-02 9.99251027e-01 -6.64066541e-04 -3.82696999e-01] [-1.29519284e-02 1.63017991e-04 9.99916107e-01 -4.33717468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.855769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.38, Z:-0.43 [[ 9.99065944e-01 4.14663196e-02 1.21566401e-02 1.34871206e+01] [-4.14617688e-02 9.99139895e-01 -6.26242031e-04 -3.84413002e-01] [-1.21721521e-02 1.21621284e-04 9.99925909e-01 -4.33962714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.39, Z:-0.43 [[ 9.98990099e-01 4.34715332e-02 1.13581605e-02 1.35204804e+01] [-4.34676691e-02 9.99054662e-01 -5.86969808e-04 -3.86548681e-01] [-1.13729397e-02 9.26642631e-05 9.99935322e-01 -4.34772753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.915769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.39, Z:-0.44 [[ 9.98917979e-01 4.52436518e-02 1.07649239e-02 1.35538846e+01] [-4.52402631e-02 9.98975979e-01 -5.58222314e-04 -3.88754636e-01] [-1.07791564e-02 7.06103165e-05 9.99941901e-01 -4.35167112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.39, Z:-0.44 [[ 9.98833685e-01 4.71433579e-02 1.04294072e-02 1.35862218e+01] [-4.71402605e-02 9.98888133e-01 -5.42754246e-04 -3.90771112e-01] [-1.04433983e-02 5.04762526e-05 9.99945465e-01 -4.36278117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.975769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.39, Z:-0.44 [[ 9.98696150e-01 5.00567017e-02 1.00163545e-02 1.36188572e+01] [-5.00539745e-02 9.98746377e-01 -5.22937348e-04 -3.92750803e-01] [-1.00299743e-02 2.08971641e-05 9.99949698e-01 -4.36906869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.005769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.39, Z:-0.44 [[ 9.98654290e-01 5.08029161e-02 1.04246171e-02 1.36513386e+01] [-5.07999825e-02 9.98708698e-01 -5.46176989e-04 -3.94882958e-01] [-1.04389032e-02 1.58716241e-05 9.99945513e-01 -4.36976813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.035769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.40, Z:-0.44 [[ 9.98692347e-01 4.97942202e-02 1.15814959e-02 1.36840133e+01] [-4.97905033e-02 9.98759498e-01 -6.09225056e-04 -3.97799914e-01] [-1.15974649e-02 3.17798917e-05 9.99932747e-01 -4.37556415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.40, Z:-0.44 [[ 9.98782541e-01 4.80438899e-02 1.11901684e-02 1.37170635e+01] [-4.80402874e-02 9.98845224e-01 -5.90668429e-04 -4.00876995e-01] [-1.12056243e-02 5.23704088e-05 9.99937214e-01 -4.38367278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.095769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.41, Z:-0.44 [[ 9.99005535e-01 4.35782647e-02 9.42743667e-03 1.37499810e+01] [-4.35754958e-02 9.99050012e-01 -4.99014923e-04 -4.06916733e-01] [-9.44022692e-03 8.77134431e-05 9.99955436e-01 -4.39127557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.41, Z:-0.44 [[ 9.99065452e-01 4.23170376e-02 8.80284541e-03 1.37815371e+01] [-4.23145610e-02 9.99104228e-01 -4.67484436e-04 -4.10530363e-01] [-8.81474263e-03 9.45590105e-05 9.99961145e-01 -4.40004850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.155769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.41, Z:-0.44 [[ 9.99106307e-01 4.13865016e-02 8.58753307e-03 1.38144229e+01] [-4.13840984e-02 9.99143207e-01 -4.57437998e-04 -4.13754515e-01] [-8.59910708e-03 1.01641875e-04 9.99963022e-01 -4.41459500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.42, Z:-0.44 [[ 9.99142422e-01 4.05177977e-02 8.52813603e-03 1.38465911e+01] [-4.05153822e-02 9.99178811e-01 -4.55885970e-04 -4.16481455e-01] [-8.53960431e-03 1.09974322e-04 9.99963531e-01 -4.41025781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.215769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.42, Z:-0.44 [[ 9.99131254e-01 4.06895160e-02 9.00560979e-03 1.38791485e+01] [-4.06868145e-02 9.99171832e-01 -4.83053800e-04 -4.19216085e-01] [-9.01780685e-03 1.16224573e-04 9.99959332e-01 -4.40280333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.42, Z:-0.44 [[ 9.99043649e-01 4.28679340e-02 8.60978717e-03 1.39119776e+01] [-4.28655332e-02 9.99080743e-01 -4.63270901e-04 -4.21276057e-01] [-8.62173204e-03 9.37647335e-05 9.99962828e-01 -4.40206461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.42, Z:-0.44 [[ 9.98736322e-01 4.96796447e-02 7.59546642e-03 1.39450254e+01] [-4.96779647e-02 9.98765204e-01 -4.09802503e-04 -4.22183084e-01] [-7.60644640e-03 3.19573322e-05 9.99971070e-01 -4.41861090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.305769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.42, Z:-0.44 [[ 9.98615410e-01 5.20198076e-02 7.82323797e-03 1.39767049e+01] [-5.20180847e-02 9.98646053e-01 -4.23683850e-04 -4.22823492e-01] [-7.83468567e-03 1.61473659e-05 9.99969308e-01 -4.43022983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.335769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.42, Z:-0.44 [[ 9.98557518e-01 5.30017011e-02 8.58509488e-03 1.40099734e+01] [-5.29996501e-02 9.98594422e-01 -4.66392054e-04 -4.24010626e-01] [-8.59774743e-03 1.07122671e-05 9.99963039e-01 -4.44148190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.43, Z:-0.44 [[ 9.98566738e-01 5.29221298e-02 7.98234034e-03 1.40434038e+01] [-5.29203440e-02 9.98598642e-01 -4.34924155e-04 -4.25490222e-01] [-7.99417133e-03 1.18725989e-05 9.99968046e-01 -4.39940028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.395769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.43, Z:-0.44 [[ 9.98602357e-01 5.23294413e-02 7.41363259e-03 1.40753091e+01] [-5.23278754e-02 9.98629876e-01 -4.05166695e-04 -4.27305932e-01] [-7.42467714e-03 1.66607748e-05 9.99972437e-01 -4.44050396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.43, Z:-0.44 [[ 9.98646828e-01 5.15895966e-02 6.55944732e-03 1.41076359e+01] [-5.15883492e-02 9.98668370e-01 -3.59346573e-04 -4.28074047e-01] [-6.56925111e-03 2.04692562e-05 9.99978422e-01 -4.44821864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.43, Z:-0.45 [[ 9.98661520e-01 5.12600320e-02 6.89761313e-03 1.41405660e+01] [-5.12586365e-02 9.98685340e-01 -3.79063045e-04 -4.30096799e-01] [-6.90797590e-03 2.49934327e-05 9.99976139e-01 -4.45185622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.485769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.43, Z:-0.45 [[ 9.98751741e-01 4.89357275e-02 1.00126705e-02 1.41723110e+01] [-4.89326419e-02 9.98801928e-01 -5.53065183e-04 -4.32967101e-01] [-1.00277392e-02 6.24283956e-05 9.99949719e-01 -4.45198265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.515769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.44, Z:-0.45 [[ 9.98823407e-01 4.70335424e-02 1.18172798e-02 1.42051050e+01] [-4.70290838e-02 9.98893306e-01 -6.55056723e-04 -4.35307993e-01] [-1.18350113e-02 9.85301462e-05 9.99929959e-01 -4.45168771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.44, Z:-0.45 [[ 9.98898296e-01 4.51543761e-02 1.27779510e-02 1.42382076e+01] [-4.51489787e-02 9.98980012e-01 -7.10697022e-04 -4.38834551e-01] [-1.27970087e-02 1.33002608e-04 9.99918106e-01 -4.45889688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.575769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.45, Z:-0.45 [[ 9.99145111e-01 3.97987633e-02 1.11850944e-02 1.42707037e+01] [-3.97942739e-02 9.99207699e-01 -6.23727614e-04 -4.47058051e-01] [-1.12010561e-02 1.78091684e-04 9.99937250e-01 -4.48110050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.45, Z:-0.45 [[ 9.99268855e-01 3.68592191e-02 1.01564323e-02 1.43027179e+01] [-3.68553481e-02 9.99320449e-01 -5.68092706e-04 -4.53029960e-01] [-1.01704700e-02 1.93358498e-04 9.99948261e-01 -4.49342704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.46, Z:-0.45 [[ 9.99455345e-01 3.17496921e-02 8.99838244e-03 1.43344434e+01] [-3.17464323e-02 9.99495827e-01 -5.04907674e-04 -4.63185285e-01] [-9.00987636e-03 2.18966134e-04 9.99959386e-01 -4.49342587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.665769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.47, Z:-0.45 [[ 9.99518413e-01 2.98497555e-02 8.48144438e-03 1.43671396e+01] [-2.98467866e-02 9.99554372e-01 -4.76427148e-04 -4.70355681e-01] [-8.49188604e-03 2.23053846e-04 9.99963918e-01 -4.49510132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.695769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.48, Z:-0.45 [[ 9.99557279e-01 2.86528882e-02 8.01609819e-03 1.43984860e+01] [-2.86501871e-02 9.99589397e-01 -4.51618279e-04 -4.78258955e-01] [-8.02574693e-03 2.21755626e-04 9.99967769e-01 -4.50409633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.49, Z:-0.45 [[ 9.99574952e-01 2.80802078e-02 7.83686020e-03 1.44305968e+01] [-2.80775998e-02 9.99605648e-01 -4.42632977e-04 -4.89814903e-01] [-7.84619895e-03 2.22404613e-04 9.99969193e-01 -4.51132879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.755769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.50, Z:-0.45 [[ 9.99536100e-01 2.92475011e-02 8.49522110e-03 1.44625910e+01] [-2.92444634e-02 9.99572173e-01 -4.81606281e-04 -4.95246275e-01] [-8.50567240e-03 2.32944681e-04 9.99963799e-01 -4.51743493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.50, Z:-0.45 [[ 9.99407861e-01 3.32621308e-02 8.80670767e-03 1.44950802e+01] [-3.32590065e-02 9.99446641e-01 -5.01025514e-04 -5.04658570e-01] [-8.81849958e-03 2.07826490e-04 9.99961095e-01 -4.52155733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.815769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.51, Z:-0.45 [[ 9.99322573e-01 3.57357102e-02 8.79515885e-03 1.45273594e+01] [-3.57326767e-02 9.99361258e-01 -5.01849519e-04 -5.11148879e-01] [-8.80747496e-03 1.87234985e-04 9.99961196e-01 -4.52547626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.52, Z:-0.45 [[ 9.99229050e-01 3.82756525e-02 8.73389002e-03 1.45588210e+01] [-3.82727434e-02 9.99267205e-01 -5.00039970e-04 -5.17538198e-01] [-8.74662923e-03 1.65384532e-04 9.99961734e-01 -4.53115589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.875769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.53, Z:-0.45 [[ 9.99113892e-01 4.12952998e-02 8.13194289e-03 1.45905086e+01] [-4.12928670e-02 9.99146977e-01 -4.66906896e-04 -5.26610677e-01] [-8.14428721e-03 1.30701930e-04 9.99966826e-01 -4.53202286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.53, Z:-0.45 [[ 9.99057472e-01 4.26198996e-02 8.22870994e-03 1.46236010e+01] [-4.26174426e-02 9.99091352e-01 -4.73788243e-04 -5.31474151e-01] [-8.24142575e-03 1.22655111e-04 9.99966031e-01 -4.53588467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.935769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.54, Z:-0.45 [[ 9.98937751e-01 4.48190918e-02 1.07060433e-02 1.46561920e+01] [-4.48150318e-02 9.98995110e-01 -6.18949411e-04 -5.38728743e-01] [-1.07230256e-02 1.38500262e-04 9.99942497e-01 -4.53045217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.54, Z:-0.45 [[ 9.98855800e-01 4.63935529e-02 1.16073128e-02 1.46877707e+01] [-4.63888594e-02 9.98923230e-01 -6.73410316e-04 -5.43365364e-01] [-1.16260563e-02 1.34189796e-04 9.99932406e-01 -4.52521852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.55, Z:-0.45 [[ 9.98764276e-01 4.82383559e-02 1.19575266e-02 1.47203744e+01] [-4.82334913e-02 9.98835846e-01 -6.95043876e-04 -5.48457216e-01] [-1.19771340e-02 1.17431736e-04 9.99928265e-01 -4.52641238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.55, Z:-0.45 [[ 9.98760303e-01 4.83205778e-02 1.19573907e-02 1.47538054e+01] [-4.83156912e-02 9.98831872e-01 -6.97375020e-04 -5.50550666e-01] [-1.19771205e-02 1.18780891e-04 9.99928265e-01 -4.53071136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.055769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.56, Z:-0.45 [[ 9.98661793e-01 5.02779351e-02 1.21141333e-02 1.47857815e+01] [-5.02730520e-02 9.98735260e-01 -7.07466521e-04 -5.56169539e-01] [-1.21343820e-02 9.75053318e-05 9.99926371e-01 -4.53216547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.56, Z:-0.45 [[ 9.98529028e-01 5.28806098e-02 1.19758259e-02 1.48174994e+01] [-5.28759998e-02 9.98600839e-01 -7.01468816e-04 -5.62900433e-01] [-1.19961638e-02 6.72032102e-05 9.99928041e-01 -4.53502754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.57, Z:-0.45 [[ 9.98447990e-01 5.44959417e-02 1.14806149e-02 1.48499024e+01] [-5.44917900e-02 9.98513991e-01 -6.74360123e-04 -5.65714587e-01] [-1.15003045e-02 4.77142531e-05 9.99933868e-01 -4.53884128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.145769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.57, Z:-0.45 [[ 9.98146024e-01 6.01060651e-02 9.57993655e-03 1.48817390e+01] [-6.01034189e-02 9.98191996e-01 -5.64140186e-04 -5.67277101e-01] [-9.59652423e-03 -1.26926565e-05 9.99953952e-01 -4.54420095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.175769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.57, Z:-0.45 [[ 9.97927581e-01 6.37683854e-02 8.61019454e-03 1.49145415e+01] [-6.37663737e-02 9.97964724e-01 -5.08239130e-04 -5.68740424e-01] [-8.62508001e-03 -4.18550369e-05 9.99962802e-01 -4.54706026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.57, Z:-0.46 [[ 9.97425140e-01 7.11668510e-02 8.85269040e-03 1.49465811e+01] [-7.11649977e-02 9.97464419e-01 -5.24580339e-04 -5.67075765e-01] [-8.86757642e-03 -1.06772074e-04 9.99960677e-01 -4.55020700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.235769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.57, Z:-0.46 [[ 9.97169039e-01 7.44677461e-02 1.04144893e-02 1.49798326e+01] [-7.44653473e-02 9.97223410e-01 -6.18448684e-04 -5.66645795e-01] [-1.04316270e-02 -1.58820684e-04 9.99945576e-01 -4.55133552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.57, Z:-0.46 [[ 9.96961482e-01 7.69851358e-02 1.18781979e-02 1.50127763e+01] [-7.69821633e-02 9.97032219e-01 -7.07947717e-04 -5.66296876e-01] [-1.18974474e-02 -2.08612762e-04 9.99929201e-01 -4.55375785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.295769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.56, Z:-0.46 [[ 9.96788630e-01 7.93793790e-02 1.05518609e-02 1.50445844e+01] [-7.93536304e-02 9.96842490e-01 -2.83753678e-03 -5.63333828e-01] [-1.07437852e-02 1.99109594e-03 9.99940302e-01 -4.56626195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.56, Z:-0.46 [[ 9.96834487e-01 7.89432793e-02 9.43209086e-03 1.50780330e+01] [-7.89623053e-02 9.96876218e-01 1.66148793e-03 -5.64371564e-01] [-9.27146376e-03 -2.40100810e-03 9.99954137e-01 -4.57758418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.355769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.56, Z:-0.46 [[ 9.96940494e-01 7.77505429e-02 8.03147852e-03 1.51103882e+01] [-7.77491772e-02 9.96972834e-01 -4.82603986e-04 -5.58907307e-01] [-8.04468863e-03 -1.43313391e-04 9.99967631e-01 -4.60125798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.56, Z:-0.46 [[ 9.96989346e-01 7.71036498e-02 8.20193450e-03 1.51439187e+01] [-7.71021982e-02 9.97023073e-01 -4.93506462e-04 -5.58302672e-01] [-8.21556908e-03 -1.40366495e-04 9.99966242e-01 -4.60542677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.415769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.56, Z:-0.46 [[ 9.97047979e-01 7.63202763e-02 8.39904557e-03 1.51758993e+01] [-7.63187123e-02 9.97083345e-01 -5.07037440e-04 -5.58422834e-01] [-8.41324569e-03 -1.35463687e-04 9.99964599e-01 -4.60273966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.56, Z:-0.46 [[ 9.97157071e-01 7.47794120e-02 9.26368873e-03 1.52077246e+01] [-7.47774238e-02 9.97200091e-01 -5.61286517e-04 -5.56478789e-01] [-9.27972392e-03 -1.33023959e-04 9.99956934e-01 -4.59870402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.475769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.56, Z:-0.46 [[ 9.97187530e-01 7.42690079e-02 1.00570794e-02 1.52403576e+01] [-7.42666276e-02 9.97238234e-01 -6.10451961e-04 -5.56008379e-01] [-1.00746418e-02 -1.38170291e-04 9.99949240e-01 -4.59903107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.505769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.56, Z:-0.46 [[ 9.97223256e-01 7.35213085e-02 1.18488109e-02 1.52723948e+01] [-7.35179211e-02 9.97293635e-01 -7.21793145e-04 -5.55352979e-01] [-1.18698109e-02 -1.51311037e-04 9.99929540e-01 -4.60163689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.535769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.56, Z:-0.46 [[ 9.97246831e-01 7.30902752e-02 1.25127974e-02 1.53051752e+01] [-7.30864353e-02 9.97325317e-01 -7.64488022e-04 -5.57676650e-01] [-1.25352062e-02 -1.52132499e-04 9.99921420e-01 -4.60511783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.56, Z:-0.46 [[ 9.97372215e-01 7.13475971e-02 1.25771857e-02 1.53383288e+01] [-7.13435503e-02 9.97451505e-01 -7.70700355e-04 -5.60370359e-01] [-1.26001205e-02 -1.28625964e-04 9.99920607e-01 -4.60639791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.595769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.56, Z:-0.46 [[ 9.97750782e-01 6.59141561e-02 1.21942800e-02 1.53704031e+01] [-6.59099195e-02 9.97825296e-01 -7.49417350e-04 -5.62642034e-01] [-1.22171582e-02 -5.59922631e-05 9.99925366e-01 -4.60429219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.57, Z:-0.46 [[ 9.97886425e-01 6.38871585e-02 1.18791504e-02 1.54029112e+01] [-6.38829795e-02 9.97957128e-01 -7.31296548e-04 -5.65395607e-01] [-1.19016033e-02 -2.91246228e-05 9.99929173e-01 -4.61460256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.655769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.57, Z:-0.46 [[ 9.98058088e-01 6.14442342e-02 1.02303329e-02 1.54357709e+01] [-6.14409909e-02 9.98110518e-01 -6.31315266e-04 -5.71579888e-01] [-1.02497936e-02 1.52751586e-06 9.99947469e-01 -4.63052254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685769231000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.58, Z:-0.46 [[ 9.98058739e-01 6.15379040e-02 9.58335388e-03 1.54688331e+01] [-6.15350472e-02 9.98104747e-01 -5.92954677e-04 -5.75016429e-01] [-9.60168019e-03 2.09146341e-06 9.99953903e-01 -4.62723806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.715769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.58, Z:-0.46 [[ 9.98011550e-01 6.22225720e-02 1.00646873e-02 1.55003194e+01] [-6.22194342e-02 9.98062298e-01 -6.24888876e-04 -5.76510167e-01] [-1.00840671e-02 -2.57283265e-06 9.99949154e-01 -4.63351505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.58, Z:-0.46 [[ 9.97854296e-01 6.44955260e-02 1.12752668e-02 1.55332721e+01] [-6.44917178e-02 9.97917996e-01 -7.01392835e-04 -5.75516363e-01] [-1.12970283e-02 -2.72734683e-05 9.99936186e-01 -4.63402416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.58, Z:-0.46 [[ 9.97763509e-01 6.59885830e-02 1.06530068e-02 1.55649132e+01] [-6.59852481e-02 9.97820377e-01 -6.64610392e-04 -5.77016579e-01] [-1.06736440e-02 -3.98173019e-05 9.99943034e-01 -4.63618164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.58, Z:-0.46 [[ 9.97663607e-01 6.77090012e-02 9.10043768e-03 1.55982716e+01] [-6.77066277e-02 9.97705111e-01 -5.68997108e-04 -5.79166102e-01] [-9.11807941e-03 -4.84922386e-05 9.99958428e-01 -4.64621814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.835769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.58, Z:-0.47 [[ 9.97462422e-01 7.10442553e-02 4.62921826e-03 1.56300641e+01] [-7.10436780e-02 9.97473164e-01 -2.89230087e-04 -5.78644478e-01] [-4.63806912e-03 -4.03805485e-05 9.99989243e-01 -4.66325606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.58, Z:-0.47 [[ 9.97351709e-01 7.26044152e-02 4.26233601e-03 1.56623332e+01] [-7.26039376e-02 9.97360816e-01 -2.66887278e-04 -5.78955072e-01] [-4.27046411e-03 -4.32818948e-05 9.99990881e-01 -4.67177254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.895769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.58, Z:-0.47 [[ 9.97261477e-01 7.35313078e-02 7.91786693e-03 1.56957207e+01] [-7.35296629e-02 9.97292906e-01 -4.99036381e-04 -5.80217808e-01] [-7.93312731e-03 -8.45283274e-05 9.99968529e-01 -4.67083861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.58, Z:-0.47 [[ 9.97277846e-01 7.31460669e-02 9.30325237e-03 1.57276610e+01] [-7.31437589e-02 9.97321234e-01 -5.88542560e-04 -5.82385566e-01] [-9.32138071e-03 -9.35343919e-05 9.99956551e-01 -4.66945495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.58, Z:-0.47 [[ 9.97365483e-01 7.18847652e-02 9.73006479e-03 1.57606979e+01] [-7.18821603e-02 9.97412940e-01 -6.17618587e-04 -5.83520586e-01] [-9.74928989e-03 -8.34266162e-05 9.99952471e-01 -4.66815914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.58, Z:-0.47 [[ 9.97512536e-01 7.00020373e-02 8.27383144e-03 1.57928777e+01] [-7.00000882e-02 9.97546847e-01 -5.25280916e-04 -5.83632150e-01] [-8.29030520e-03 -5.51946319e-05 9.99965633e-01 -4.67706911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.015769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.59, Z:-0.47 [[ 9.97575805e-01 6.91452529e-02 7.83882079e-03 1.58260782e+01] [-6.91434677e-02 9.97606602e-01 -4.98840494e-04 -5.86265223e-01] [-7.85455183e-03 -4.43720450e-05 9.99969152e-01 -4.68461707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.59, Z:-0.47 [[ 9.97734489e-01 6.64261627e-02 1.06514898e-02 1.58590159e+01] [-6.64226817e-02 9.97791343e-01 -6.80626197e-04 -5.89236120e-01] [-1.06731757e-02 -2.84162828e-05 9.99943040e-01 -4.67863194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.075769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.59, Z:-0.47 [[ 9.97813045e-01 6.48715851e-02 1.26808394e-02 1.58919950e+01] [-6.48664907e-02 9.97893620e-01 -8.13059118e-04 -5.90765126e-01] [-1.27068731e-02 -1.12805542e-05 9.99919264e-01 -4.67170870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.59, Z:-0.47 [[ 9.97848285e-01 6.41468759e-02 1.35638795e-02 1.59244975e+01] [-6.41409434e-02 9.97940468e-01 -8.72394162e-04 -5.91570609e-01] [-1.35919056e-02 5.16991713e-07 9.99907626e-01 -4.66920392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.135769231000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.59, Z:-0.47 [[ 9.97922242e-01 6.33994120e-02 1.14766137e-02 1.59577461e+01] [-6.33950964e-02 9.97988234e-01 -7.39807578e-04 -5.91553679e-01] [-1.15004288e-02 1.07094037e-05 9.99933868e-01 -4.68395893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.59, Z:-0.47 [[ 9.97967626e-01 6.29806454e-02 9.69820926e-03 1.59898001e+01] [-6.29775294e-02 9.98014748e-01 -6.26656293e-04 -5.92758795e-01] [-9.71842309e-03 1.46134339e-05 9.99952775e-01 -4.69107176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.195769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.59, Z:-0.47 [[ 9.98009958e-01 6.23958014e-02 9.10426328e-03 1.60223718e+01] [-6.23930181e-02 9.98051483e-01 -5.89695098e-04 -5.93400105e-01] [-9.12331797e-03 2.04791170e-05 9.99958381e-01 -4.69923639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.59, Z:-0.47 [[ 9.98070812e-01 6.14653834e-02 8.75567431e-03 1.60544352e+01] [-6.14627572e-02 9.98109215e-01 -5.68962602e-04 -5.92251155e-01] [-8.77409072e-03 2.97170809e-05 9.99961506e-01 -4.69456471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.255769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.59, Z:-0.47 [[ 9.98059470e-01 6.16221257e-02 8.94471387e-03 1.60870934e+01] [-6.16193838e-02 9.98099551e-01 -5.82061510e-04 -5.93674482e-01] [-8.96358276e-03 2.97642452e-05 9.99959826e-01 -4.69522044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.59, Z:-0.47 [[ 9.98073037e-01 6.13560398e-02 9.25463180e-03 1.61189482e+01] [-6.13530761e-02 9.98115943e-01 -6.04072296e-04 -5.94855540e-01] [-9.27425903e-03 3.51081419e-05 9.99956993e-01 -4.69693121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.315769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.60, Z:-0.47 [[ 9.98131754e-01 6.04366722e-02 8.96712607e-03 1.61512124e+01] [-6.04338394e-02 9.98172033e-01 -5.86791189e-04 -5.96952999e-01] [-8.98619816e-03 4.37770626e-05 9.99959622e-01 -4.70392919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.60, Z:-0.47 [[ 9.98207063e-01 5.91861877e-02 8.92493666e-03 1.61839253e+01] [-5.91833180e-02 9.98246959e-01 -5.85526638e-04 -5.99211606e-01] [-8.94394597e-03 5.62694612e-05 9.99960001e-01 -4.70847043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.375769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.60, Z:-0.47 [[ 9.98326059e-01 5.69977725e-02 9.81498074e-03 1.62168425e+01] [-5.69941767e-02 9.98374302e-01 -6.45903421e-04 -6.01484581e-01] [-9.83583960e-03 8.54254705e-05 9.99951623e-01 -4.70418886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.60, Z:-0.47 [[ 9.98359740e-01 5.63569082e-02 1.00860766e-02 1.62483343e+01] [-5.63530577e-02 9.98410682e-01 -6.65777300e-04 -6.03285187e-01] [-1.01075678e-02 9.63039952e-05 9.99948913e-01 -4.71053785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.435769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.61, Z:-0.47 [[ 9.98436366e-01 5.52021439e-02 8.80601273e-03 1.62809321e+01] [-5.51991529e-02 9.98475195e-01 -5.82521178e-04 -6.06571647e-01] [-8.82474169e-03 9.55258854e-05 9.99961057e-01 -4.72055476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.61, Z:-0.47 [[ 9.98471733e-01 5.46831452e-02 7.99695520e-03 1.63129919e+01] [-5.46806511e-02 9.98503753e-01 -5.30354936e-04 -6.10339335e-01] [-8.01399125e-03 9.22656953e-05 9.99967883e-01 -4.72566174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.495769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.61, Z:-0.47 [[ 9.98514131e-01 5.40069483e-02 7.26492562e-03 1.63458636e+01] [-5.40048646e-02 9.98540556e-01 -4.82816919e-04 -6.13777095e-01] [-7.28039833e-03 8.97581921e-05 9.99973494e-01 -4.73167970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.62, Z:-0.47 [[ 9.98572388e-01 5.30025192e-02 6.62709375e-03 1.63787673e+01] [-5.30007564e-02 9.98594375e-01 -4.41466875e-04 -6.16305103e-01] [-6.64117739e-03 8.95956506e-05 9.99977943e-01 -4.73998735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.555769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.62, Z:-0.47 [[ 9.98640401e-01 5.17742283e-02 6.06462206e-03 1.64108233e+01] [-5.17727232e-02 9.98658811e-01 -4.05014087e-04 -6.19414214e-01] [-6.07745755e-03 9.04814307e-05 9.99981528e-01 -4.74707023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.62, Z:-0.48 [[ 9.98661827e-01 5.13340022e-02 6.27503484e-03 1.64422421e+01] [-5.13323722e-02 9.98681536e-01 -4.20643228e-04 -6.23177473e-01] [-6.28835473e-03 9.79679108e-05 9.99980223e-01 -4.75108930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.63, Z:-0.47 [[ 9.98586398e-01 5.24519613e-02 8.60221201e-03 1.64744354e+01] [-5.24489283e-02 9.98623440e-01 -5.77949143e-04 -6.27315256e-01] [-8.62068512e-03 1.25955351e-04 9.99962833e-01 -4.74176774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.63, Z:-0.47 [[ 9.98518105e-01 5.36292026e-02 9.24673626e-03 1.65075970e+01] [-5.36257327e-02 9.98560911e-01 -6.22965222e-04 -6.29913282e-01] [-9.26683851e-03 1.26179047e-04 9.99957054e-01 -4.73785052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.675769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.63, Z:-0.47 [[ 9.98479779e-01 5.43536603e-02 9.15478731e-03 1.65403237e+01] [-5.43502742e-02 9.98521740e-01 -6.18442029e-04 -6.33158451e-01] [-9.17486874e-03 1.19936660e-04 9.99957903e-01 -4.74408037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.64, Z:-0.47 [[ 9.98516486e-01 5.37941030e-02 8.42749120e-03 1.65734192e+01] [-5.37912024e-02 9.98552042e-01 -5.70644094e-04 -6.40097673e-01] [-8.44598583e-03 1.16472651e-04 9.99964325e-01 -4.74434709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.735769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.60, Y:-0.64, Z:-0.48 [[ 9.98514571e-01 5.37352620e-02 9.00958842e-03 1.66049622e+01] [-5.37319268e-02 9.98555209e-01 -6.12013355e-04 -6.44419922e-01] [-9.02945814e-03 1.27001707e-04 9.99959226e-01 -4.75558274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.65, Z:-0.48 [[ 9.98506937e-01 5.37281634e-02 9.85808091e-03 1.66382420e+01] [-5.37241506e-02 9.98555589e-01 -6.71613820e-04 -6.47818896e-01] [-9.87992636e-03 1.40994035e-04 9.99951182e-01 -4.75384374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.795769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.65, Z:-0.48 [[ 9.98521021e-01 5.31779281e-02 1.13083261e-02 1.66705185e+01] [-5.31725851e-02 9.98585038e-01 -7.72822781e-04 -6.53647510e-01] [-1.13334223e-02 1.70386862e-04 9.99935760e-01 -4.76140550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.66, Z:-0.48 [[ 9.98680975e-01 5.02380445e-02 1.06041879e-02 1.67026232e+01] [-5.02331617e-02 9.98737254e-01 -7.26478076e-04 -6.64159478e-01] [-1.06272943e-02 1.92837948e-04 9.99943510e-01 -4.78141500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.855769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.67, Z:-0.48 [[ 9.98814858e-01 4.75516206e-02 1.03789792e-02 1.67346421e+01] [-4.75467787e-02 9.98868758e-01 -7.12909020e-04 -6.71378474e-01] [-1.04011380e-02 2.18577096e-04 9.99945883e-01 -4.78589048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.68, Z:-0.48 [[ 9.98925982e-01 4.51275589e-02 1.05065150e-02 1.67671916e+01] [-4.51224444e-02 9.98981202e-01 -7.23444901e-04 -6.78500987e-01] [-1.05284583e-02 2.48588269e-04 9.99944543e-01 -4.79424516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.915769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.68, Z:-0.48 [[ 9.98922459e-01 4.52054957e-02 1.05063698e-02 1.68005995e+01] [-4.52003635e-02 9.98977678e-01 -7.25546844e-04 -6.80953712e-01] [-1.05284276e-02 2.49873303e-04 9.99944543e-01 -4.79854298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.69, Z:-0.48 [[ 9.99069402e-01 4.21104697e-02 9.32943686e-03 1.68325344e+01] [-4.21062858e-02 9.99112929e-01 -6.44507353e-04 -6.93262303e-01] [-9.34830149e-03 2.51079640e-04 9.99956272e-01 -4.79382840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.975769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.70, Z:-0.48 [[ 9.99049352e-01 4.27461623e-02 8.55322100e-03 1.68637231e+01] [-4.27426564e-02 9.99085939e-01 -5.92350704e-04 -7.00850921e-01] [-8.57072356e-03 2.26200201e-04 9.99963245e-01 -4.79116688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.71, Z:-0.48 [[ 9.98880212e-01 4.65130133e-02 8.65229186e-03 1.68959787e+01] [-4.65095538e-02 9.98917665e-01 -6.00722184e-04 -7.11793209e-01] [-8.67086857e-03 1.97635268e-04 9.99962388e-01 -4.79266342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.035769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.72, Z:-0.48 [[ 9.98759460e-01 4.90304765e-02 8.69215797e-03 1.69276960e+01] [-4.90270638e-02 9.98797267e-01 -6.05394699e-04 -7.17425179e-01] [-8.71138642e-03 1.78492699e-04 9.99962039e-01 -4.80287147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.72, Z:-0.48 [[ 9.98637798e-01 5.14253912e-02 8.83045730e-03 1.69606585e+01] [-5.14219558e-02 9.98676826e-01 -6.15799422e-04 -7.23437156e-01] [-8.85044080e-03 1.60881194e-04 9.99960821e-01 -4.81760481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.095769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.74, Z:-0.48 [[ 9.98524192e-01 5.37085906e-02 8.05147316e-03 1.69931592e+01] [-5.37057988e-02 9.98556644e-01 -5.62718276e-04 -7.35099878e-01] [-8.07007482e-03 1.29477014e-04 9.99967428e-01 -4.82466165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.74, Z:-0.48 [[ 9.98530023e-01 5.36661173e-02 7.59878155e-03 1.70257010e+01] [-5.36636192e-02 9.98558928e-01 -5.32408829e-04 -7.42067237e-01] [-7.61640347e-03 1.23848081e-04 9.99970987e-01 -4.82070036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.155769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.75, Z:-0.48 [[ 9.98525501e-01 5.37643600e-02 7.49783199e-03 1.70572547e+01] [-5.37619195e-02 9.98553643e-01 -5.26818047e-04 -7.51028154e-01] [-7.51531148e-03 1.22943415e-04 9.99971752e-01 -4.81681914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.185769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.76, Z:-0.48 [[ 9.98435444e-01 5.53119373e-02 8.20078972e-03 1.70902466e+01] [-5.53090563e-02 9.98469115e-01 -5.77856322e-04 -7.56390283e-01] [-8.22019761e-03 1.23374293e-04 9.99966206e-01 -4.82002341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.215769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.76, Z:-0.48 [[ 9.98320092e-01 5.72840728e-02 8.69073297e-03 1.71231744e+01] [-5.72808964e-02 9.98357913e-01 -6.14166540e-04 -7.61325068e-01] [-8.71164399e-03 1.15321821e-04 9.99962046e-01 -4.82368074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.77, Z:-0.48 [[ 9.98053232e-01 6.19018746e-02 7.60947138e-03 1.71544070e+01] [-6.18995618e-02 9.98082238e-01 -5.39303618e-04 -7.67822529e-01] [-7.62826213e-03 6.72307749e-05 9.99970902e-01 -4.83692453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.275769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.77, Z:-0.48 [[ 9.97863395e-01 6.50395154e-02 6.20535924e-03 1.71874480e+01] [-6.50380380e-02 9.97882689e-01 -4.39795944e-04 -7.72367669e-01] [-6.22082467e-03 3.52718847e-05 9.99980650e-01 -4.84270316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.22, Y:-0.78, Z:-0.48 [[ 9.97336547e-01 7.27231112e-02 5.58228912e-03 1.72190147e+01] [-7.27220308e-02 9.97352169e-01 -3.96551176e-04 -7.78304351e-01] [-5.59634660e-03 -1.04604209e-05 9.99984340e-01 -4.84275480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.335769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.78, Z:-0.48 [[ 9.97011784e-01 7.69939782e-02 6.27925249e-03 1.72514784e+01] [-7.69926873e-02 9.97031557e-01 -4.47412188e-04 -7.81916589e-01] [-6.29506093e-03 -3.73813000e-05 9.99980185e-01 -4.84280936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.78, Z:-0.48 [[ 9.96731882e-01 8.04751725e-02 7.02156785e-03 1.72846349e+01] [-8.04736338e-02 9.96756611e-01 -5.01853729e-04 -7.84653190e-01] [-7.03918094e-03 -6.48374677e-05 9.99975223e-01 -4.84799155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.395769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.79, Z:-0.48 [[ 9.96212671e-01 8.65409412e-02 8.42496508e-03 1.73170007e+01] [-8.65389255e-02 9.96248287e-01 -6.04193520e-04 -7.87844905e-01] [-8.44564450e-03 -1.27182185e-04 9.99964327e-01 -4.84723689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.79, Z:-0.48 [[ 9.95947973e-01 8.94188962e-02 9.58625605e-03 1.73489188e+01] [-8.94163991e-02 9.95994092e-01 -6.89630828e-04 -7.90331107e-01] [-9.60952042e-03 -1.70332072e-04 9.99953813e-01 -4.84688455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.455769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.79, Z:-0.48 [[ 9.95652436e-01 9.24967771e-02 1.09805907e-02 1.73813550e+01] [-9.24936631e-02 9.95712958e-01 -7.92175796e-04 -7.92341130e-01] [-1.10067902e-02 -2.26903297e-04 9.99939398e-01 -4.83793102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.485769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.79, Z:-0.48 [[ 9.94950830e-01 9.96351160e-02 1.20702023e-02 1.74143017e+01] [-9.96318503e-02 9.95023986e-01 -8.73068140e-04 -7.90886122e-01] [-1.20971291e-02 -3.33916723e-04 9.99926771e-01 -4.83798658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.515769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.45, Y:-0.79, Z:-0.48 [[ 9.94606745e-01 1.03108981e-01 1.12232398e-02 1.74463184e+01] [-1.03106356e-01 9.94670004e-01 -8.13791466e-04 -7.91003707e-01] [-1.12473292e-02 -3.47784878e-04 9.99936686e-01 -4.84969633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.79, Z:-0.49 [[ 9.94049485e-01 1.08545718e-01 9.13498744e-03 1.74795443e+01] [-1.08544198e-01 9.94091403e-01 -6.63526308e-04 -7.87692307e-01] [-9.15303542e-03 -3.31971898e-04 9.99958055e-01 -4.86443513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.575769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.51, Y:-0.79, Z:-0.49 [[ 9.93807301e-01 1.10770641e-01 8.77005758e-03 1.75131150e+01] [-1.10769312e-01 9.93845940e-01 -6.38564862e-04 -7.86900794e-01] [-8.78682035e-03 -3.36842823e-04 9.99961338e-01 -4.87087056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.79, Z:-0.49 [[ 9.93638838e-01 1.12307703e-01 8.29700967e-03 1.75467451e+01] [-1.12306555e-01 9.93673423e-01 -6.05544024e-04 -7.86080552e-01] [-8.31252525e-03 -3.30116515e-04 9.99965396e-01 -4.87547506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.635769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.79, Z:-0.49 [[ 9.93599065e-01 1.12704600e-01 7.65311478e-03 1.75787545e+01] [-1.12703624e-01 9.93628492e-01 -5.60151129e-04 -7.85956707e-01] [-7.66748450e-03 -3.05968129e-04 9.99970558e-01 -4.87963237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.665769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.79, Z:-0.49 [[ 9.93862287e-01 1.10389098e-01 7.21124537e-03 1.76114351e+01] [-1.10388167e-01 9.93888411e-01 -5.28182726e-04 -7.85250720e-01] [-7.22547881e-03 -2.71095265e-04 9.99973859e-01 -4.88301368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.695769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.79, Z:-0.49 [[ 9.94028516e-01 1.08860844e-01 7.52500662e-03 1.76442439e+01] [-1.08859775e-01 9.94056962e-01 -5.52647643e-04 -7.85732539e-01] [-7.54044691e-03 -2.69823014e-04 9.99971534e-01 -4.88568831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.78, Z:-0.49 [[ 9.94028604e-01 1.08739913e-01 9.09758637e-03 1.76767128e+01] [-1.08738326e-01 9.94070182e-01 -6.70354215e-04 -7.81832060e-01] [-9.11653360e-03 -3.22905049e-04 9.99958391e-01 -4.87141296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.755769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.78, Z:-0.49 [[ 9.93864526e-01 1.10133132e-01 1.01979331e-02 1.77097074e+01] [-1.10131190e-01 9.93916774e-01 -7.53435436e-04 -7.80913497e-01] [-1.02188750e-02 -3.74297765e-04 9.99947716e-01 -4.87743923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.78, Z:-0.49 [[ 9.93737645e-01 1.11254169e-01 1.03924784e-02 1.77428178e+01] [-1.11252194e-01 9.93791908e-01 -7.69738714e-04 -7.79457936e-01] [-1.04135976e-02 -3.91267688e-04 9.99945700e-01 -4.87975170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.815769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.77, Z:-0.49 [[ 9.93671225e-01 1.11969094e-01 8.96761124e-03 1.77752022e+01] [-1.11967640e-01 9.93711630e-01 -6.65583286e-04 -7.74067551e-01] [-8.98574435e-03 -3.42711309e-04 9.99959569e-01 -4.89343780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.845769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.77, Z:-0.49 [[ 9.93645767e-01 1.12212333e-01 8.74536083e-03 1.78070281e+01] [-1.12210947e-01 9.93684195e-01 -6.50554073e-04 -7.73319625e-01] [-8.76312703e-03 -3.34904923e-04 9.99961547e-01 -4.90032576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.875769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.77, Z:-0.49 [[ 9.93558218e-01 1.13142170e-01 6.39660124e-03 1.78384018e+01] [-1.13097635e-01 9.93559625e-01 -6.94238123e-03 -7.69997706e-01] [-7.14088081e-03 6.17421945e-03 9.99955442e-01 -4.88999746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.78, Z:-0.49 [[ 9.93641423e-01 1.12230447e-01 9.00275075e-03 1.78715932e+01] [-1.12285148e-01 9.93658992e-01 5.81836011e-03 -7.76167759e-01] [-8.29266708e-03 -6.79223882e-03 9.99942547e-01 -4.89198621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.935769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.77, Z:-0.49 [[ 9.93553824e-01 1.13170492e-01 6.57554079e-03 1.79051289e+01] [-1.13169716e-01 9.93575550e-01 -4.91223399e-04 -7.66616312e-01] [-6.58888856e-03 -2.56095197e-04 9.99978260e-01 -4.90962163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965769231000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.76, Z:-0.49 [[ 9.93433151e-01 1.14211919e-01 6.79799474e-03 1.79376197e+01] [-1.14211104e-01 9.93456373e-01 -5.09246392e-04 -7.63839118e-01] [-6.81167320e-03 -2.70504238e-04 9.99976764e-01 -4.91527986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.995769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.76, Z:-0.49 [[ 9.93292643e-01 1.15327474e-01 8.32466421e-03 1.79698808e+01] [-1.15326273e-01 9.93327468e-01 -6.25811166e-04 -7.62833468e-01] [-8.34129085e-03 -3.38438867e-04 9.99965154e-01 -4.91432874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.76, Z:-0.49 [[ 9.93170022e-01 1.16256161e-01 9.88997889e-03 1.80032677e+01] [-1.16254500e-01 9.93219179e-01 -7.44630175e-04 -7.63346659e-01] [-9.90948456e-03 -4.10210185e-04 9.99950816e-01 -4.90354809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.055769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.76, Z:-0.49 [[ 9.93135965e-01 1.16486111e-01 1.05802184e-02 1.80353183e+01] [-1.16484200e-01 9.93192224e-01 -7.98711644e-04 -7.61852936e-01] [-1.06012295e-02 -4.39199023e-04 9.99943709e-01 -4.89580391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.76, Z:-0.49 [[ 9.93148654e-01 1.16446242e-01 9.79918324e-03 1.80671127e+01] [-1.16444586e-01 9.93196913e-01 -7.41273115e-04 -7.61474868e-01] [-9.81883702e-03 -4.04867440e-04 9.99951712e-01 -4.91042579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.115769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.76, Z:-0.49 [[ 9.93306392e-01 1.15192752e-01 8.54647066e-03 1.80999788e+01] [-1.15191437e-01 9.93343100e-01 -6.47579247e-04 -7.58683332e-01] [-8.56417409e-03 -3.41235630e-04 9.99963269e-01 -4.92909882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.76, Z:-0.49 [[ 9.93406237e-01 1.14311410e-01 8.77213987e-03 1.81324547e+01] [-1.14309976e-01 9.93444908e-01 -6.66297515e-04 -7.59431990e-01] [-8.79080310e-03 -3.40838994e-04 9.99961302e-01 -4.94212900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.175769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.76, Z:-0.49 [[ 9.93489152e-01 1.13550809e-01 9.24760987e-03 1.81654603e+01] [-1.13549169e-01 9.93532129e-01 -7.03896054e-04 -7.60199852e-01] [-9.26772548e-03 -3.50745324e-04 9.99956992e-01 -4.93726527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.76, Z:-0.49 [[ 9.93485022e-01 1.13515173e-01 1.00904163e-02 1.81982014e+01] [-1.13513197e-01 9.93536190e-01 -7.70263183e-04 -7.56793301e-01] [-1.01126303e-02 -3.80150469e-04 9.99948794e-01 -4.92711109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.235769231000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.76, Z:-0.49 [[ 9.93398235e-01 1.14296919e-01 9.80614409e-03 1.82299160e+01] [-1.14295072e-01 9.93446563e-01 -7.50398969e-04 -7.56019166e-01] [-9.82764843e-03 -3.75348934e-04 9.99951637e-01 -4.93592581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.76, Z:-0.49 [[ 9.93338944e-01 1.14852885e-01 9.30360241e-03 1.82623106e+01] [-1.14851236e-01 9.93382447e-01 -7.13099881e-04 -7.56068350e-01] [-9.32393690e-03 -3.60180353e-04 9.99956466e-01 -4.94766181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.295769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.75, Z:-0.50 [[ 9.93321680e-01 1.14925216e-01 1.02094957e-02 1.82943496e+01] [-1.14923217e-01 9.93374068e-01 -7.84181050e-04 -7.54559974e-01] [-1.02319705e-02 -3.94364058e-04 9.99947574e-01 -4.95492790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.325769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.75, Z:-0.50 [[ 9.93380348e-01 1.14326693e-01 1.11755261e-02 1.83265718e+01] [-1.14324236e-01 9.93443118e-01 -8.60512945e-04 -7.54422238e-01] [-1.12006291e-02 -4.22816839e-04 9.99937182e-01 -4.95408024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.355769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.75, Z:-0.50 [[ 9.93744660e-01 1.11114586e-01 1.11848156e-02 1.83582932e+01] [-1.11111908e-01 9.93807527e-01 -8.62513151e-04 -7.52357522e-01] [-1.12113917e-02 -3.85648357e-04 9.99937076e-01 -4.95623322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.75, Z:-0.50 [[ 9.93929335e-01 1.09497559e-01 1.07126693e-02 1.83896340e+01] [-1.09494992e-01 9.93987003e-01 -8.27575332e-04 -7.53088856e-01] [-1.07388715e-02 -3.50432235e-04 9.99942275e-01 -4.95742840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.415769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.75, Z:-0.50 [[ 9.94131456e-01 1.07640551e-01 1.07777252e-02 1.84207037e+01] [-1.07637825e-01 9.94189822e-01 -8.34407731e-04 -7.53195090e-01] [-1.08049208e-02 -3.30579924e-04 9.99941570e-01 -4.96940958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.75, Z:-0.50 [[ 9.94488024e-01 1.04299087e-01 1.07364349e-02 1.84528278e+01] [-1.04296187e-01 9.94545934e-01 -8.31162638e-04 -7.49711016e-01] [-1.07645671e-02 -2.93187927e-04 9.99942017e-01 -4.98494504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.475769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.75, Z:-0.50 [[ 9.94661342e-01 1.02659674e-01 1.04788849e-02 1.84844801e+01] [-1.02656801e-01 9.94716502e-01 -8.13088088e-04 -7.49771665e-01] [-1.05069911e-02 -2.66981516e-04 9.99944764e-01 -4.99738091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.505769231000002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.75, Z:-0.50 [[ 9.94871536e-01 1.00689386e-01 9.60591053e-03 1.85153942e+01] [-1.00686882e-01 9.94917884e-01 -7.45153736e-04 -7.49137079e-01] [-9.63212125e-03 -2.25856933e-04 9.99953585e-01 -4.99215554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.535769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.75, Z:-0.50 [[ 9.94976838e-01 9.96063469e-02 9.98334303e-03 1.85472339e+01] [-9.96035690e-02 9.95026897e-01 -7.76306681e-04 -7.49463801e-01] [-1.00110199e-02 -2.21969430e-04 9.99949864e-01 -4.99194635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.75, Z:-0.50 [[ 9.95025246e-01 9.91295834e-02 9.90383124e-03 1.85784586e+01] [-9.91268274e-02 9.95074509e-01 -7.69981224e-04 -7.50384098e-01] [-9.93137793e-03 -2.15584614e-04 9.99950659e-01 -4.98714661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.595769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.75, Z:-0.50 [[ 9.95140867e-01 9.78688687e-02 1.07860760e-02 1.86097869e+01] [-9.78655026e-02 9.95199295e-01 -8.40711616e-04 -7.52342908e-01] [-1.08165747e-02 -2.18958260e-04 9.99941475e-01 -4.99497007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.76, Z:-0.50 [[ 9.95182609e-01 9.73241822e-02 1.18143654e-02 1.86404824e+01] [-9.73201032e-02 9.95252706e-01 -9.21045536e-04 -7.55068426e-01] [-1.18479191e-02 -2.33166757e-04 9.99929784e-01 -4.99408478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.655769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.76, Z:-0.50 [[ 9.95278210e-01 9.62357151e-02 1.26479946e-02 1.86726436e+01] [-9.62309260e-02 9.95358545e-01 -9.88106093e-04 -7.57297085e-01] [-1.26843806e-02 -2.33687768e-04 9.99919523e-01 -4.99619436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.685769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.76, Z:-0.50 [[ 9.95437552e-01 9.45877023e-02 1.25398151e-02 1.87046036e+01] [-9.45828367e-02 9.95516511e-01 -9.81833170e-04 -7.59167717e-01] [-1.25764623e-02 -2.08697674e-04 9.99920891e-01 -4.99617634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.715769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.76, Z:-0.50 [[ 9.95394516e-01 9.51199131e-02 1.19146582e-02 1.87366386e+01] [-9.51155374e-02 9.95465801e-01 -9.34658547e-04 -7.61880826e-01] [-1.19495394e-02 -2.02915121e-04 9.99928581e-01 -5.00166121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.76, Z:-0.50 [[ 9.95134510e-01 9.79224837e-02 1.08855097e-02 1.87683038e+01] [-9.79189819e-02 9.95194022e-01 -8.55470457e-04 -7.63424918e-01] [-1.09169639e-02 -2.14589850e-04 9.99940385e-01 -5.00721303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.76, Z:-0.50 [[ 9.94986959e-01 9.93830816e-02 1.11334821e-02 1.87995055e+01] [-9.93794862e-02 9.95049219e-01 -8.77088630e-04 -7.64203756e-01] [-1.11655305e-02 -2.33747985e-04 9.99937636e-01 -5.00886359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.77, Z:-0.50 [[ 9.94880816e-01 1.00441816e-01 1.11177625e-02 1.88296829e+01] [-1.00438293e-01 9.94942904e-01 -8.76134108e-04 -7.65234085e-01] [-1.11495394e-02 -2.45000074e-04 9.99937812e-01 -5.00705736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.835769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.77, Z:-0.50 [[ 9.94877323e-01 1.00476402e-01 1.11177552e-02 1.88614136e+01] [-1.00472881e-01 9.94939411e-01 -8.76226588e-04 -7.67786239e-01] [-1.11495329e-02 -2.45294937e-04 9.99937812e-01 -5.01113311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.77, Z:-0.50 [[ 9.94756129e-01 1.01612991e-01 1.16208031e-02 1.88923015e+01] [-1.01609216e-01 9.94823968e-01 -9.16313357e-04 -7.69768013e-01] [-1.16537628e-02 -2.69272369e-04 9.99932056e-01 -5.01498558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.895769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.77, Z:-0.50 [[ 9.94757130e-01 1.01632080e-01 1.13654096e-02 1.89233585e+01] [-1.01628468e-01 9.94822020e-01 -8.96435047e-04 -7.72228076e-01] [-1.13976663e-02 -2.63314008e-04 9.99935010e-01 -5.02714330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.77, Z:-0.50 [[ 9.94771339e-01 1.01530155e-01 1.10276861e-02 1.89542053e+01] [-1.01526745e-01 9.94832430e-01 -8.70046690e-04 -7.74499825e-01] [-1.10590357e-02 -2.54107559e-04 9.99938815e-01 -5.04742034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.955769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.78, Z:-0.51 [[ 9.94909458e-01 1.00302171e-01 9.72852428e-03 1.89846851e+01] [-1.00299456e-01 9.94956999e-01 -7.67774266e-04 -7.77350444e-01] [-9.75647274e-03 -2.11899815e-04 9.99952382e-01 -5.06952078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.985769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.78, Z:-0.51 [[ 9.95048784e-01 9.88732051e-02 1.00998647e-02 1.90160404e+01] [-9.88702046e-02 9.95100019e-01 -7.97171916e-04 -7.80416457e-01] [-1.01291945e-02 -2.05350747e-04 9.99948677e-01 -5.07173424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.015769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.78, Z:-0.51 [[ 9.95366971e-01 9.55068481e-02 1.10921070e-02 1.90460283e+01] [-9.55030168e-02 9.95428755e-01 -8.75794137e-04 -7.82871731e-01] [-1.11250466e-02 -1.87593121e-04 9.99938097e-01 -5.05824160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.78, Z:-0.51 [[ 9.95475671e-01 9.43980727e-02 1.08254951e-02 1.90777396e+01] [-9.43943567e-02 9.95534517e-01 -8.54842121e-04 -7.84305881e-01] [-1.08578495e-02 -1.70891112e-04 9.99941037e-01 -5.06289396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.075769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.79, Z:-0.51 [[ 9.95546978e-01 9.36362730e-02 1.08840461e-02 1.91086238e+01] [-9.36324710e-02 9.95606459e-01 -8.59482063e-04 -7.85777642e-01] [-1.09167053e-02 -1.63445357e-04 9.99940398e-01 -5.06755073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.79, Z:-0.51 [[ 9.95538362e-01 9.33173776e-02 1.39727354e-02 1.91401630e+01] [-9.33110453e-02 9.95636392e-01 -1.10586562e-03 -7.88916273e-01] [-1.40149603e-02 -2.02878894e-04 9.99901765e-01 -5.05630464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.79, Z:-0.51 [[ 9.95501489e-01 9.35541506e-02 1.49801911e-02 1.91725457e+01] [-9.35468888e-02 9.95614168e-01 -1.18628303e-03 -7.91700137e-01] [-1.50254722e-02 -2.20403745e-04 9.99887087e-01 -5.06042620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.165769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.79, Z:-0.51 [[ 9.95527218e-01 9.34336657e-02 1.39895570e-02 1.92050368e+01] [-9.34272895e-02 9.95625486e-01 -1.11006530e-03 -7.93443230e-01] [-1.40320770e-02 -2.01906168e-04 9.99901525e-01 -5.07021518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.195769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.79, Z:-0.51 [[ 9.95674682e-01 9.22237625e-02 1.12563349e-02 1.92374096e+01] [-9.22195390e-02 9.95738297e-01 -8.94786491e-04 -7.93116373e-01] [-1.12908843e-02 -1.47137760e-04 9.99936245e-01 -5.09589334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.80, Z:-0.51 [[ 9.95799432e-01 9.08908962e-02 1.10605778e-02 1.92685658e+01] [-9.08867131e-02 9.95860848e-01 -8.81297616e-04 -7.96294359e-01] [-1.10948983e-02 -1.27663892e-04 9.99938442e-01 -5.09621553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.255769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.80, Z:-0.51 [[ 9.96063739e-01 8.78241056e-02 1.19980946e-02 1.92991523e+01] [-8.78189584e-02 9.96135993e-01 -9.56197763e-04 -8.01615127e-01] [-1.20357111e-02 -1.01226251e-04 9.99927563e-01 -5.08019294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.80, Z:-0.51 [[ 9.96142689e-01 8.69302926e-02 1.19527257e-02 1.93304768e+01] [-8.69250992e-02 9.96214393e-01 -9.54309356e-04 -8.04224710e-01] [-1.19904358e-02 -8.83635822e-05 9.99928108e-01 -5.08617913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.315769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.81, Z:-0.51 [[ 9.96188394e-01 8.64974902e-02 1.12635382e-02 1.93621188e+01] [-8.64928340e-02 9.96252066e-01 -9.00775918e-04 -8.06625532e-01] [-1.12992380e-02 -7.68728219e-05 9.99936159e-01 -5.09467552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.345769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.81, Z:-0.51 [[ 9.96247749e-01 8.59442012e-02 1.01989068e-02 1.93944430e+01] [-8.59403406e-02 9.96299950e-01 -8.16993348e-04 -8.10172458e-01] [-1.02313861e-02 -6.25697369e-05 9.99947656e-01 -5.10442263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.375769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.81, Z:-0.51 [[ 9.96254730e-01 8.58855804e-02 1.00089851e-02 1.94255470e+01] [-8.58818427e-02 9.96305005e-01 -8.03439167e-04 -8.13447216e-01] [-1.00410058e-02 -5.91600182e-05 9.99949586e-01 -5.10604226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.82, Z:-0.51 [[ 9.96168956e-01 8.67943427e-02 1.06842302e-02 1.94555204e+01] [-8.67901138e-02 9.96226248e-01 -8.59707122e-04 -8.15819012e-01] [-1.07185283e-02 -7.08720064e-05 9.99942552e-01 -5.10475300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.435769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.82, Z:-0.51 [[ 9.96032110e-01 8.83421559e-02 1.07563417e-02 1.94865840e+01] [-8.83379589e-02 9.96090185e-01 -8.65605878e-04 -8.18035884e-01] [-1.07907559e-02 -8.80220259e-05 9.99941774e-01 -5.10864105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.82, Z:-0.51 [[ 9.95905531e-01 8.97220225e-02 1.10513064e-02 1.95176390e+01] [-8.97176744e-02 9.95966841e-01 -8.89588843e-04 -8.20900698e-01] [-1.10865505e-02 -1.05551062e-04 9.99938537e-01 -5.11562747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.495769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.82, Z:-0.51 [[ 9.95715832e-01 9.18241363e-02 1.08770470e-02 1.95481002e+01] [-9.18200469e-02 9.95775232e-01 -8.75811237e-04 -8.23140781e-01] [-1.09115147e-02 -1.26671855e-04 9.99940460e-01 -5.10909696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.82, Z:-0.51 [[ 9.95685685e-01 9.21421567e-02 1.09471580e-02 1.95792885e+01] [-9.21380325e-02 9.95745854e-01 -8.81555394e-04 -8.24141709e-01] [-1.09818156e-02 -1.30897514e-04 9.99939689e-01 -5.10712779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.555769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.82, Z:-0.51 [[ 9.95663715e-01 9.22835573e-02 1.17265316e-02 1.96105733e+01] [-9.22788316e-02 9.95732758e-01 -9.44583124e-04 -8.24612013e-01] [-1.17636611e-02 -1.41623489e-04 9.99930796e-01 -5.11058260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.82, Z:-0.51 [[ 9.95616026e-01 9.23692437e-02 1.47190635e-02 1.96416784e+01] [-9.23618013e-02 9.95724807e-01 -1.18605918e-03 -8.24531605e-01] [-1.47656921e-02 -1.78619688e-04 9.99890965e-01 -5.11857996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.615769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.83, Z:-0.51 [[ 9.95599166e-01 9.24009300e-02 1.56323055e-02 1.96725960e+01] [-9.23925273e-02 9.95721865e-01 -1.26041590e-03 -8.26737241e-01] [-1.56818920e-02 -1.89439196e-04 9.99877014e-01 -5.12237890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.83, Z:-0.51 [[ 9.95568204e-01 9.27594976e-02 1.54798737e-02 1.97047424e+01] [-9.27512639e-02 9.95688525e-01 -1.25053130e-03 -8.29545871e-01] [-1.55291312e-02 -1.90788651e-04 9.99879398e-01 -5.12794842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.675769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.83, Z:-0.51 [[ 9.95663016e-01 9.21351491e-02 1.28947076e-02 1.97366354e+01] [-9.21293604e-02 9.95746500e-01 -1.04348554e-03 -8.31623886e-01] [-1.29360016e-02 -1.49021205e-04 9.99916315e-01 -5.13871196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.83, Z:-0.51 [[ 9.95678752e-01 9.20622784e-02 1.21802948e-02 1.97674093e+01] [-9.20570828e-02 9.95753241e-01 -9.87727915e-04 -8.33876852e-01] [-1.22195005e-02 -1.37822712e-04 9.99925330e-01 -5.14259795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.735769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.80, Y:-0.83, Z:-0.51 [[ 9.95611251e-01 9.28481530e-02 1.17242083e-02 1.97990317e+01] [-9.28433719e-02 9.95680270e-01 -9.52591919e-04 -8.33596945e-01] [-1.17620093e-02 -1.40103800e-04 9.99930815e-01 -5.13666115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.83, Z:-0.51 [[ 9.95529170e-01 9.37116136e-02 1.18238839e-02 1.98303365e+01] [-9.37068086e-02 9.95599373e-01 -9.60960865e-04 -8.33854928e-01] [-1.18619046e-02 -1.51313853e-04 9.99929634e-01 -5.14238640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.795769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.83, Z:-0.51 [[ 9.95426464e-01 9.47661414e-02 1.20637154e-02 1.98613821e+01] [-9.47612135e-02 9.95499548e-01 -9.80730360e-04 -8.34419191e-01] [-1.21023632e-02 -1.66927354e-04 9.99926750e-01 -5.14705110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.825769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.83, Z:-0.51 [[ 9.95138604e-01 9.76721179e-02 1.26220756e-02 1.98914161e+01] [-9.76669529e-02 9.95218626e-01 -1.02644561e-03 -8.33403546e-01] [-1.26619798e-02 -2.11304008e-04 9.99919812e-01 -5.14055560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.855769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.83, Z:-0.51 [[ 9.95014410e-01 9.88505735e-02 1.32245182e-02 1.99216959e+01] [-9.88450052e-02 9.95102260e-01 -1.07561903e-03 -8.33625588e-01] [-1.32660735e-02 -2.36921135e-04 9.99911974e-01 -5.13856714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.83, Z:-0.51 [[ 9.94970247e-01 9.93028621e-02 1.31585881e-02 1.99522629e+01] [-9.92973884e-02 9.95057226e-01 -1.07027918e-03 -8.33233387e-01] [-1.31998300e-02 -2.41717493e-04 9.99912849e-01 -5.14194546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.915769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.83, Z:-0.52 [[ 9.95140746e-01 9.77289515e-02 1.19977935e-02 1.99826784e+01] [-9.77242788e-02 9.95213048e-01 -9.76514434e-04 -8.32047926e-01] [-1.20357943e-02 -2.00706410e-04 9.99927547e-01 -5.15464405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.83, Z:-0.52 [[ 9.95328726e-01 9.58650883e-02 1.14285691e-02 2.00133254e+01] [-9.58607240e-02 9.95394322e-01 -9.30326943e-04 -8.33319893e-01] [-1.14651187e-02 -1.69569776e-04 9.99934259e-01 -5.15792994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.975769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.83, Z:-0.52 [[ 9.95764072e-01 9.11763244e-02 1.18655218e-02 2.00434959e+01] [-9.11712871e-02 9.95834757e-01 -9.65885607e-04 -8.32791691e-01] [-1.19041649e-02 -1.20000712e-04 9.99929136e-01 -5.15050866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.005769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.83, Z:-0.51 [[ 9.95906945e-01 8.94499108e-02 1.29642303e-02 2.00738271e+01] [-8.94437489e-02 9.95991316e-01 -1.05549290e-03 -8.33638093e-01] [-1.30066745e-02 -1.08396651e-04 9.99915404e-01 -5.14965817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.035769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.84, Z:-0.52 [[ 9.96014997e-01 8.79132870e-02 1.50126560e-02 2.01043457e+01] [-8.79048491e-02 9.96128126e-01 -1.22229288e-03 -8.35123364e-01] [-1.50619847e-02 -1.02263223e-04 9.99886557e-01 -5.15093692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.14, Y:-0.84, Z:-0.52 [[ 9.96032182e-01 8.77527528e-02 1.48103531e-02 2.01355918e+01] [-8.77445202e-02 9.96142281e-01 -1.20601249e-03 -8.36994392e-01] [-1.48590498e-02 -9.83000711e-05 9.99889593e-01 -5.16060962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.095769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.84, Z:-0.52 [[ 9.96015173e-01 8.80459974e-02 1.42013350e-02 2.01666405e+01] [-8.80384533e-02 9.96116405e-01 -1.15673152e-03 -8.38026835e-01] [-1.42480284e-02 -9.81414259e-05 9.99898487e-01 -5.17148232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.84, Z:-0.52 [[ 9.95961674e-01 8.87570208e-02 1.35105244e-02 2.01980243e+01] [-8.87502540e-02 9.96053302e-01 -1.10077398e-03 -8.38330970e-01] [-1.35549039e-02 -1.02733779e-04 9.99908123e-01 -5.17903476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.155769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.84, Z:-0.52 [[ 9.95808271e-01 9.05080583e-02 1.31976439e-02 2.02277725e+01] [-9.05017511e-02 9.95895716e-01 -1.07558424e-03 -8.37873215e-01] [-1.32408261e-02 -1.23334201e-04 9.99912329e-01 -5.18465701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.185769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.84, Z:-0.52 [[ 9.95774319e-01 9.08921403e-02 1.31196457e-02 2.02576873e+01] [-9.08859428e-02 9.95860734e-01 -1.06906729e-03 -8.40054007e-01] [-1.31625098e-02 -1.27841614e-04 9.99913362e-01 -5.18334774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.215769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.84, Z:-0.52 [[ 9.95792504e-01 9.07049643e-02 1.30345462e-02 2.02881956e+01] [-9.06988329e-02 9.95877801e-01 -1.06198225e-03 -8.42279363e-01] [-1.30771423e-02 -1.24704165e-04 9.99914483e-01 -5.18747368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.84, Z:-0.52 [[ 9.95985636e-01 8.85689102e-02 1.29676894e-02 2.03181177e+01] [-8.85626605e-02 9.96070047e-01 -1.05653513e-03 -8.44367582e-01] [-1.30103032e-02 -9.61592610e-05 9.99915358e-01 -5.19876115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.275769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.85, Z:-0.52 [[ 9.96094481e-01 8.71966276e-02 1.38756609e-02 2.03484467e+01] [-8.71893389e-02 9.96191117e-01 -1.13051159e-03 -8.47686274e-01] [-1.39213869e-02 -8.37133440e-05 9.99903089e-01 -5.19954412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.85, Z:-0.52 [[ 9.96140871e-01 8.64416850e-02 1.52052411e-02 2.03785888e+01] [-8.64328441e-02 9.96256909e-01 -1.23886738e-03 -8.51766840e-01] [-1.52554163e-02 -8.01458027e-05 9.99883626e-01 -5.19179413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.335769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.41, Y:-0.85, Z:-0.52 [[ 9.96067125e-01 8.74169278e-02 1.44417501e-02 2.04101145e+01] [-8.74090523e-02 9.96171809e-01 -1.17684499e-03 -8.53275674e-01] [-1.44893405e-02 -9.01230835e-05 9.99895020e-01 -5.19780638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.44, Y:-0.85, Z:-0.52 [[ 9.95855948e-01 8.99712897e-02 1.32701681e-02 2.04395296e+01] [-8.99648632e-02 9.95944353e-01 -1.08164911e-03 -8.53625896e-01] [-1.33136663e-02 -1.16682156e-04 9.99911362e-01 -5.19958459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.395769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.47, Y:-0.85, Z:-0.52 [[ 9.95555431e-01 9.33818278e-02 1.22154582e-02 2.04701423e+01] [-9.33766407e-02 9.95630359e-01 -9.95540248e-04 -8.53391160e-01] [-1.22550464e-02 -1.49522946e-04 9.99924893e-01 -5.20537047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.85, Z:-0.52 [[ 9.95021621e-01 9.89801414e-02 1.16148693e-02 2.05004082e+01] [-9.89758325e-02 9.95089387e-01 -9.46621614e-04 -8.49602390e-01] [-1.16515299e-02 -2.07682383e-04 9.99932097e-01 -5.20526874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.455769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.53, Y:-0.85, Z:-0.52 [[ 9.94855641e-01 1.00523262e-01 1.25430528e-02 2.05284952e+01] [-1.00518363e-01 9.94934678e-01 -1.02194101e-03 -8.47705935e-01] [-1.25822470e-02 -2.44123352e-04 9.99920811e-01 -5.20908632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.485769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.84, Z:-0.52 [[ 9.94743335e-01 1.01485719e-01 1.36508651e-02 2.05573607e+01] [-1.01480020e-01 9.94836957e-01 -1.11130203e-03 -8.42941155e-01] [-1.36931663e-02 -2.79829771e-04 9.99906205e-01 -5.22007933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.515769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.84, Z:-0.52 [[ 9.94867887e-01 1.00405034e-01 1.25186550e-02 2.05859425e+01] [-1.00400163e-01 9.94946617e-01 -1.01858601e-03 -8.43120288e-01] [-1.25576646e-02 -2.43516488e-04 9.99921120e-01 -5.23348878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.84, Z:-0.52 [[ 9.95079531e-01 9.84675555e-02 1.09939365e-02 2.06143432e+01] [-9.84636852e-02 9.95140243e-01 -8.94079481e-04 -8.43375316e-01] [-1.10285465e-02 -1.92823315e-04 9.99939165e-01 -5.24229084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.575769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.84, Z:-0.53 [[ 9.95669049e-01 9.25047263e-02 9.27475934e-03 2.06439172e+01] [-9.25017161e-02 9.95712240e-01 -7.53928011e-04 -8.39691822e-01] [-9.30473330e-03 -1.07268371e-04 9.99956704e-01 -5.25037153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.84, Z:-0.53 [[ 9.95981013e-01 8.89798643e-02 1.02179141e-02 2.06729813e+01] [-8.89760308e-02 9.96033422e-01 -8.30045766e-04 -8.39354953e-01] [-1.02512413e-02 -8.24396187e-05 9.99947451e-01 -5.25176242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.84, Z:-0.52 [[ 9.96275818e-01 8.54426972e-02 1.15775580e-02 2.07012078e+01] [-8.54375442e-02 9.96343085e-01 -9.39856615e-04 -8.40042910e-01] [-1.16155237e-02 -5.28017030e-05 9.99932536e-01 -5.24750051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.665769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.84, Z:-0.52 [[ 9.96744310e-01 7.95049273e-02 1.34069595e-02 2.07299773e+01] [-7.94974921e-02 9.96834473e-01 -1.08744303e-03 -8.42085512e-01] [-1.34509765e-02 1.80829901e-05 9.99909531e-01 -5.23645121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.695769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.84, Z:-0.52 [[ 9.97118775e-01 7.44606397e-02 1.44831463e-02 2.07604273e+01] [-7.44514377e-02 9.97223949e-01 -1.17424989e-03 -8.44724321e-01] [-1.45303758e-02 9.25755408e-05 9.99894424e-01 -5.23766493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.85, Z:-0.52 [[ 9.97119645e-01 7.44489926e-02 1.44831480e-02 2.07904942e+01] [-7.44397897e-02 9.97224819e-01 -1.17422976e-03 -8.47123147e-01] [-1.45303748e-02 9.27250750e-05 9.99894424e-01 -5.24152673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.755769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.82, Y:-0.85, Z:-0.52 [[ 9.97275974e-01 7.22064849e-02 1.50617061e-02 2.08201527e+01] [-7.21962789e-02 9.97389696e-01 -1.22095374e-03 -8.50544001e-01] [-1.51105513e-02 1.30228698e-04 9.99885821e-01 -5.23889438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.85, Z:-0.52 [[ 9.97418083e-01 7.01259766e-02 1.54762656e-02 2.08504756e+01] [-7.01149529e-02 9.97538130e-01 -1.25440594e-03 -8.54673617e-01] [-1.55261315e-02 1.66049531e-04 9.99879449e-01 -5.24594051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.86, Z:-0.53 [[ 9.97573274e-01 6.80049695e-02 1.49293866e-02 2.08802081e+01] [-6.79944719e-02 9.97684964e-01 -1.21019783e-03 -8.59778243e-01] [-1.49771240e-02 1.92145258e-04 9.99887818e-01 -5.25092279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.845769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.87, Z:-0.53 [[ 9.97848748e-01 6.42996640e-02 1.27839532e-02 2.09106310e+01] [-6.42916552e-02 9.97930613e-01 -1.03688276e-03 -8.67575207e-01] [-1.28241695e-02 2.12750648e-04 9.99917744e-01 -5.26490597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.875769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.87, Z:-0.53 [[ 9.97955970e-01 6.26814596e-02 1.24465312e-02 2.09411048e+01] [-6.26737387e-02 9.98033558e-01 -1.00979915e-03 -8.72384969e-01] [-1.24853515e-02 2.27664442e-04 9.99922029e-01 -5.27486160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.88, Z:-0.53 [[ 9.98182440e-01 5.92951275e-02 1.07659202e-02 2.09715625e+01] [-5.92891532e-02 9.98240469e-01 -8.73527738e-04 -8.79968522e-01] [-1.07987731e-02 2.33637759e-04 9.99941664e-01 -5.28377379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.935769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.89, Z:-0.53 [[ 9.98290929e-01 5.76989075e-02 9.27672914e-03 2.10018767e+01] [-5.76944007e-02 9.98334007e-01 -7.52925362e-04 -8.85000808e-01] [-9.30471714e-03 2.16423231e-04 9.99956687e-01 -5.29263426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.89, Z:-0.53 [[ 9.98374625e-01 5.64232919e-02 8.03240078e-03 2.10319180e+01] [-5.64198711e-02 9.98406918e-01 -6.52010716e-04 -8.90391471e-01] [-8.05639309e-03 1.97763938e-04 9.99967527e-01 -5.30202495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.90, Z:-0.53 [[ 9.98497102e-01 5.42613999e-02 7.69663508e-03 2.10612420e+01] [-5.42581943e-02 9.98526744e-01 -6.24841792e-04 -8.99384943e-01] [-7.71920075e-03 2.06297196e-04 9.99970185e-01 -5.30971009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.91, Z:-0.53 [[ 9.98538862e-01 5.33459539e-02 8.62261996e-03 2.10922147e+01] [-5.33418959e-02 9.98576062e-01 -7.00084888e-04 -9.05465743e-01] [-8.64768859e-03 2.39115071e-04 9.99962579e-01 -5.30578388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.055769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.92, Z:-0.53 [[ 9.98572436e-01 5.21587749e-02 1.15131566e-02 2.11226687e+01] [-5.21514586e-02 9.98638749e-01 -9.34989034e-04 -9.15414944e-01] [-1.15462522e-02 3.33226367e-04 9.99933284e-01 -5.30027447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.92, Z:-0.53 [[ 9.98565332e-01 5.23948923e-02 1.10477966e-02 2.11548191e+01] [-5.23881519e-02 9.98626393e-01 -8.98829369e-04 -9.22414974e-01] [-1.10797154e-02 3.18766200e-04 9.99938567e-01 -5.30068128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.115769231000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.93, Z:-0.53 [[ 9.98549442e-01 5.28551038e-02 1.02639717e-02 2.11852385e+01] [-5.28492928e-02 9.98602149e-01 -8.36751741e-04 -9.28780481e-01] [-1.02938508e-02 2.93094338e-04 9.99946974e-01 -5.31337265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.94, Z:-0.53 [[ 9.98425173e-01 5.54964023e-02 8.20511485e-03 2.12170169e+01] [-5.54927764e-02 9.98458864e-01 -6.69087002e-04 -9.38800287e-01] [-8.22960158e-03 2.12708702e-04 9.99966114e-01 -5.32648022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.175769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.95, Z:-0.53 [[ 9.98266859e-01 5.82419385e-02 8.43528719e-03 2.12481339e+01] [-5.82381917e-02 9.98302478e-01 -6.89341740e-04 -9.45421678e-01] [-8.46111671e-03 1.96891141e-04 9.99964185e-01 -5.32811349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205769231000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.95, Z:-0.53 [[ 9.97867986e-01 6.48479042e-02 7.36416081e-03 2.12786833e+01] [-6.48452169e-02 9.97895152e-01 -6.03352950e-04 -9.53906818e-01] [-7.38778655e-03 1.24535988e-04 9.99972702e-01 -5.31855461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.235769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.96, Z:-0.53 [[ 9.97645670e-01 6.82736213e-02 6.46754421e-03 2.13098614e+01] [-6.82716252e-02 9.97666630e-01 -5.29170371e-04 -9.58463631e-01] [-6.48858141e-03 8.63747752e-05 9.99978945e-01 -5.32451240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.34, Y:-0.96, Z:-0.53 [[ 9.97424663e-01 7.15209224e-02 5.36659058e-03 2.13402563e+01] [-7.15195860e-02 9.97439098e-01 -4.40764972e-04 -9.62669773e-01] [-5.38437119e-03 5.58135173e-05 9.99985503e-01 -5.32508613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.295769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.97, Z:-0.53 [[ 9.96951163e-01 7.76909300e-02 7.24556699e-03 2.13695306e+01] [-7.76886563e-02 9.96977491e-01 -5.95151842e-04 -9.68423992e-01] [-7.26990510e-03 3.04389575e-05 9.99973573e-01 -5.32127363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.325769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.97, Z:-0.53 [[ 9.96711251e-01 8.04923087e-02 9.36329019e-03 2.13993968e+01] [-8.04886370e-02 9.96755230e-01 -7.68910142e-04 -9.72061045e-01] [-9.39479982e-03 1.27429234e-05 9.99955868e-01 -5.31625694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.355769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.97, Z:-0.53 [[ 9.96180521e-01 8.64432722e-02 1.23259761e-02 2.14301234e+01] [-8.64373647e-02 9.96256773e-01 -1.01219981e-03 -9.74318081e-01] [-1.23673351e-02 -5.70911618e-05 9.99923520e-01 -5.29992690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.98, Z:-0.53 [[ 9.95973153e-01 8.87273519e-02 1.28427583e-02 2.14617991e+01] [-8.87211264e-02 9.96055947e-01 -1.05479521e-03 -9.75515180e-01] [-1.28856950e-02 -8.88762705e-05 9.99916972e-01 -5.30842949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.415769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.98, Z:-0.53 [[ 9.95873945e-01 8.99001040e-02 1.23716105e-02 2.14935487e+01] [-8.98944140e-02 9.95950783e-01 -1.01637640e-03 -9.77120026e-01] [-1.24128875e-02 -9.99559012e-05 9.99922952e-01 -5.32021418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.98, Z:-0.53 [[ 9.95968023e-01 8.90306427e-02 1.10109756e-02 2.15241963e+01] [-8.90260823e-02 9.96028884e-01 -9.04595645e-04 -9.80189915e-01] [-1.10477865e-02 -7.93156825e-05 9.99938968e-01 -5.33929250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.475769231000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.98, Z:-0.53 [[ 9.96088058e-01 8.78470513e-02 9.56435599e-03 2.15551524e+01] [-8.78435442e-02 9.96133973e-01 -7.86982606e-04 -9.83532516e-01] [-9.59651404e-03 -5.62629525e-05 9.99953951e-01 -5.34333939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.505769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.99, Z:-0.53 [[ 9.96384403e-01 8.46607879e-02 7.11852632e-03 2.15867319e+01] [-8.46587542e-02 9.96409831e-01 -5.87066418e-04 -9.87694394e-01] [-7.14267111e-03 -1.77017483e-05 9.99974491e-01 -5.34851740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.535769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.99, Z:-0.54 [[ 9.96468551e-01 8.36257216e-02 7.56081046e-03 2.16167769e+01] [-8.36233953e-02 9.96497235e-01 -6.23848729e-04 -9.91682497e-01] [-7.58649651e-03 -1.06150028e-05 9.99971222e-01 -5.35124519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.65, Y:-1.00, Z:-0.54 [[ 9.96511666e-01 8.30430550e-02 8.26741355e-03 2.16475820e+01] [-8.30402544e-02 9.96545960e-01 -6.82046464e-04 -9.96073265e-01] [-8.29549680e-03 -6.86086647e-06 9.99965592e-01 -5.35786594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.595769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.68, Y:-1.00, Z:-0.54 [[ 9.96535792e-01 8.27423125e-02 8.37404573e-03 2.16778535e+01] [-8.27394280e-02 9.96570976e-01 -6.90907790e-04 -9.99782017e-01] [-8.40249823e-03 -4.34941221e-06 9.99964698e-01 -5.36265900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.71, Y:-1.01, Z:-0.54 [[ 9.96657987e-01 8.12843059e-02 8.10663986e-03 2.17097055e+01] [-8.12815552e-02 9.96690956e-01 -6.68757974e-04 -1.00557528e+00] [-8.13417416e-03 7.60268144e-06 9.99966917e-01 -5.37638920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.655769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.74, Y:-1.01, Z:-0.54 [[ 9.96767721e-01 7.98910938e-02 8.45719724e-03 2.17400340e+01] [-7.98880370e-02 9.96803598e-01 -6.99189231e-04 -1.01125656e+00] [-8.48602363e-03 2.13003698e-05 9.99963993e-01 -5.38395236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.77, Y:-1.02, Z:-0.54 [[ 9.97026882e-01 7.66543884e-02 7.84231376e-03 2.17725809e+01] [-7.66516532e-02 9.97057723e-01 -6.49195305e-04 -1.02254389e+00] [-7.86900317e-03 4.61388555e-05 9.99969038e-01 -5.37785610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.715769231000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.80, Y:-1.03, Z:-0.54 [[ 9.97123968e-01 7.54384842e-02 7.26826384e-03 2.18043538e+01] [-7.54360931e-02 9.97150456e-01 -6.02950947e-04 -1.02879222e+00] [-7.29303831e-03 5.29274132e-05 9.99973404e-01 -5.37750997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.84, Y:-1.03, Z:-0.54 [[ 9.97169617e-01 7.49235134e-02 6.26275392e-03 2.18365257e+01] [-7.49217222e-02 9.97189282e-01 -5.20463334e-04 -1.03394514e+00] [-6.28414603e-03 4.97739135e-05 9.99980253e-01 -5.38234173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.775769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.87, Y:-1.04, Z:-0.54 [[ 9.97121070e-01 7.56289735e-02 5.46174060e-03 2.18680165e+01] [-7.56276184e-02 9.97136027e-01 -4.54506759e-04 -1.03908028e+00] [-5.48047220e-03 4.01398317e-05 9.99984981e-01 -5.37926683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805769231000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.90, Y:-1.05, Z:-0.54 [[ 9.96840133e-01 7.92266035e-02 5.73541940e-03 2.18989834e+01] [-7.92251625e-02 9.96856632e-01 -4.78371157e-04 -1.04563541e+00] [-5.75529058e-03 2.24700335e-05 9.99983438e-01 -5.38425071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.835769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.93, Y:-1.05, Z:-0.54 [[ 9.96723103e-01 8.06900368e-02 5.67215241e-03 2.19304712e+01] [-8.06886414e-02 9.96739243e-01 -4.74781055e-04 -1.04955325e+00] [-5.69196699e-03 1.55469751e-05 9.99983801e-01 -5.38613156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865769231000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.96, Y:-1.05, Z:-0.54 [[ 9.96566115e-01 8.26088206e-02 5.63578673e-03 2.19618999e+01] [-8.26074731e-02 9.96582050e-01 -4.71860231e-04 -1.05493522e+00] [-5.65550371e-03 4.68181645e-06 9.99984008e-01 -5.40248874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.895769231000003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:21.99, Y:-1.06, Z:-0.54 [[ 9.96558593e-01 8.27368388e-02 5.05830879e-03 2.19930443e+01] [-8.27357594e-02 9.96571430e-01 -4.22643498e-04 -1.06006971e+00] [-5.07593421e-03 2.68599106e-06 9.99987117e-01 -5.41515974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.02, Y:-1.07, Z:-0.54 [[ 9.96730169e-01 8.06800098e-02 4.43918095e-03 2.20243102e+01] [-8.06791567e-02 9.96740054e-01 -3.71216771e-04 -1.06871397e+00] [-4.45465924e-03 1.18535794e-05 9.99990078e-01 -5.42031953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.955769231000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.06, Y:-1.07, Z:-0.54 [[ 9.96818920e-01 7.95677498e-02 4.58404663e-03 2.20566895e+01] [-7.95668247e-02 9.96829460e-01 -3.84111717e-04 -1.07340346e+00] [-4.60007564e-03 1.81517923e-05 9.99989419e-01 -5.41904227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.985769231000003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:22.09, Y:-1.08, Z:-0.54 [[ 9.96888716e-01 7.86539228e-02 5.14278261e-03 2.20884998e+01] [-7.86527411e-02 9.96901981e-01 -4.31940287e-04 -1.07706761e+00] [-5.16082397e-03 2.61024496e-05 9.99986683e-01 -5.41991630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.015769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:22.12, Y:-1.08, Z:-0.54 [[ 9.96892168e-01 7.85241267e-02 6.32190878e-03 2.21213525e+01] [-7.85223285e-02 9.96912213e-01 -5.32534571e-04 -1.08254828e+00] [-6.34420488e-03 3.44685456e-05 9.99979875e-01 -5.42368867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.15, Y:-1.09, Z:-0.54 [[ 9.96867148e-01 7.88200413e-02 6.57957392e-03 2.21537815e+01] [-7.88180915e-02 9.96888860e-01 -5.55508398e-04 -1.08699699e+00] [-6.60288915e-03 3.51786121e-05 9.99978200e-01 -5.41959485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.075769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.19, Y:-1.09, Z:-0.54 [[ 9.96822419e-01 7.93488241e-02 6.98777549e-03 2.21859584e+01] [-7.93466275e-02 9.96846910e-01 -5.91461622e-04 -1.09221975e+00] [-7.01267420e-03 3.51257858e-05 9.99975410e-01 -5.42062383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.22, Y:-1.10, Z:-0.54 [[ 9.96801539e-01 7.96361223e-02 6.69184054e-03 2.22191375e+01] [-7.96341080e-02 9.96824000e-01 -5.67351578e-04 -1.09700342e+00] [-6.71576894e-03 3.26381730e-05 9.99977448e-01 -5.42713268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.135769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.25, Y:-1.10, Z:-0.54 [[ 9.96772993e-01 8.00367326e-02 6.14177461e-03 2.22520962e+01] [-8.00350376e-02 9.96791914e-01 -5.21647739e-04 -1.10194213e+00] [-6.16382226e-03 2.84072159e-05 9.99981003e-01 -5.43742399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.165769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.28, Y:-1.11, Z:-0.54 [[ 9.96640597e-01 8.16451244e-02 6.44936853e-03 2.22843989e+01] [-8.16432804e-02 9.96661464e-01 -5.49123605e-04 -1.10822012e+00] [-6.47267035e-03 2.07312740e-05 9.99979052e-01 -5.43780041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.195769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.32, Y:-1.11, Z:-0.54 [[ 9.96574730e-01 8.24343141e-02 6.58714642e-03 2.23167288e+01] [-8.24323993e-02 9.96596500e-01 -5.62136570e-04 -1.11247696e+00] [-6.61106641e-03 1.72168168e-05 9.99978147e-01 -5.43897055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.35, Y:-1.12, Z:-0.54 [[ 9.96530971e-01 8.30630780e-02 5.15249385e-03 2.23484658e+01] [-8.30619120e-02 9.96544292e-01 -4.40256430e-04 -1.11880806e+00] [-5.17125738e-03 1.07531780e-05 9.99986629e-01 -5.44793436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.255769231000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:22.38, Y:-1.12, Z:-0.55 [[ 9.96554248e-01 8.28275146e-02 4.38554800e-03 2.23814209e+01] [-8.28266660e-02 9.96563898e-01 -3.75085235e-04 -1.12359778e+00] [-4.40154619e-03 1.05524651e-05 9.99990313e-01 -5.46579917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285769231000003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:22.41, Y:-1.13, Z:-0.55 [[ 9.96594063e-01 8.23622694e-02 4.09020989e-03 2.24134359e+01] [-8.23615243e-02 9.96602457e-01 -3.50545413e-04 -1.12861893e+00] [-4.10518494e-03 1.24755566e-05 9.99991574e-01 -5.46900414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.315769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.14, Z:-0.55 [[ 9.96541058e-01 8.29338912e-02 5.28096019e-03 2.24461946e+01] [-8.29326493e-02 9.96555051e-01 -4.54084936e-04 -1.13618604e+00] [-5.30042658e-03 1.45502634e-05 9.99985953e-01 -5.46445675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.345769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.48, Y:-1.14, Z:-0.55 [[ 9.96468973e-01 8.37699094e-02 5.67339942e-03 2.24786281e+01] [-8.37684826e-02 9.96485124e-01 -4.89064524e-04 -1.14166523e+00] [-5.69442701e-03 1.20855641e-05 9.99983787e-01 -5.46549610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.375769231000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.51, Y:-1.15, Z:-0.55 [[ 9.96321448e-01 8.54272978e-02 6.76384598e-03 2.25101149e+01] [-8.54252956e-02 9.96344407e-01 -5.84894746e-04 -1.14790637e+00] [-6.78908609e-03 4.93963821e-06 9.99976954e-01 -5.47094130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.54, Y:-1.15, Z:-0.55 [[ 9.96189495e-01 8.69271681e-02 7.08218876e-03 2.25434142e+01] [-8.69250018e-02 9.96214669e-01 -6.13700502e-04 -1.15157785e+00] [-7.10872758e-03 -4.25727806e-06 9.99974733e-01 -5.46891711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.435769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.15, Z:-0.55 [[ 9.95996982e-01 8.90814093e-02 7.38342029e-03 2.25754746e+01] [-8.90790997e-02 9.96024348e-01 -6.41727503e-04 -1.15476552e+00] [-7.41123237e-03 -1.85497762e-05 9.99972536e-01 -5.46932664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465769231000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.61, Y:-1.16, Z:-0.55 [[ 9.95517410e-01 9.42658360e-02 7.68364999e-03 2.26081852e+01] [-9.42634841e-02 9.95547060e-01 -6.68479040e-04 -1.15671391e+00] [-7.71244989e-03 -5.88050963e-05 9.99970257e-01 -5.46540670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.495769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.16, Z:-0.55 [[ 9.95269612e-01 9.67696288e-02 8.60456427e-03 2.26404464e+01] [-9.67667562e-02 9.95306803e-01 -7.50529622e-04 -1.15862635e+00] [-8.63680982e-03 -8.56564471e-05 9.99962698e-01 -5.46709831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.67, Y:-1.16, Z:-0.55 [[ 9.95077756e-01 9.86415919e-02 9.49192552e-03 2.26737783e+01] [-9.86381641e-02 9.95123020e-01 -8.29737463e-04 -1.16046699e+00] [-9.52748021e-03 -1.10612815e-04 9.99954606e-01 -5.47083944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.555769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.16, Z:-0.55 [[ 9.94825788e-01 1.01191619e-01 9.05033312e-03 2.27060890e+01] [-1.01188593e-01 9.94866946e-01 -7.92776397e-04 -1.16149749e+00] [-9.08409960e-03 -1.27116074e-04 9.99958731e-01 -5.48565686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.16, Z:-0.55 [[ 9.94693625e-01 1.02598326e-01 7.62729721e-03 2.27391313e+01] [-1.02596212e-01 9.94722861e-01 -6.69043317e-04 -1.16406283e+00] [-7.65568962e-03 -1.17038676e-04 9.99970688e-01 -5.49113068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.615769231000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.17, Z:-0.55 [[ 9.94609893e-01 1.03496231e-01 6.30010474e-03 2.27708318e+01] [-1.03494801e-01 9.94629841e-01 -5.53474686e-04 -1.16635868e+00] [-6.32355472e-03 -1.01536688e-04 9.99980001e-01 -5.49650593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645769231000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.17, Z:-0.55 [[ 9.94601909e-01 1.03572939e-01 6.29995275e-03 2.28041877e+01] [-1.03571499e-01 9.94621856e-01 -5.55197974e-04 -1.16944960e+00] [-6.32357419e-03 -1.00294589e-04 9.99980001e-01 -5.50079663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.675769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:22.84, Y:-1.17, Z:-0.55 [[ 9.94488600e-01 1.04670877e-01 6.03582918e-03 2.28366397e+01] [-1.04669577e-01 9.94506911e-01 -5.31759887e-04 -1.16853612e+00] [-6.05833361e-03 -1.02938540e-04 9.99981643e-01 -5.49870039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705769231000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:22.87, Y:-1.17, Z:-0.55 [[ 9.94370895e-01 1.05743995e-01 6.68803287e-03 2.28700073e+01] [-1.05742414e-01 9.94393379e-01 -5.90494808e-04 -1.16841815e+00] [-6.71297689e-03 -1.20037892e-04 9.99977461e-01 -5.49496548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.735769231000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.90, Y:-1.16, Z:-0.55 [[ 9.93946863e-01 1.09674054e-01 6.42142172e-03 2.29031202e+01] [-1.09672673e-01 9.93967596e-01 -5.67857221e-04 -1.16421999e+00] [-6.44496431e-03 -1.39834580e-04 9.99979221e-01 -5.49732584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:22.93, Y:-1.16, Z:-0.55 [[ 9.93600620e-01 1.12793139e-01 5.95946883e-03 2.29343001e+01] [-1.12791998e-01 9.93618481e-01 -5.28249622e-04 -1.16271184e+00] [-5.98102130e-03 -1.47311244e-04 9.99982103e-01 -5.50306492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.795769231000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:22.97, Y:-1.16, Z:-0.55 [[ 9.93225379e-01 1.16059334e-01 5.79458605e-03 2.29672415e+01] [-1.16058306e-01 9.93242269e-01 -5.14428119e-04 -1.16094557e+00] [-5.81513198e-03 -1.61566780e-04 9.99983079e-01 -5.49614410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.825769231000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.00, Y:-1.16, Z:-0.55 [[ 9.92843844e-01 1.19248069e-01 6.40302875e-03 2.29980984e+01] [-1.19246868e-01 9.92864472e-01 -5.70451165e-04 -1.15826559e+00] [-6.42536496e-03 -1.97172196e-04 9.99979338e-01 -5.50419185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.855769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.03, Y:-1.15, Z:-0.55 [[ 9.92281913e-01 1.23753271e-01 7.85699680e-03 2.30281762e+01] [-1.23751595e-01 9.92312981e-01 -7.00962785e-04 -1.14892249e+00] [-7.88334635e-03 -2.76763191e-04 9.99968888e-01 -5.50598355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885769231000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:23.06, Y:-1.15, Z:-0.55 [[ 9.92233898e-01 1.24139833e-01 7.82267351e-03 2.30590430e+01] [-1.24138185e-01 9.92264695e-01 -6.97749405e-04 -1.14512209e+00] [-7.84878123e-03 -2.78761881e-04 9.99969159e-01 -5.51243134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.915769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.09, Y:-1.14, Z:-0.55 [[ 9.92630140e-01 1.21016744e-01 6.35245588e-03 2.30900746e+01] [-1.21015594e-01 9.92650445e-01 -5.66538064e-04 -1.13513580e+00] [-6.37432875e-03 -2.06383464e-04 9.99979662e-01 -5.52876344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.12, Y:-1.13, Z:-0.55 [[ 9.92988369e-01 1.18094679e-01 5.26748542e-03 2.31201656e+01] [-1.18093846e-01 9.93002328e-01 -4.70083189e-04 -1.13155057e+00] [-5.28613961e-03 -1.55270470e-04 9.99986016e-01 -5.52861688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.975769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.15, Y:-1.12, Z:-0.55 [[ 9.93697269e-01 1.11970806e-01 5.31763002e-03 2.31500011e+01] [-1.11969869e-01 9.93711489e-01 -4.74514441e-04 -1.12249723e+00] [-5.33732181e-03 -1.23890633e-04 9.99985749e-01 -5.53687899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.005769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.18, Y:-1.12, Z:-0.55 [[ 9.94015854e-01 1.09084772e-01 5.74409595e-03 2.31790687e+01] [-1.09083632e-01 9.94032444e-01 -5.12307172e-04 -1.12057259e+00] [-5.76570265e-03 -1.17345399e-04 9.99983371e-01 -5.53515076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.035769231000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.21, Y:-1.12, Z:-0.55 [[ 9.94331545e-01 1.06128998e-01 6.43542204e-03 2.32092864e+01] [-1.06127507e-01 9.94352364e-01 -5.73623622e-04 -1.12000682e+00] [-6.45995522e-03 -1.12603237e-04 9.99979128e-01 -5.54059592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.12, Z:-0.55 [[ 9.94928802e-01 1.00335591e-01 7.03191476e-03 2.32380160e+01] [-1.00333668e-01 9.94953648e-01 -6.26657590e-04 -1.11946750e+00] [-7.05930531e-03 -8.20581134e-05 9.99975079e-01 -5.54039280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.095769231000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.12, Z:-0.55 [[ 9.95128292e-01 9.83077870e-02 7.43385019e-03 2.32675413e+01] [-9.83055837e-02 9.95156055e-01 -6.62095472e-04 -1.12050843e+00] [-7.46293017e-03 -7.19190468e-05 9.99972149e-01 -5.54728074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125769231000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.12, Z:-0.55 [[ 9.95235929e-01 9.71407339e-02 8.31404499e-03 2.32970948e+01] [-9.71379390e-02 9.95270653e-01 -7.40274746e-04 -1.12088034e+00] [-8.34663582e-03 -7.08611711e-05 9.99965164e-01 -5.54707061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.155769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.33, Y:-1.12, Z:-0.55 [[ 9.95248249e-01 9.69543736e-02 8.98731696e-03 2.33260622e+01] [-9.69511020e-02 9.95288824e-01 -8.00019420e-04 -1.11993562e+00] [-9.02254152e-03 -7.51123563e-05 9.99959293e-01 -5.54190184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.12, Z:-0.55 [[ 9.95212278e-01 9.73312438e-02 8.89661379e-03 2.33556902e+01] [-9.73280563e-02 9.95252040e-01 -7.91564695e-04 -1.12147201e+00] [-8.93141700e-03 -7.81152238e-05 9.99960111e-01 -5.54588187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.215769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.39, Y:-1.12, Z:-0.55 [[ 9.95131487e-01 9.81215287e-02 9.24605292e-03 2.33855908e+01] [-9.81181220e-02 9.95174436e-01 -8.22436423e-04 -1.12345099e+00] [-9.28213422e-03 -8.87729685e-05 9.99956916e-01 -5.54910068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.13, Z:-0.55 [[ 9.95138008e-01 9.79609080e-02 1.01982654e-02 2.34138597e+01] [-9.79567574e-02 9.95190259e-01 -9.06903344e-04 -1.12520356e+00] [-1.02380555e-02 -9.64950226e-05 9.99947585e-01 -5.54670372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.275769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.44, Y:-1.13, Z:-0.55 [[ 9.95150379e-01 9.77322876e-02 1.11410205e-02 2.34420176e+01] [-9.77273247e-02 9.95212736e-01 -9.90306941e-04 -1.12674682e+00] [-1.11844704e-02 -1.03277796e-04 9.99937447e-01 -5.54797877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305769231000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.13, Z:-0.56 [[ 9.95217215e-01 9.71907439e-02 9.83126551e-03 2.34720292e+01] [-9.71868548e-02 9.95265769e-01 -8.73688375e-04 -1.12824086e+00] [-9.86963646e-03 -8.59600630e-05 9.99951290e-01 -5.55749067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.335769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.50, Y:-1.13, Z:-0.56 [[ 9.95314142e-01 9.63768318e-02 7.82720814e-03 2.35007862e+01] [-9.63743424e-02 9.95344916e-01 -6.95474218e-04 -1.13105313e+00] [-7.85779943e-03 -6.21267126e-05 9.99969125e-01 -5.57057480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.13, Z:-0.56 [[ 9.95525339e-01 9.43452682e-02 5.31696046e-03 2.35301772e+01] [-9.43440908e-02 9.95539537e-01 -4.72386187e-04 -1.13396727e+00] [-5.33781176e-03 -3.13513818e-05 9.99985753e-01 -5.59282445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.395769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.56, Y:-1.14, Z:-0.56 [[ 9.95561111e-01 9.39619430e-02 5.40631162e-03 2.35580781e+01] [-9.39607190e-02 9.95575789e-01 -4.80510438e-04 -1.13678693e+00] [-5.42754266e-03 -2.96034221e-05 9.99985270e-01 -5.58754188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.14, Z:-0.56 [[ 9.95577262e-01 9.36673408e-02 7.23502512e-03 2.35862340e+01] [-9.36651479e-02 9.95603550e-01 -6.42092530e-04 -1.14111009e+00] [-7.26335979e-03 -3.84169751e-05 9.99973621e-01 -5.58984024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.455769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.62, Y:-1.14, Z:-0.56 [[ 9.95631698e-01 9.30405344e-02 7.80900472e-03 2.36152326e+01] [-9.30379633e-02 9.95662321e-01 -6.92665784e-04 -1.14467601e+00] [-7.83957776e-03 -3.68938842e-05 9.99969269e-01 -5.59446739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.15, Z:-0.56 [[ 9.95712923e-01 9.21600761e-02 7.89278309e-03 2.36433490e+01] [-9.21574233e-02 9.95744204e-01 -6.99916544e-04 -1.14839573e+00] [-7.92369738e-03 -3.04626040e-05 9.99968607e-01 -5.59934474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.515769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.16, Z:-0.56 [[ 9.95964315e-01 8.94367594e-02 7.49326478e-03 2.36736782e+01] [-8.94342937e-02 9.95992503e-01 -6.64169037e-04 -1.15623343e+00] [-7.52263667e-03 -8.66618327e-06 9.99971705e-01 -5.60654508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545769231000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:23.70, Y:-1.16, Z:-0.56 [[ 9.96125888e-01 8.76082133e-02 7.61686850e-03 2.37029450e+01] [-8.76056127e-02 9.96155008e-01 -6.75057309e-04 -1.16192993e+00] [-7.64672227e-03 5.16162969e-06 9.99970763e-01 -5.61404423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.575769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.73, Y:-1.17, Z:-0.56 [[ 9.96334907e-01 8.52814046e-02 6.62075742e-03 2.37324539e+01] [-8.52793873e-02 9.96356905e-01 -5.86920836e-04 -1.16906971e+00] [-6.64669080e-03 2.01555804e-05 9.99977910e-01 -5.62003254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.76, Y:-1.17, Z:-0.56 [[ 9.96360632e-01 8.50335730e-02 5.89772588e-03 2.37626116e+01] [-8.50319680e-02 9.96378086e-01 -5.22825106e-04 -1.17336306e+00] [-5.92082251e-03 1.94271153e-05 9.99982472e-01 -5.63133642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.79, Y:-1.18, Z:-0.56 [[ 9.96348483e-01 8.52389888e-02 4.90048080e-03 2.37925401e+01] [-8.52378831e-02 9.96360534e-01 -4.34420733e-04 -1.17749368e+00] [-4.91967525e-03 1.51278281e-05 9.99987898e-01 -5.63694340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.665769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.82, Y:-1.18, Z:-0.56 [[ 9.96258888e-01 8.63112611e-02 4.31213167e-03 2.38228507e+01] [-8.63104150e-02 9.96268220e-01 -3.82264409e-04 -1.18201802e+00] [-4.32903347e-03 8.65244142e-06 9.99990630e-01 -5.63855213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.695769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.85, Y:-1.19, Z:-0.56 [[ 9.95900658e-01 9.02168805e-02 6.54176501e-03 2.38522468e+01] [-9.02150166e-02 9.95922143e-01 -5.80064516e-04 -1.18687438e+00] [-6.56742024e-03 -1.24788056e-05 9.99978434e-01 -5.62329935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.88, Y:-1.19, Z:-0.56 [[ 9.95633679e-01 9.29962392e-02 8.07939634e-03 2.38827808e+01] [-9.29934905e-02 9.95666459e-01 -7.16036864e-04 -1.18999578e+00] [-8.11097268e-03 -3.84208500e-05 9.99967105e-01 -5.61580910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.755769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.91, Y:-1.19, Z:-0.56 [[ 9.95111529e-01 9.84232282e-02 8.11863022e-03 2.39123552e+01] [-9.84206327e-02 9.95144643e-01 -7.19568402e-04 -1.19256663e+00] [-8.15003362e-03 -8.29899104e-05 9.99966784e-01 -5.61933639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.19, Z:-0.56 [[ 9.94862124e-01 1.00945305e-01 7.70712291e-03 2.39416094e+01] [-1.00943042e-01 9.94891972e-01 -6.83012178e-04 -1.19478442e+00] [-7.73670158e-03 -9.84774859e-05 9.99970066e-01 -5.62598128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.97, Y:-1.20, Z:-0.56 [[ 9.94583202e-01 1.03656983e-01 7.71259866e-03 2.39716255e+01] [-1.03654798e-01 9.94613098e-01 -6.83463337e-04 -1.19650815e+00] [-7.74189740e-03 -1.19686705e-04 9.99970024e-01 -5.63077998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.00, Y:-1.20, Z:-0.56 [[ 9.94115884e-01 1.08040113e-01 7.80664296e-03 2.40014609e+01] [-1.08038012e-01 9.94146523e-01 -6.91618029e-04 -1.19641672e+00] [-7.83566945e-03 -1.55865719e-04 9.99969289e-01 -5.64043329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.875769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.03, Y:-1.20, Z:-0.56 [[ 9.94029323e-01 1.08810282e-01 8.12572095e-03 2.40314799e+01] [-1.08808033e-01 9.94062520e-01 -7.19688188e-04 -1.19751432e+00] [-8.15578412e-03 -1.68752553e-04 9.99966727e-01 -5.64339582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.06, Y:-1.20, Z:-0.56 [[ 9.94101642e-01 1.08075295e-01 9.03640165e-03 2.40610358e+01] [-1.08072485e-01 9.94142695e-01 -8.00107240e-04 -1.19634889e+00] [-9.06994452e-03 -1.81198458e-04 9.99958851e-01 -5.64292164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.935769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.20, Z:-0.56 [[ 9.94288742e-01 1.06326583e-01 9.19539570e-03 2.40898223e+01] [-1.06323600e-01 9.94331247e-01 -8.14011034e-04 -1.19768258e+00] [-9.22982029e-03 -1.68325566e-04 9.99957390e-01 -5.64672627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.12, Y:-1.20, Z:-0.57 [[ 9.94568697e-01 1.03654684e-01 9.42409826e-03 2.41197443e+01] [-1.03651435e-01 9.94613334e-01 -8.33890456e-04 -1.20011393e+00] [-9.45977044e-03 -1.47459961e-04 9.99955244e-01 -5.65272923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.20, Z:-0.57 [[ 9.95288790e-01 9.64377099e-02 9.99959140e-03 2.41487622e+01] [-9.64336899e-02 9.95339018e-01 -8.84528622e-04 -1.20206581e+00] [-1.00382854e-02 -8.39360738e-05 9.99949612e-01 -5.65065369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.20, Z:-0.57 [[ 9.95583408e-01 9.32864878e-02 1.05503473e-02 2.41790589e+01] [-9.32818374e-02 9.95639306e-01 -9.33090571e-04 -1.20358696e+00] [-1.05913852e-02 -5.51862891e-05 9.99943908e-01 -5.65557746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.055769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.21, Z:-0.57 [[ 9.95961691e-01 8.91145024e-02 1.09048438e-02 2.42107271e+01] [-8.91092846e-02 9.96021388e-01 -9.64399286e-04 -1.20537443e+00] [-1.09473996e-02 -1.12180816e-05 9.99940075e-01 -5.65866252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.21, Z:-0.57 [[ 9.96068015e-01 8.79039910e-02 1.10180469e-02 2.42410727e+01] [-8.78985869e-02 9.96128952e-01 -9.74714429e-04 -1.20887879e+00] [-1.10610768e-02 2.41111746e-06 9.99938824e-01 -5.65937443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.115769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.27, Y:-1.21, Z:-0.57 [[ 9.96140217e-01 8.70937397e-02 1.09246820e-02 2.42708635e+01] [-8.70883783e-02 9.96200121e-01 -9.66433111e-04 -1.21332174e+00] [-1.09673398e-02 1.12900483e-05 9.99939857e-01 -5.66251385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.30, Y:-1.22, Z:-0.57 [[ 9.96253332e-01 8.58051263e-02 1.08064395e-02 2.43018939e+01] [-8.57998033e-02 9.96311939e-01 -9.56077255e-04 -1.21800606e+00] [-1.08486210e-02 2.53047665e-05 9.99941152e-01 -5.66295361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.175769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.33, Y:-1.22, Z:-0.57 [[ 9.96683852e-01 8.07280113e-02 1.02121250e-02 2.43336721e+01] [-8.07229926e-02 9.96736165e-01 -9.03361340e-04 -1.22489179e+00] [-1.02517209e-02 7.60123683e-05 9.99947447e-01 -5.67222111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.37, Y:-1.23, Z:-0.57 [[ 9.97133855e-01 7.50119281e-02 9.86340745e-03 2.43650918e+01] [-7.50069512e-02 9.97182628e-01 -8.74069984e-04 -1.23404638e+00] [-9.90118423e-03 1.31740652e-04 9.99950973e-01 -5.67966283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.235769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.40, Y:-1.24, Z:-0.57 [[ 9.97294076e-01 7.28704980e-02 9.71684435e-03 2.43963106e+01] [-7.28655493e-02 9.97341400e-01 -8.62812651e-04 -1.24104047e+00] [-9.75388473e-03 1.52454745e-04 9.99952418e-01 -5.68837611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.43, Y:-1.25, Z:-0.57 [[ 9.97414193e-01 7.12641789e-02 9.29214711e-03 2.44291132e+01] [-7.12595763e-02 9.97457463e-01 -8.25891699e-04 -1.24880472e+00] [-9.32737798e-03 1.61601637e-04 9.99956486e-01 -5.69753414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.295769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.46, Y:-1.26, Z:-0.57 [[ 9.97513643e-01 6.99437964e-02 8.62535495e-03 2.44614635e+01] [-6.99397688e-02 9.97550920e-01 -7.68078179e-04 -1.25629503e+00] [-8.65795308e-03 1.62913131e-04 9.99962506e-01 -5.71074936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.325769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.49, Y:-1.27, Z:-0.57 [[ 9.97564997e-01 6.93008862e-02 7.83989337e-03 2.44926633e+01] [-6.92975286e-02 9.97595792e-01 -6.99441354e-04 -1.26763256e+00] [-7.86951654e-03 1.54452977e-04 9.99969023e-01 -5.70703290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.355769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.27, Z:-0.57 [[ 9.97500088e-01 7.01878693e-02 8.19981826e-03 2.45252435e+01] [-7.01842142e-02 9.97533778e-01 -7.33024609e-04 -1.27441867e+00] [-8.23104513e-03 1.55694311e-04 9.99966112e-01 -5.70884273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.28, Z:-0.57 [[ 9.97186011e-01 7.44637459e-02 8.67235281e-03 2.45561029e+01] [-7.44598032e-02 9.97223713e-01 -7.77073723e-04 -1.28398075e+00] [-8.70613969e-03 1.29145362e-04 9.99962093e-01 -5.70720725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.415769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.29, Z:-0.57 [[ 9.96926357e-01 7.78665571e-02 8.63930767e-03 2.45884128e+01] [-7.78627594e-02 9.96963785e-01 -7.75572486e-04 -1.28962953e+00] [-8.67346804e-03 1.00508318e-04 9.99962380e-01 -5.71142534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.62, Y:-1.29, Z:-0.57 [[ 9.96636711e-01 8.14924590e-02 8.61662663e-03 2.46215578e+01] [-8.14888033e-02 9.96673956e-01 -7.75083111e-04 -1.29487210e+00] [-8.65113078e-03 7.03176890e-05 9.99962576e-01 -5.71979418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.475769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.30, Z:-0.57 [[ 9.95994195e-01 8.90985656e-02 7.55049724e-03 2.46536420e+01] [-8.90959684e-02 9.96022814e-01 -6.80317350e-04 -1.30088150e+00] [-7.58108281e-03 4.87326793e-06 9.99971263e-01 -5.73354870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.505769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.69, Y:-1.31, Z:-0.57 [[ 9.95411638e-01 9.54568342e-02 6.60781434e-03 2.46850229e+01] [-9.54549735e-02 9.95433570e-01 -5.97125567e-04 -1.30549503e+00] [-6.63463993e-03 -3.63630035e-05 9.99977990e-01 -5.73242139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.535769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.72, Y:-1.31, Z:-0.57 [[ 9.95403527e-01 9.55413806e-02 6.60783554e-03 2.47175472e+01] [-9.55395233e-02 9.95425458e-01 -5.96891314e-04 -1.30855445e+00] [-6.63463554e-03 -3.71617378e-05 9.99977990e-01 -5.73660409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.31, Z:-0.57 [[ 9.95193404e-01 9.76840756e-02 6.92169019e-03 2.47480877e+01] [-9.76820851e-02 9.95217473e-01 -6.25871418e-04 -1.31186564e+00] [-6.94972469e-03 -5.32620227e-05 9.99975849e-01 -5.73855816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.595769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.31, Z:-0.57 [[ 9.95047487e-01 9.90852392e-02 7.91287439e-03 2.47803937e+01] [-9.90826782e-02 9.95078947e-01 -7.15980705e-04 -1.31497842e+00] [-7.94487783e-03 -7.15939850e-05 9.99968436e-01 -5.73490304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.32, Z:-0.57 [[ 9.94919793e-01 1.00060590e-01 1.10672260e-02 2.48115795e+01] [-1.00055610e-01 9.94981340e-01 -1.00409419e-03 -1.31718096e+00] [-1.11121536e-02 -1.08344867e-04 9.99938252e-01 -5.72045238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.655769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.84, Y:-1.32, Z:-0.57 [[ 9.94901444e-01 1.00098392e-01 1.23056718e-02 2.48446454e+01] [-1.00092213e-01 9.94977536e-01 -1.11854825e-03 -1.32005399e+00] [-1.23558319e-02 -1.18856651e-04 9.99923657e-01 -5.71943602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.32, Z:-0.57 [[ 9.94885398e-01 1.00218140e-01 1.26241461e-02 2.48773938e+01] [-1.00211618e-01 9.94965482e-01 -1.14978552e-03 -1.32313554e+00] [-1.26758189e-02 -1.21181271e-04 9.99919651e-01 -5.72441183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.715769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.91, Y:-1.32, Z:-0.57 [[ 9.94857954e-01 1.00578698e-01 1.18985984e-02 2.49097047e+01] [-1.00572904e-01 9.94929099e-01 -1.08581062e-03 -1.32477551e+00] [-1.19474712e-02 -1.16449258e-04 9.99928620e-01 -5.73342235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.94, Y:-1.33, Z:-0.57 [[ 9.94835284e-01 1.00901664e-01 1.10278270e-02 2.49430804e+01] [-1.00896687e-01 9.94896398e-01 -1.00810053e-03 -1.32619774e+00] [-1.10732644e-02 -1.09777236e-04 9.99938684e-01 -5.74202901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.775769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.97, Y:-1.33, Z:-0.57 [[ 9.94766798e-01 1.01793053e-01 8.78590434e-03 2.49749936e+01] [-1.01789916e-01 9.94805592e-01 -8.04574290e-04 -1.32644604e+00] [-8.82216684e-03 -9.39526780e-05 9.99961080e-01 -5.74426823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.01, Y:-1.33, Z:-0.57 [[ 9.94651623e-01 1.02927949e-01 8.60153799e-03 2.50063395e+01] [-1.02924978e-01 9.94688809e-01 -7.88515926e-04 -1.32838669e+00] [-8.63701391e-03 -1.01014466e-04 9.99962695e-01 -5.74456822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.835769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.04, Y:-1.33, Z:-0.57 [[ 9.94518660e-01 1.04172868e-01 8.98039268e-03 2.50380394e+01] [-1.04169664e-01 9.94559199e-01 -8.25132076e-04 -1.33024605e+00] [-9.01748852e-03 -1.14875238e-04 9.99959335e-01 -5.74021922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.07, Y:-1.33, Z:-0.57 [[ 9.94412218e-01 1.05117270e-01 9.73140870e-03 2.50695532e+01] [-1.05113550e-01 9.94459824e-01 -8.94381195e-04 -1.32958052e+00] [-9.77150989e-03 -1.33519328e-04 9.99952249e-01 -5.74867554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.895769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.10, Y:-1.33, Z:-0.58 [[ 9.94458865e-01 1.04643736e-01 1.00625043e-02 2.50997303e+01] [-1.04639732e-01 9.94509764e-01 -9.25078220e-04 -1.33078093e+00] [-1.01040625e-02 -1.32985516e-04 9.99948944e-01 -5.76123766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.13, Y:-1.33, Z:-0.58 [[ 9.94656913e-01 1.02698590e-01 1.05178243e-02 2.51322995e+01] [-1.02694108e-01 9.94712514e-01 -9.66741299e-04 -1.33036800e+00] [-1.05614944e-02 -1.18542670e-04 9.99944219e-01 -5.77293818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.955769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.16, Y:-1.33, Z:-0.58 [[ 9.94720585e-01 1.02058739e-01 1.07224878e-02 2.51647882e+01] [-1.02054026e-01 9.94778368e-01 -9.87234641e-04 -1.33142520e+00] [-1.07672549e-02 -1.12250433e-04 9.99942025e-01 -5.77039282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.20, Y:-1.33, Z:-0.58 [[ 9.94770280e-01 1.01580108e-01 1.06569752e-02 2.51968574e+01] [-1.01575406e-01 9.94827357e-01 -9.82933736e-04 -1.33221162e+00] [-1.07016970e-02 -1.04693310e-04 9.99942730e-01 -5.77379579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.015769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:25.23, Y:-1.33, Z:-0.58 [[ 9.94854717e-01 1.00817994e-01 9.99117319e-03 2.52282651e+01] [-1.00813807e-01 9.94904882e-01 -9.23115499e-04 -1.33372100e+00] [-1.00333336e-02 -8.88823999e-05 9.99949661e-01 -5.77787173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.26, Y:-1.34, Z:-0.58 [[ 9.95146614e-01 9.81431771e-02 7.15082773e-03 2.52607187e+01] [-9.81409597e-02 9.95172304e-01 -6.61185846e-04 -1.33571519e+00] [-7.18119659e-03 -4.38122406e-05 9.99974214e-01 -5.79430559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.075769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.29, Y:-1.34, Z:-0.58 [[ 9.95301158e-01 9.66207837e-02 6.32679115e-03 2.52914372e+01] [-9.66190057e-02 9.95321266e-01 -5.86797461e-04 -1.33819748e+00] [-6.35388661e-03 -2.72480773e-05 9.99979813e-01 -5.80788762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.32, Y:-1.34, Z:-0.58 [[ 9.95548476e-01 9.39972687e-02 6.90979447e-03 2.53228925e+01] [-9.39950844e-02 9.95572455e-01 -6.40896878e-04 -1.34015913e+00] [-6.93944360e-03 -1.14428040e-05 9.99975922e-01 -5.80935316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.35, Y:-1.34, Z:-0.58 [[ 9.95598164e-01 9.33926310e-02 7.88110863e-03 2.53529508e+01] [-9.33897683e-02 9.95629357e-01 -7.31276004e-04 -1.34321075e+00] [-7.91495890e-03 -7.95786102e-06 9.99968676e-01 -5.81101197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.165769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.38, Y:-1.35, Z:-0.58 [[ 9.95651945e-01 9.28017596e-02 8.06464885e-03 2.53839548e+01] [-9.27987423e-02 9.95684605e-01 -7.48352726e-04 -1.34627039e+00] [-8.09929516e-03 -3.29042299e-06 9.99967200e-01 -5.80726928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.195769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:-1.35, Z:-0.58 [[ 9.95836301e-01 9.08414988e-02 7.60817114e-03 2.54154587e+01] [-9.08387549e-02 9.95865363e-01 -7.06149308e-04 -1.34838522e+00] [-7.64086178e-03 1.20923205e-05 9.99970808e-01 -5.81706368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.45, Y:-1.35, Z:-0.58 [[ 9.95902550e-01 9.01385316e-02 7.29076255e-03 2.54471500e+01] [-9.01359919e-02 9.95929237e-01 -6.76846323e-04 -1.35067901e+00] [-7.32209351e-03 1.69128660e-05 9.99973193e-01 -5.82061099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.255769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.48, Y:-1.35, Z:-0.58 [[ 9.95931774e-01 8.98077622e-02 7.38022406e-03 2.54775549e+01] [-8.98051490e-02 9.95959118e-01 -6.85392781e-04 -1.35274027e+00] [-7.41195504e-03 1.98223271e-05 9.99972531e-01 -5.82877677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.51, Y:-1.35, Z:-0.58 [[ 9.95932070e-01 8.97861464e-02 7.60001094e-03 2.55074810e+01] [-8.97833738e-02 9.95961067e-01 -7.05898680e-04 -1.35382286e+00] [-7.63269493e-03 2.06725095e-05 9.99970870e-01 -5.82170443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.315769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.36, Z:-0.58 [[ 9.95886318e-01 9.02395762e-02 8.20126605e-03 2.55392962e+01] [-9.02363625e-02 9.95920086e-01 -7.61796398e-04 -1.35534456e+00] [-8.23654978e-03 1.86101926e-05 9.99966079e-01 -5.82241763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.36, Z:-0.58 [[ 9.95748614e-01 9.16149505e-02 9.56021490e-03 2.55708248e+01] [-9.16106443e-02 9.95794507e-01 -8.88302128e-04 -1.35620550e+00] [-9.60139124e-03 8.70816762e-06 9.99953906e-01 -5.81774252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.375769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.36, Z:-0.58 [[ 9.95686398e-01 9.22243984e-02 1.01615716e-02 2.56010437e+01] [-9.22195633e-02 9.95738249e-01 -9.44356749e-04 -1.35846747e+00] [-1.02053583e-02 3.18747212e-06 9.99947924e-01 -5.81898080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.63, Y:-1.36, Z:-0.58 [[ 9.95636014e-01 9.27473592e-02 1.03370633e-02 2.56319767e+01] [-9.27423803e-02 9.95689674e-01 -9.61010962e-04 -1.36066171e+00] [-1.03816384e-02 -1.86673127e-06 9.99946109e-01 -5.82770053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.435769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.66, Y:-1.36, Z:-0.58 [[ 9.95649601e-01 9.26942122e-02 9.46868092e-03 2.56635604e+01] [-9.26900161e-02 9.95694623e-01 -8.81980562e-04 -1.36082486e+00] [-9.50966918e-03 4.91407128e-07 9.99954782e-01 -5.84904736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.69, Y:-1.36, Z:-0.59 [[ 9.95693350e-01 9.23122395e-02 8.55589046e-03 2.56940798e+01] [-9.23087989e-02 9.95730109e-01 -7.96999335e-04 -1.36251038e+00] [-8.59293054e-03 3.78296523e-06 9.99963080e-01 -5.86240702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.495769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:-1.36, Z:-0.59 [[ 9.95805488e-01 9.12085283e-02 7.24121721e-03 2.57249242e+01] [-9.12060303e-02 9.95831815e-01 -6.75133869e-04 -1.36232330e+00] [-7.27261244e-03 1.18593355e-05 9.99973554e-01 -5.85578055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.76, Y:-1.36, Z:-0.58 [[ 9.95863068e-01 9.05772196e-02 7.24688997e-03 2.57556754e+01] [-9.05747011e-02 9.95889435e-01 -6.75662768e-04 -1.36315759e+00] [-7.27830081e-03 1.64827048e-05 9.99973513e-01 -5.84814078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.555769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.79, Y:-1.37, Z:-0.58 [[ 9.96063237e-01 8.82659254e-02 8.19477249e-03 2.57861500e+01] [-8.82626266e-02 9.96096946e-01 -7.64038462e-04 -1.36518784e+00] [-8.23022641e-03 3.77384796e-05 9.99966130e-01 -5.84068432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.82, Y:-1.37, Z:-0.58 [[ 9.96228836e-01 8.63546387e-02 8.42508601e-03 2.58165537e+01] [-8.63510836e-02 9.96264460e-01 -7.85511711e-04 -1.36985328e+00] [-8.46144634e-03 5.50341115e-05 9.99964200e-01 -5.84554521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.615769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.85, Y:-1.38, Z:-0.59 [[ 9.96391576e-01 8.44485014e-02 8.50162584e-03 2.58474025e+01] [-8.44448175e-02 9.96427843e-01 -7.91993977e-04 -1.37507142e+00] [-8.53813940e-03 7.12178847e-05 9.99963547e-01 -5.85844204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.88, Y:-1.38, Z:-0.59 [[ 9.96751317e-01 8.01263975e-02 8.15916488e-03 2.58779575e+01] [-8.01228451e-02 9.96784706e-01 -7.61863951e-04 -1.38016495e+00] [-8.19397618e-03 1.05653393e-04 9.99966423e-01 -5.86683948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.675769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.91, Y:-1.38, Z:-0.59 [[ 9.96837809e-01 7.89451246e-02 9.05809835e-03 2.59093102e+01] [-7.89406952e-02 9.96878955e-01 -8.46056374e-04 -1.38355484e+00] [-9.09661964e-03 1.28328402e-04 9.99958617e-01 -5.87039524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:-1.39, Z:-0.59 [[ 9.96798436e-01 7.93424251e-02 9.88222667e-03 2.59409064e+01] [-7.93371740e-02 9.96847411e-01 -9.22882060e-04 -1.38939736e+00] [-9.92429577e-03 1.35899457e-04 9.99950744e-01 -5.86583794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.735769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.97, Y:-1.39, Z:-0.59 [[ 9.96698570e-01 8.06746690e-02 9.14098000e-03 2.59718580e+01] [-8.06702189e-02 9.96740480e-01 -8.55097404e-04 -1.39436972e+00] [-9.18016949e-03 1.14869502e-04 9.99957855e-01 -5.86802794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:-1.40, Z:-0.59 [[ 9.96438266e-01 8.39679227e-02 7.75693967e-03 2.60031780e+01] [-8.39648055e-02 9.96468455e-01 -7.27219778e-04 -1.39849052e+00] [-7.79060882e-03 7.33196843e-05 9.99969650e-01 -5.87425882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.795769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.03, Y:-1.40, Z:-0.59 [[ 9.96264239e-01 8.59543485e-02 8.33165643e-03 2.60348117e+01] [-8.59508201e-02 9.96299075e-01 -7.81300976e-04 -1.40191084e+00] [-8.36797780e-03 6.22695195e-05 9.99964986e-01 -5.87992331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.41, Z:-0.59 [[ 9.96094944e-01 8.77833984e-02 9.43065868e-03 2.60661940e+01] [-8.77789571e-02 9.96139585e-01 -8.84624591e-04 -1.40571024e+00] [-9.47190777e-03 5.33566985e-05 9.99955139e-01 -5.88243739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.855769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.41, Z:-0.59 [[ 9.95898008e-01 8.97719086e-02 1.13208883e-02 2.60974831e+01] [-8.97656331e-02 9.95962350e-01 -1.06226538e-03 -1.41186819e+00] [-1.13705401e-02 4.16812686e-05 9.99935352e-01 -5.88146899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.42, Z:-0.59 [[ 9.95817129e-01 9.07610632e-02 1.05202432e-02 2.61281777e+01] [-9.07556999e-02 9.95872697e-01 -9.87079160e-04 -1.41629551e+00] [-1.05664113e-02 2.81783015e-05 9.99944174e-01 -5.88826745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.915769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:-1.42, Z:-0.59 [[ 9.95659663e-01 9.27012101e-02 8.26564294e-03 2.61601423e+01] [-9.26979595e-02 9.95693972e-01 -7.76341004e-04 -1.42285081e+00] [-8.30201860e-03 6.76318731e-06 9.99965538e-01 -5.90898022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.19, Y:-1.43, Z:-0.59 [[ 9.95538904e-01 9.40784869e-02 7.17832386e-03 2.61911477e+01] [-9.40760641e-02 9.95564784e-01 -6.75188000e-04 -1.42837348e+00] [-7.21000711e-03 -3.13253405e-06 9.99974008e-01 -5.91181443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.975769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.22, Y:-1.43, Z:-0.59 [[ 9.95412859e-01 9.54532060e-02 6.47506689e-03 2.62221416e+01] [-9.54512533e-02 9.95433918e-01 -6.10643522e-04 -1.43324150e+00] [-6.50378908e-03 -1.02108357e-05 9.99978850e-01 -5.92286818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.25, Y:-1.44, Z:-0.59 [[ 9.94974588e-01 1.00011412e-01 4.82561963e-03 2.62514875e+01] [-1.00010380e-01 9.94986290e-01 -4.55404174e-04 -1.43560998e+00] [-4.84697099e-03 -2.94964715e-05 9.99988253e-01 -5.92165450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.035769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.28, Y:-1.44, Z:-0.59 [[ 9.94595727e-01 1.03724922e-01 4.52554238e-03 2.62816113e+01] [-1.03724053e-01 9.94606022e-01 -4.26945920e-04 -1.43703182e+00] [-4.54541663e-03 -4.47690113e-05 9.99989669e-01 -5.91677630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.31, Y:-1.44, Z:-0.59 [[ 9.93579936e-01 1.13010529e-01 5.24703597e-03 2.63102816e+01] [-1.13009489e-01 9.93593785e-01 -4.95277851e-04 -1.43635454e+00] [-5.26939395e-03 -1.00866719e-04 9.99986112e-01 -5.91026440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.095769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.34, Y:-1.44, Z:-0.59 [[ 9.93059095e-01 1.17459358e-01 6.07726060e-03 2.63390959e+01] [-1.17458047e-01 9.93077680e-01 -5.73355641e-04 -1.43651065e+00] [-6.10253784e-03 -1.44447129e-04 9.99981369e-01 -5.91315283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.37, Y:-1.44, Z:-0.59 [[ 9.92593079e-01 1.21305626e-01 6.62753215e-03 2.63673818e+01] [-1.21304154e-01 9.92615188e-01 -6.25130862e-04 -1.43629970e+00] [-6.65442096e-03 -1.83446612e-04 9.99977842e-01 -5.92791227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.155769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.40, Y:-1.44, Z:-0.59 [[ 9.92126158e-01 1.25084247e-01 6.29431259e-03 2.63962791e+01] [-1.25082998e-01 9.92146104e-01 -5.93315674e-04 -1.43504847e+00] [-6.31909216e-03 -1.98667490e-04 9.99980015e-01 -5.94300086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.42, Y:-1.44, Z:-0.59 [[ 9.92105039e-01 1.25264292e-01 6.03726639e-03 2.64243531e+01] [-1.25263147e-01 9.92123390e-01 -5.68905282e-04 -1.43635597e+00] [-6.06097671e-03 -1.91833187e-04 9.99981614e-01 -5.94696362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.215769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.44, Z:-0.59 [[ 9.92217881e-01 1.24366737e-01 6.04902334e-03 2.64536201e+01] [-1.24365574e-01 9.92236302e-01 -5.69568728e-04 -1.43749572e+00] [-6.07289595e-03 -1.87153982e-04 9.99981542e-01 -5.94713220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.48, Y:-1.44, Z:-0.59 [[ 9.92714769e-01 1.20278479e-01 7.10459386e-03 2.64832049e+01] [-1.20276773e-01 9.92740173e-01 -6.68547086e-04 -1.43559324e+00] [-7.13342757e-03 -1.90841055e-04 9.99974539e-01 -5.94533673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.275769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.51, Y:-1.44, Z:-0.60 [[ 9.92929785e-01 1.18449673e-01 7.75353476e-03 2.65124487e+01] [-1.18447588e-01 9.92960038e-01 -7.29211158e-04 -1.43638541e+00] [-7.78532499e-03 -1.94332014e-04 9.99969675e-01 -5.95078464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.54, Y:-1.44, Z:-0.60 [[ 9.93460841e-01 1.13949289e-01 7.14955721e-03 2.65408314e+01] [-1.13947401e-01 9.93486557e-01 -6.72065214e-04 -1.43731786e+00] [-7.17957033e-03 -1.47002993e-04 9.99974216e-01 -5.95726426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.335769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.57, Y:-1.44, Z:-0.60 [[ 9.93824746e-01 1.10780168e-01 6.33476682e-03 2.65695218e+01] [-1.10778623e-01 9.93844929e-01 -5.95309176e-04 -1.43960247e+00] [-6.36172433e-03 -1.10123753e-04 9.99979758e-01 -5.96402334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.60, Y:-1.44, Z:-0.60 [[ 9.94188844e-01 1.07495222e-01 5.77235368e-03 2.65980629e+01] [-1.07493884e-01 9.94205598e-01 -5.42379080e-04 -1.44192184e+00] [-5.79720950e-03 -8.12654886e-05 9.99983193e-01 -5.97726095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.395769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.63, Y:-1.45, Z:-0.60 [[ 9.94931181e-01 1.00298377e-01 7.22365214e-03 2.66270095e+01] [-1.00296097e-01 9.94957403e-01 -6.78091017e-04 -1.44819142e+00] [-7.25523760e-03 -4.98502228e-05 9.99973679e-01 -5.98346603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:-1.45, Z:-0.60 [[ 9.95300363e-01 9.63714364e-02 9.47280652e-03 2.66570489e+01] [-9.63673397e-02 9.95345440e-01 -8.89034990e-04 -1.45388740e+00] [-9.51439235e-03 -2.80123154e-05 9.99954737e-01 -5.98029640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.455769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.69, Y:-1.46, Z:-0.60 [[ 9.95300493e-01 9.63700881e-02 9.47280610e-03 2.66879106e+01] [-9.63659913e-02 9.95345571e-01 -8.89039424e-04 -1.45678310e+00] [-9.51439240e-03 -2.79949724e-05 9.99954737e-01 -5.98426509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.72, Y:-1.47, Z:-0.60 [[ 9.96051815e-01 8.79712936e-02 1.19094002e-02 2.67182755e+01] [-8.79642184e-02 9.96123008e-01 -1.11761844e-03 -1.46531177e+00] [-1.19615458e-02 6.56047976e-05 9.99928456e-01 -5.96984736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.515769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.75, Y:-1.47, Z:-0.60 [[ 9.96399221e-01 8.40660235e-02 1.10225308e-02 2.67511370e+01] [-8.40597154e-02 9.96460181e-01 -1.03516066e-03 -1.47153270e+00] [-1.10705349e-02 1.04882472e-04 9.99938714e-01 -5.97566029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.78, Y:-1.48, Z:-0.60 [[ 9.96897706e-01 7.83525274e-02 7.47301602e-03 2.67825714e+01] [-7.83494597e-02 9.96925708e-01 -7.02829759e-04 -1.48171898e+00] [-7.50511028e-03 1.15142607e-04 9.99971830e-01 -5.98316425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.575769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.49, Z:-0.60 [[ 9.96979952e-01 7.73741242e-02 6.64987434e-03 2.68135733e+01] [-7.73716682e-02 9.97002123e-01 -6.26188899e-04 -1.48772706e+00] [-6.67838965e-03 1.09785907e-04 9.99977693e-01 -5.98730064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.85, Y:-1.49, Z:-0.60 [[ 9.96970708e-01 7.75075002e-02 6.48028530e-03 2.68455407e+01] [-7.75051699e-02 9.96991763e-01 -6.10334121e-04 -1.49386803e+00] [-6.50809654e-03 1.06229628e-04 9.99978816e-01 -5.99189315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.88, Y:-1.50, Z:-0.60 [[ 9.96756041e-01 8.01441812e-02 7.36923318e-03 2.68756947e+01] [-8.01412282e-02 9.96783276e-01 -6.95616447e-04 -1.50238800e+00] [-7.40127800e-03 1.02780498e-04 9.99972605e-01 -5.98444816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.665769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.91, Y:-1.51, Z:-0.60 [[ 9.96548566e-01 8.26303105e-02 7.94900245e-03 2.69073160e+01] [-8.26269434e-02 9.96580264e-01 -7.51637813e-04 -1.50776852e+00] [-7.98392703e-03 9.22418096e-05 9.99968124e-01 -5.98509244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.695769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.94, Y:-1.51, Z:-0.60 [[ 9.96156697e-01 8.73049368e-02 7.04867357e-03 2.69393674e+01] [-8.73024001e-02 9.96181633e-01 -6.67357614e-04 -1.51383894e+00] [-7.08002276e-03 4.94266362e-05 9.99974935e-01 -5.99371310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.97, Y:-1.52, Z:-0.60 [[ 9.96054382e-01 8.85143210e-02 6.39397341e-03 2.69715824e+01] [-8.85122523e-02 9.96074904e-01 -6.06339566e-04 -1.51826085e+00] [-6.42254619e-03 3.80021931e-05 9.99979375e-01 -6.00367978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.755769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.00, Y:-1.52, Z:-0.60 [[ 9.96011903e-01 8.90161647e-02 6.03416398e-03 2.70037887e+01] [-8.90143262e-02 9.96030181e-01 -5.73100959e-04 -1.52292251e+00] [-6.06122469e-03 3.36883359e-05 9.99981630e-01 -6.01392136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:-1.53, Z:-0.60 [[ 9.96123086e-01 8.77381666e-02 6.38843489e-03 2.70347067e+01] [-8.77360715e-02 9.96143570e-01 -6.08013698e-04 -1.52713180e+00] [-6.41714434e-03 4.51603007e-05 9.99979409e-01 -6.01094529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.07, Y:-1.53, Z:-0.60 [[ 9.96164711e-01 8.72543572e-02 6.52270376e-03 2.70666117e+01] [-8.72521563e-02 9.96186064e-01 -6.21766808e-04 -1.52964225e+00] [-6.55207845e-03 5.02621847e-05 9.99978534e-01 -6.01224279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.10, Y:-1.53, Z:-0.60 [[ 9.96149817e-01 8.73919122e-02 6.94238532e-03 2.70982194e+01] [-8.73894128e-02 9.96174006e-01 -6.63126236e-04 -1.53184174e+00] [-6.97377567e-03 5.38821016e-05 9.99975681e-01 -6.01104965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.875769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.13, Y:-1.53, Z:-0.60 [[ 9.96012515e-01 8.88206065e-02 8.36479476e-03 2.71299853e+01] [-8.88170150e-02 9.96047638e-01 -8.00593081e-04 -1.53466792e+00] [-8.40284322e-03 5.44646262e-05 9.99964694e-01 -6.00999635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.16, Y:-1.54, Z:-0.60 [[ 9.95832625e-01 9.07662199e-02 8.88124299e-03 2.71620116e+01] [-9.07622346e-02 9.95872227e-01 -8.51595194e-04 -1.53615219e+00] [-8.92187931e-03 4.19648175e-05 9.99960198e-01 -6.00315683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.935769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.19, Y:-1.54, Z:-0.60 [[ 9.95756077e-01 9.15744199e-02 9.16302480e-03 2.71942017e+01] [-9.15701956e-02 9.95798235e-01 -8.80381775e-04 -1.53804829e+00] [-9.20514437e-03 3.75855298e-05 9.99957631e-01 -6.00562258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.23, Y:-1.54, Z:-0.60 [[ 9.95686463e-01 9.23654939e-02 8.77964060e-03 2.72266132e+01] [-9.23616347e-02 9.95725170e-01 -8.44875118e-04 -1.54051502e+00] [-8.82014644e-03 3.03287607e-05 9.99961101e-01 -6.00794420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.26, Y:-1.54, Z:-0.60 [[ 9.95588512e-01 9.34748505e-02 8.12197121e-03 2.72585347e+01] [-9.34715740e-02 9.95621641e-01 -7.82903441e-04 -1.54368956e+00] [-8.15959209e-03 2.02762390e-05 9.99966710e-01 -6.01492588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.29, Y:-1.55, Z:-0.60 [[ 9.95375589e-01 9.57895756e-02 7.19674569e-03 2.72892884e+01] [-9.57870538e-02 9.95401606e-01 -6.95078171e-04 -1.54600892e+00] [-7.23023346e-03 2.50877850e-06 9.99973862e-01 -6.02521236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.055769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.32, Y:-1.55, Z:-0.60 [[ 9.95187329e-01 9.77427413e-02 6.96688864e-03 2.73207309e+01] [-9.77404184e-02 9.95211714e-01 -6.73926055e-04 -1.54705538e+00] [-6.99940057e-03 -1.02639411e-05 9.99975504e-01 -6.02462117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.35, Y:-1.55, Z:-0.60 [[ 9.95152284e-01 9.80872484e-02 7.12905065e-03 2.73522036e+01] [-9.80848238e-02 9.95177819e-01 -6.89787327e-04 -1.55005423e+00] [-7.16233241e-03 -1.28082426e-05 9.99974350e-01 -6.02393304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.115769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.38, Y:-1.55, Z:-0.60 [[ 9.95159679e-01 9.79869215e-02 7.46832997e-03 2.73832919e+01] [-9.79842615e-02 9.95187702e-01 -7.22122493e-04 -1.55364339e+00] [-7.50314870e-03 -1.31516085e-05 9.99971851e-01 -6.02384209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.41, Y:-1.56, Z:-0.60 [[ 9.95191418e-01 9.75777634e-02 8.52188674e-03 2.74148744e+01] [-9.75742718e-02 9.95227904e-01 -8.25526593e-04 -1.55791308e+00] [-8.56177252e-03 -9.95991327e-06 9.99963347e-01 -6.02697596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.175769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.45, Y:-1.56, Z:-0.60 [[ 9.95407630e-01 9.52109887e-02 9.92565776e-03 2.74460585e+01] [-9.52061131e-02 9.95457115e-01 -9.63631206e-04 -1.56482145e+00] [-9.97231492e-03 1.42225583e-05 9.99950275e-01 -6.03848415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205769231000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:27.48, Y:-1.57, Z:-0.61 [[ 9.95757578e-01 9.16419271e-02 8.28269169e-03 2.74771712e+01] [-9.16384047e-02 9.95792024e-01 -8.04592458e-04 -1.57298116e+00] [-8.32157272e-03 4.21663846e-05 9.99965374e-01 -6.05733460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.235769231000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:27.51, Y:-1.58, Z:-0.61 [[ 9.95914467e-01 8.99844527e-02 7.56120741e-03 2.75097065e+01] [-8.99814612e-02 9.95943169e-01 -7.35597879e-04 -1.57921706e+00] [-7.59672524e-03 5.22240792e-05 9.99971143e-01 -6.05689103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:27.54, Y:-1.59, Z:-0.61 [[ 9.96024782e-01 8.87391818e-02 7.74540147e-03 2.75425931e+01] [-8.87359937e-02 9.96054895e-01 -7.54976768e-04 -1.58585195e+00] [-7.78184106e-03 6.46796751e-05 9.99969719e-01 -6.05472640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.295769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:27.57, Y:-1.60, Z:-0.61 [[ 9.96136204e-01 8.74936585e-02 7.58440081e-03 2.75745142e+01] [-8.74905551e-02 9.96165074e-01 -7.40640800e-04 -1.59616643e+00] [-7.62011656e-03 7.42156781e-05 9.99970964e-01 -6.05398570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325769231000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:27.61, Y:-1.60, Z:-0.61 [[ 9.96095923e-01 8.79778472e-02 7.26709964e-03 2.76057093e+01] [-8.79750014e-02 9.96122429e-01 -7.10956610e-04 -1.60368900e+00] [-7.30146938e-03 6.88578789e-05 9.99973342e-01 -6.06529167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.355769231000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:27.64, Y:-1.61, Z:-0.61 [[ 9.96044197e-01 8.85779767e-02 7.06398251e-03 2.76380524e+01] [-8.85752952e-02 9.96069244e-01 -6.92176349e-04 -1.61089166e+00] [-7.09752730e-03 6.37438997e-05 9.99974810e-01 -6.07258680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385769231000005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:27.67, Y:-1.62, Z:-0.61 [[ 9.95862210e-01 9.05934760e-02 7.16100001e-03 2.76688985e+01] [-9.05907624e-02 9.95887955e-01 -7.03080092e-04 -1.62202903e+00] [-7.19524813e-03 5.14504443e-05 9.99974113e-01 -6.07540655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.415769231000006 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:27.70, Y:-1.63, Z:-0.61 [[ 9.95733956e-01 9.19894908e-02 7.19872663e-03 2.77014834e+01] [-9.19867764e-02 9.95759977e-01 -7.07962780e-04 -1.62909722e+00] [-7.23332900e-03 4.27549235e-05 9.99973838e-01 -6.07498104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445769231000003 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:27.73, Y:-1.64, Z:-0.61 [[ 9.95356560e-01 9.59504449e-02 7.67006805e-03 2.77328490e+01] [-9.59474687e-02 9.95386112e-01 -7.55915347e-04 -1.63868627e+00] [-7.70720963e-03 1.64816864e-05 9.99970299e-01 -6.06901563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.475769231000005 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:27.77, Y:-1.64, Z:-0.61 [[ 9.95100464e-01 9.85422229e-02 8.03093555e-03 2.77653496e+01] [-9.85390329e-02 9.95132871e-01 -7.92894153e-04 -1.64385984e+00] [-8.06998150e-03 -2.35128262e-06 9.99967437e-01 -6.07183505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:27.80, Y:-1.65, Z:-0.61 [[ 9.94776236e-01 1.01769015e-01 7.95659822e-03 2.77983941e+01] [-1.01765976e-01 9.94808055e-01 -7.86922308e-04 -1.64799374e+00] [-7.99537231e-03 -2.68993698e-05 9.99968036e-01 -6.07697855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.535769231000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:27.83, Y:-1.65, Z:-0.61 [[ 9.93935135e-01 1.09718014e-01 7.40972551e-03 2.78316480e+01] [-1.09715590e-01 9.93962751e-01 -7.34055767e-04 -1.65107192e+00] [-7.44553030e-03 -8.33585873e-05 9.99972278e-01 -6.07898297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565769231000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:27.86, Y:-1.65, Z:-0.61 [[ 9.93427669e-01 1.14228545e-01 7.30113635e-03 2.78630809e+01] [-1.14226300e-01 9.93454491e-01 -7.24996890e-04 -1.65354052e+00] [-7.33616204e-03 -1.13749823e-04 9.99973084e-01 -6.07977655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.595769231000006 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:27.90, Y:-1.65, Z:-0.61 [[ 9.92457321e-01 1.22337637e-01 7.87201125e-03 2.78955425e+01] [-1.22335275e-01 9.92488523e-01 -7.82709765e-04 -1.65274742e+00] [-7.90863568e-03 -1.86218623e-04 9.99968709e-01 -6.07520716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625769231000003 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:27.93, Y:-1.65, Z:-0.61 [[ 9.92002853e-01 1.25902969e-01 8.87587854e-03 2.79277590e+01] [-1.25900100e-01 9.92042531e-01 -8.83505475e-04 -1.65285337e+00] [-8.91648497e-03 -2.41034044e-04 9.99960218e-01 -6.07899721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.655769231000004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:27.96, Y:-1.65, Z:-0.61 [[ 9.91656874e-01 1.28555208e-01 9.49749042e-03 2.79605083e+01] [-1.28552027e-01 9.91702314e-01 -9.47174693e-04 -1.65349057e+00] [-9.54044746e-03 -2.81649353e-04 9.99954449e-01 -6.08704782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685769231000005 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:27.99, Y:-1.65, Z:-0.61 [[ 9.91183381e-01 1.32261165e-01 7.90506812e-03 2.79922923e+01] [-1.32259072e-01 9.91214868e-01 -7.89331785e-04 -1.65155743e+00] [-7.94001900e-03 -2.63144424e-04 9.99968443e-01 -6.08661804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.715769231000003 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:28.02, Y:-1.65, Z:-0.61 [[ 9.91036274e-01 1.33370878e-01 7.70146813e-03 2.80226871e+01] [-1.33368911e-01 9.91066163e-01 -7.70741236e-04 -1.65070127e+00] [-7.73545890e-03 -2.63303892e-04 9.99970046e-01 -6.08865953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745769231000004 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:28.05, Y:-1.64, Z:-0.61 [[ 9.90816527e-01 1.34881310e-01 9.46799413e-03 2.80526138e+01] [-1.34878404e-01 9.90861705e-01 -9.47739535e-04 -1.64386251e+00] [-9.50930515e-03 -3.37991944e-04 9.99954728e-01 -6.08341534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.775769231000005 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:28.08, Y:-1.64, Z:-0.61 [[ 9.90687487e-01 1.35775110e-01 1.01697229e-02 2.80835043e+01] [-1.35771805e-01 9.90739613e-01 -1.01783097e-03 -1.64233734e+00] [-1.02137435e-02 -3.72409232e-04 9.99947769e-01 -6.08214070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805769231000003 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:28.11, Y:-1.64, Z:-0.61 [[ 9.90587748e-01 1.36495258e-01 1.02448908e-02 2.81145245e+01] [-1.36491943e-01 9.90640650e-01 -1.02535410e-03 -1.64136861e+00] [-1.02889612e-02 -3.82641833e-04 9.99946994e-01 -6.08639813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.835769231000004 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:28.15, Y:-1.64, Z:-0.61 [[ 9.90587245e-01 1.36609493e-01 8.64618277e-03 2.81451262e+01] [-1.36607136e-01 9.90624925e-01 -8.65304034e-04 -1.63567038e+00] [-8.68333290e-03 -3.23971128e-04 9.99962247e-01 -6.08864963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865769231000005 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:28.17, Y:-1.63, Z:-0.61 [[ 9.90740533e-01 1.35524651e-01 8.14029021e-03 2.81746765e+01] [-1.35522524e-01 9.90773931e-01 -8.14904974e-04 -1.63291960e+00] [-8.17562704e-03 -2.95833287e-04 9.99966535e-01 -6.09868083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.895769231000003 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:28.20, Y:-1.63, Z:-0.61 [[ 9.91251899e-01 1.31760169e-01 7.67659493e-03 2.82036541e+01] [-1.31758166e-01 9.91281592e-01 -7.68331679e-04 -1.62630738e+00] [-7.71090275e-03 -2.49843829e-04 9.99970239e-01 -6.10708468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925769231000004 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:28.23, Y:-1.63, Z:-0.61 [[ 9.91622288e-01 1.28921579e-01 8.02903761e-03 2.82325381e+01] [-1.28919295e-01 9.91654763e-01 -8.03472047e-04 -1.62636607e+00] [-8.06561828e-03 -2.38357082e-04 9.99967444e-01 -6.10646952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.955769231000005 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:28.26, Y:-1.63, Z:-0.61 [[ 9.92005484e-01 1.25895238e-01 8.68960359e-03 2.82619127e+01] [-1.25892450e-01 9.92043515e-01 -8.69218426e-04 -1.62671485e+00] [-8.72989534e-03 -2.31686043e-04 9.99961867e-01 -6.10467698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985769231000003 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:28.29, Y:-1.62, Z:-0.61 [[ 9.92753330e-01 1.19898942e-01 8.06651705e-03 2.82905064e+01] [-1.19896343e-01 9.92786088e-01 -8.06787211e-04 -1.62381939e+00] [-8.10505884e-03 -1.66205201e-04 9.99967140e-01 -6.10916984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.015769231000004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:28.32, Y:-1.63, Z:-0.61 [[ 9.93046807e-01 1.17486608e-01 7.41188880e-03 2.83204539e+01] [-1.17484348e-01 9.93074458e-01 -7.41053453e-04 -1.62501989e+00] [-7.44762131e-03 -1.34880160e-04 9.99972257e-01 -6.12301018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045769231000005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:28.35, Y:-1.63, Z:-0.61 [[ 9.93501505e-01 1.13667306e-01 5.87387100e-03 2.83503234e+01] [-1.13665820e-01 9.93518866e-01 -5.87235321e-04 -1.62753542e+00] [-5.90255111e-03 -8.42391879e-05 9.99982576e-01 -6.12447533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.075769231000002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:28.38, Y:-1.63, Z:-0.61 [[ 9.93663481e-01 1.12235782e-01 6.00131983e-03 2.83792154e+01] [-1.12234206e-01 9.93681601e-01 -5.99831649e-04 -1.62975075e+00] [-6.03072367e-03 -7.75225616e-05 9.99981812e-01 -6.12285177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105769231000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:28.41, Y:-1.63, Z:-0.61 [[ 9.93798997e-01 1.11006628e-01 6.40948833e-03 2.84088894e+01] [-1.11004806e-01 9.93819663e-01 -6.40414393e-04 -1.63130072e+00] [-6.44096577e-03 -7.50408242e-05 9.99979254e-01 -6.11981995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.135769231000005 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:28.44, Y:-1.63, Z:-0.61 [[ 9.93963066e-01 1.09409013e-01 8.19090345e-03 2.84385238e+01] [-1.09405985e-01 9.93996811e-01 -8.18130750e-04 -1.63376911e+00] [-8.23124279e-03 -8.29421123e-05 9.99966119e-01 -6.11585013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165769231000006 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:28.47, Y:-1.64, Z:-0.61 [[ 9.94071221e-01 1.08363435e-01 8.93159039e-03 2.84681879e+01] [-1.08359795e-01 9.94111342e-01 -8.91873547e-04 -1.63823204e+00] [-8.97564179e-03 -8.12394789e-05 9.99959715e-01 -6.11622040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.195769231000003 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:28.50, Y:-1.64, Z:-0.61 [[ 9.94351097e-01 1.05676646e-01 9.91675029e-03 2.84972321e+01] [-1.05672029e-01 9.94400544e-01 -9.89944153e-04 -1.64286049e+00] [-9.96583587e-03 -6.35710658e-05 9.99950338e-01 -6.12741172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225769231000005 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.65, Z:-0.61 [[ 9.94454237e-01 1.04692242e-01 1.00151998e-02 2.85280099e+01] [-1.04687484e-01 9.94504666e-01 -9.99619248e-04 -1.64553877e+00] [-1.00648153e-02 -5.43904680e-05 9.99949347e-01 -6.13892432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.255769231000006 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:28.56, Y:-1.65, Z:-0.61 [[ 9.94521782e-01 1.04071314e-01 9.77681790e-03 2.85593316e+01] [-1.04066750e-01 9.94569836e-01 -9.75754864e-04 -1.64902068e+00] [-9.82527627e-03 -4.70322025e-05 9.99951730e-01 -6.14447060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285769231000003 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.65, Z:-0.61 [[ 9.94527979e-01 1.04099873e-01 8.79287489e-03 2.85888758e+01] [-1.04096181e-01 9.94566848e-01 -8.77783384e-04 -1.65498144e+00] [-8.83647900e-03 -4.23245603e-05 9.99960957e-01 -6.14234632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.315769231000004 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:28.62, Y:-1.66, Z:-0.61 [[ 9.94474658e-01 1.04685942e-01 7.81080331e-03 2.86192373e+01] [-1.04683045e-01 9.94505330e-01 -7.79880195e-04 -1.65829627e+00] [-7.84952801e-03 -4.20875874e-05 9.99969191e-01 -6.13708065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345769231000006 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:28.65, Y:-1.66, Z:-0.61 [[ 9.94478525e-01 1.04649197e-01 7.81078513e-03 2.86492547e+01] [-1.04646298e-01 9.94509197e-01 -7.80062304e-04 -1.66124084e+00] [-7.84953054e-03 -4.16145385e-05 9.99969191e-01 -6.14094233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.375769231000003 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:28.68, Y:-1.66, Z:-0.61 [[ 9.94207478e-01 1.07325781e-01 5.71547544e-03 2.86791695e+01] [-1.07324274e-01 9.94223906e-01 -5.70623677e-04 -1.66348719e+00] [-5.74370494e-03 -4.60909230e-05 9.99983504e-01 -6.14773169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405769231000004 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:28.71, Y:-1.67, Z:-0.62 [[ 9.94019655e-01 1.09054245e-01 5.66549467e-03 2.87085785e+01] [-1.09052793e-01 9.94035798e-01 -5.65501877e-04 -1.66696767e+00] [-5.69337490e-03 -5.57180356e-05 9.99983791e-01 -6.15855995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.435769231000005 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:28.74, Y:-1.67, Z:-0.62 [[ 9.93810082e-01 1.10895526e-01 6.61089146e-03 2.87366200e+01] [-1.10893590e-01 9.93832066e-01 -6.59729420e-04 -1.67118375e+00] [-6.64327696e-03 -7.74597408e-05 9.99977930e-01 -6.16423038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465769231000003 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:28.76, Y:-1.67, Z:-0.62 [[ 9.93589325e-01 1.12724927e-01 8.56415329e-03 2.87646415e+01] [-1.12721751e-01 9.93626226e-01 -8.54208370e-04 -1.67449865e+00] [-8.60585789e-03 -1.16634036e-04 9.99962962e-01 -6.16229094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.495769231000004 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:28.79, Y:-1.68, Z:-0.62 [[ 9.93496435e-01 1.13525568e-01 8.76235492e-03 2.87941729e+01] [-1.13522277e-01 9.93535067e-01 -8.73620040e-04 -1.67656751e+00] [-8.80488509e-03 -1.26784087e-04 9.99961228e-01 -6.16528386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525769231000005 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:28.82, Y:-1.68, Z:-0.62 [[ 9.93272451e-01 1.15503456e-01 8.29395028e-03 2.88234344e+01] [-1.15500578e-01 9.93307069e-01 -8.26740708e-04 -1.68028632e+00] [-8.33393085e-03 -1.36777282e-04 9.99965263e-01 -6.16881090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.555769231000003 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:28.85, Y:-1.68, Z:-0.62 [[ 9.93132687e-01 1.16762127e-01 7.35328856e-03 2.88522733e+01] [-1.16759900e-01 9.93159901e-01 -7.32898289e-04 -1.68399287e+00] [-7.38856610e-03 -1.30703988e-04 9.99972696e-01 -6.16893885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585769231000004 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:28.88, Y:-1.68, Z:-0.62 [[ 9.92865313e-01 1.19064730e-01 6.48535408e-03 2.88819881e+01] [-1.19063049e-01 9.92886485e-01 -6.46143043e-04 -1.68499249e+00] [-6.51615326e-03 -1.30633013e-04 9.99978761e-01 -6.17693295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.615769231000005 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:28.91, Y:-1.69, Z:-0.62 [[ 9.92743316e-01 1.20050051e-01 6.97806979e-03 2.89116625e+01] [-1.20048130e-01 9.92767830e-01 -6.95046044e-04 -1.68553277e+00] [-7.01104351e-03 -1.47701912e-04 9.99975411e-01 -6.19303945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645769231000003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:28.94, Y:-1.69, Z:-0.62 [[ 9.92639327e-01 1.20868742e-01 7.61005593e-03 2.89407716e+01] [-1.20866482e-01 9.92668484e-01 -7.57792838e-04 -1.68711502e+00] [-7.64585615e-03 -1.67585719e-04 9.99970756e-01 -6.19665977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.675769231000004 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.69, Z:-0.62 [[ 9.92590441e-01 1.21234760e-01 8.14551701e-03 2.89708510e+01] [-1.21232186e-01 9.92623846e-01 -8.10875643e-04 -1.68836446e+00] [-8.18374074e-03 -1.82631420e-04 9.99966496e-01 -6.19129404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705769231000005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:29.00, Y:-1.69, Z:-0.62 [[ 9.92650408e-01 1.20737651e-01 8.22111852e-03 2.90004467e+01] [-1.20735013e-01 9.92684435e-01 -8.18202417e-04 -1.68879702e+00] [-8.25976423e-03 -1.80387893e-04 9.99965871e-01 -6.19280069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.735769231000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:29.03, Y:-1.69, Z:-0.62 [[ 9.92777678e-01 1.19671758e-01 8.43512997e-03 2.90294391e+01] [-1.19668944e-01 9.92813497e-01 -8.39394141e-04 -1.68545834e+00] [-8.47496266e-03 -1.76091328e-04 9.99964071e-01 -6.20080879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765769231000004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:29.06, Y:-1.69, Z:-0.62 [[ 9.92868375e-01 1.18940182e-01 8.10073811e-03 2.90578669e+01] [-1.18937566e-01 9.92901408e-01 -8.05702077e-04 -1.68617885e+00] [-8.13906463e-03 -1.63525961e-04 9.99966864e-01 -6.20821380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.795769231000005 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:29.09, Y:-1.69, Z:-0.62 [[ 9.92996648e-01 1.17901138e-01 7.54846924e-03 2.90866182e+01] [-1.17898837e-01 9.93025327e-01 -7.50600162e-04 -1.68756692e+00] [-7.58431775e-03 -1.44612301e-04 9.99971228e-01 -6.21832643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825769231000006 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:29.11, Y:-1.68, Z:-0.62 [[ 9.93465509e-01 1.13987475e-01 5.75647127e-03 2.91146266e+01] [-1.13986072e-01 9.93482183e-01 -5.72360026e-04 -1.68475773e+00] [-5.78419352e-03 -8.75376036e-05 9.99983268e-01 -6.22322866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.855769231000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.14, Y:-1.69, Z:-0.62 [[ 9.93659228e-01 1.12333966e-01 4.73492488e-03 2.91437143e+01] [-1.12332999e-01 9.93670507e-01 -4.70550246e-04 -1.68514420e+00] [-4.75781398e-03 -6.43217162e-05 9.99988679e-01 -6.23049483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885769231000005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:29.17, Y:-1.69, Z:-0.62 [[ 9.93937861e-01 1.09807736e-01 5.45808001e-03 2.91725138e+01] [-1.09806414e-01 9.93952845e-01 -5.42061907e-04 -1.68683769e+00] [-5.48459674e-03 -6.05563437e-05 9.99984958e-01 -6.23487277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.915769231000006 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:29.20, Y:-1.69, Z:-0.62 [[ 9.94142688e-01 1.07864949e-01 6.74308636e-03 2.92014901e+01] [-1.07862891e-01 9.94165554e-01 -6.69220942e-04 -1.68959994e+00] [-6.77592967e-03 -6.20276807e-05 9.99977041e-01 -6.23673341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945769231000003 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:29.23, Y:-1.69, Z:-0.62 [[ 9.94424731e-01 1.05153142e-01 7.89119508e-03 2.92311857e+01] [-1.05150242e-01 9.94456039e-01 -7.82551055e-04 -1.69147070e+00] [-7.92973430e-03 -5.15729527e-05 9.99968558e-01 -6.23300081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.975769231000005 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:29.26, Y:-1.69, Z:-0.62 [[ 9.94768248e-01 1.01807806e-01 8.44414537e-03 2.92594823e+01] [-1.01804367e-01 9.94804086e-01 -8.37158270e-04 -1.69336435e+00] [-8.48549957e-03 -2.68724116e-05 9.99963997e-01 -6.24010883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.005769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:29.29, Y:-1.70, Z:-0.62 [[ 9.95408887e-01 9.54001321e-02 7.74356758e-03 2.92885790e+01] [-9.53970480e-02 9.95439006e-01 -7.67508059e-04 -1.69753192e+00] [-7.78146958e-03 2.52708548e-05 9.99969724e-01 -6.24508099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.035769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.32, Y:-1.70, Z:-0.62 [[ 9.95905471e-01 8.99253534e-02 9.25872065e-03 2.93190838e+01] [-8.99207110e-02 9.95948505e-01 -9.17325400e-04 -1.70405970e+00] [-9.30369980e-03 8.10186401e-05 9.99956716e-01 -6.24377990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.065769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:29.35, Y:-1.71, Z:-0.62 [[ 9.96107723e-01 8.75401891e-02 1.03014004e-02 2.93486946e+01] [-8.75343143e-02 9.96160982e-01 -1.02065985e-03 -1.70845577e+00] [-1.03512019e-02 1.14961134e-04 9.99946418e-01 -6.24373546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.095769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:29.38, Y:-1.71, Z:-0.62 [[ 9.96300046e-01 8.52569382e-02 1.08385239e-02 2.93797533e+01] [-8.52503018e-02 9.96358988e-01 -1.07367341e-03 -1.71331260e+00] [-1.08905988e-02 1.45713435e-04 9.99940685e-01 -6.24434649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.125769231 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:29.41, Y:-1.72, Z:-0.63 [[ 9.96465059e-01 8.32875522e-02 1.09804072e-02 2.94111078e+01] [-8.32806185e-02 9.96525541e-01 -1.08799228e-03 -1.71924484e+00] [-1.10328725e-02 1.69691188e-04 9.99939122e-01 -6.25279094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.155769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:29.44, Y:-1.73, Z:-0.63 [[ 9.96884193e-01 7.83952935e-02 8.72264816e-03 2.94423896e+01] [-7.83907351e-02 9.96922337e-01 -8.63789246e-04 -1.72885255e+00] [-8.76351980e-03 1.77323044e-04 9.99961584e-01 -6.28054249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:29.47, Y:-1.74, Z:-0.63 [[ 9.97284191e-01 7.34191012e-02 5.82055179e-03 2.94735899e+01] [-7.34169850e-02 9.97301165e-01 -5.76706344e-04 -1.73956091e+00] [-5.84718434e-03 1.47812757e-04 9.99982894e-01 -6.29339263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.215769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:29.50, Y:-1.75, Z:-0.63 [[ 9.97446471e-01 7.12212489e-02 5.29822242e-03 2.95030218e+01] [-7.12194536e-02 9.97460531e-01 -5.26993815e-04 -1.74627599e+00] [-5.32230091e-03 1.48311615e-04 9.99985825e-01 -6.29511604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245769231000004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:29.53, Y:-1.75, Z:-0.63 [[ 9.97569770e-01 6.94814280e-02 5.18516599e-03 2.95342989e+01] [-6.94796852e-02 9.97583233e-01 -5.15709493e-04 -1.75309656e+00] [-5.20846689e-03 1.54192499e-04 9.99986424e-01 -6.29519294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.275769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:29.57, Y:-1.76, Z:-0.63 [[ 9.97634170e-01 6.85340719e-02 5.39845928e-03 2.95662173e+01] [-6.85321738e-02 9.97648763e-01 -5.36013895e-04 -1.75996970e+00] [-5.42250143e-03 1.64777628e-04 9.99985285e-01 -6.29727355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.305769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:29.60, Y:-1.77, Z:-0.63 [[ 9.97562794e-01 6.96115006e-02 4.76563630e-03 2.95968730e+01] [-6.96100307e-02 9.97574167e-01 -4.73830025e-04 -1.77007584e+00] [-4.78705969e-03 1.40939114e-04 9.99988532e-01 -6.30667527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.335769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:29.63, Y:-1.78, Z:-0.63 [[ 9.97157359e-01 7.52371678e-02 4.07053247e-03 2.96276251e+01] [-7.52361407e-02 9.97165663e-01 -4.05079843e-04 -1.77644540e+00] [-4.08947227e-03 9.76771922e-05 9.99991633e-01 -6.30884627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:29.66, Y:-1.78, Z:-0.63 [[ 9.96846966e-01 7.92028442e-02 4.79953648e-03 2.96585902e+01] [-7.92014521e-02 9.96858515e-01 -4.79720525e-04 -1.78013290e+00] [-4.82245404e-03 9.80776913e-05 9.99988367e-01 -6.30826392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.395769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:29.69, Y:-1.78, Z:-0.63 [[ 9.96526168e-01 8.30996919e-02 5.48058567e-03 2.96883006e+01] [-8.30979342e-02 9.96541235e-01 -5.48050504e-04 -1.78337616e+00] [-5.50717244e-03 9.07213212e-05 9.99984831e-01 -6.30552114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425769231000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:29.72, Y:-1.79, Z:-0.63 [[ 9.96008432e-01 8.90609410e-02 5.94582158e-03 2.97186951e+01] [-8.90589773e-02 9.96026177e-01 -5.94736569e-04 -1.78680946e+00] [-5.97516174e-03 6.28338477e-05 9.99982147e-01 -6.31267204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.455769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:29.75, Y:-1.79, Z:-0.63 [[ 9.95821539e-01 9.11398794e-02 5.74321015e-03 2.97486398e+01] [-9.11380823e-02 9.95838099e-01 -5.74388408e-04 -1.78895614e+00] [-5.77165717e-03 4.85631890e-05 9.99983343e-01 -6.31290566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.485769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:29.78, Y:-1.79, Z:-0.63 [[ 9.95529596e-01 9.42516190e-02 6.12017865e-03 2.97805413e+01] [-9.42496371e-02 9.95548407e-01 -6.12092876e-04 -1.78948578e+00] [-6.15062485e-03 3.25319568e-05 9.99981084e-01 -6.31930130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.515769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:29.81, Y:-1.79, Z:-0.63 [[ 9.95349559e-01 9.60931073e-02 6.73579525e-03 2.98112140e+01] [-9.60907465e-02 9.95372350e-01 -6.73991392e-04 -1.79152876e+00] [-6.76939027e-03 2.36094409e-05 9.99977087e-01 -6.32021452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:29.84, Y:-1.79, Z:-0.63 [[ 9.95127497e-01 9.82924920e-02 7.73635736e-03 2.98412245e+01] [-9.82894442e-02 9.95157568e-01 -7.74108784e-04 -1.79297268e+00] [-7.77498366e-03 9.93467087e-06 9.99969774e-01 -6.32013793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.575769231 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:29.87, Y:-1.79, Z:-0.63 [[ 9.94766853e-01 1.01805671e-01 8.63214571e-03 2.98710787e+01] [-1.01802009e-01 9.94804305e-01 -8.63791023e-04 -1.79059254e+00] [-8.67523454e-03 -1.94990941e-05 9.99962369e-01 -6.32008692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605769231000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:29.90, Y:-1.79, Z:-0.63 [[ 9.94558607e-01 1.03920778e-01 7.32453879e-03 2.99019194e+01] [-1.03918200e-01 9.94585577e-01 -7.32815003e-04 -1.78962922e+00] [-7.36103534e-03 -3.23254148e-05 9.99972907e-01 -6.32810183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.635769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:29.93, Y:-1.79, Z:-0.63 [[ 9.94474783e-01 1.04722198e-01 7.29165318e-03 2.99325357e+01] [-1.04719664e-01 9.94501513e-01 -7.29524822e-04 -1.79123423e+00] [-7.32795757e-03 -3.80854308e-05 9.99973149e-01 -6.32437632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.665769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:29.96, Y:-1.79, Z:-0.63 [[ 9.94368482e-01 1.05686695e-01 7.85135265e-03 2.99634807e+01] [-1.05683787e-01 9.94399477e-01 -7.85522363e-04 -1.79249653e+00] [-7.89040023e-03 -4.86619988e-05 9.99968869e-01 -6.32440735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.695769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:29.99, Y:-1.79, Z:-0.63 [[ 9.94161030e-01 1.07530842e-01 8.99807264e-03 2.99929277e+01] [-1.07527098e-01 9.94201747e-01 -9.00199051e-04 -1.79041261e+00] [-9.04269870e-03 -7.25938270e-05 9.99959111e-01 -6.32586522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.02, Y:-1.79, Z:-0.63 [[ 9.94122542e-01 1.07842983e-01 9.50066810e-03 3.00226778e+01] [-1.07838821e-01 9.94167936e-01 -9.50744206e-04 -1.79108429e+00] [-9.54779069e-03 -7.93846030e-05 9.99954416e-01 -6.33115046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.755769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:30.05, Y:-1.79, Z:-0.63 [[ 9.94267072e-01 1.06537001e-01 9.10261892e-03 3.00520074e+01] [-1.06533129e-01 9.94308736e-01 -9.10570980e-04 -1.79044415e+00] [-9.14782301e-03 -6.43797311e-05 9.99958156e-01 -6.33919287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:30.08, Y:-1.79, Z:-0.63 [[ 9.94385617e-01 1.05473990e-01 8.51368368e-03 3.00818205e+01] [-1.05470561e-01 9.94422061e-01 -8.51917156e-04 -1.79170507e+00] [-8.55604997e-03 -5.08088312e-05 9.99963395e-01 -6.34424274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.815769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.11, Y:-1.79, Z:-0.64 [[ 9.94544825e-01 1.04058384e-01 7.24179316e-03 3.01111254e+01] [-1.04055867e-01 9.94571190e-01 -7.24521794e-04 -1.79274422e+00] [-7.27787140e-03 -3.29816614e-05 9.99973515e-01 -6.35355132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.14, Y:-1.79, Z:-0.64 [[ 9.94756302e-01 1.02117670e-01 5.64630844e-03 3.01399903e+01] [-1.02116109e-01 9.94772326e-01 -5.64840414e-04 -1.79398523e+00] [-5.67447157e-03 -1.47004850e-05 9.99983900e-01 -6.36161186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.875769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:30.17, Y:-1.79, Z:-0.64 [[ 9.95159723e-01 9.81471427e-02 4.92589499e-03 3.01692286e+01] [-9.81459059e-02 9.95171914e-01 -4.92758904e-04 -1.79333125e+00] [-4.95047523e-03 6.91738735e-06 9.99987746e-01 -6.37001854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:30.20, Y:-1.79, Z:-0.64 [[ 9.95331298e-01 9.63485927e-02 5.70571741e-03 3.01989937e+01] [-9.63469058e-02 9.95347652e-01 -5.70418985e-04 -1.79369000e+00] [-5.73413150e-03 1.80276513e-05 9.99983560e-01 -6.36961713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.935769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:30.23, Y:-1.79, Z:-0.64 [[ 9.95632795e-01 9.30620193e-02 7.40256079e-03 3.02283962e+01] [-9.30590910e-02 9.95660313e-01 -7.39797115e-04 -1.79126474e+00] [-7.43928300e-03 4.76906915e-05 9.99972327e-01 -6.37074997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:30.26, Y:-1.79, Z:-0.64 [[ 9.95772626e-01 9.15246009e-02 7.75407307e-03 3.02570458e+01] [-9.15213425e-02 9.95802814e-01 -7.74764447e-04 -1.79185669e+00] [-7.79243779e-03 6.18260506e-05 9.99969637e-01 -6.37376238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.995769231000004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:30.29, Y:-1.79, Z:-0.64 [[ 9.96018463e-01 8.88395149e-02 7.40017400e-03 3.02865234e+01] [-8.88364753e-02 9.96045950e-01 -7.39097951e-04 -1.79058888e+00] [-7.43657444e-03 7.87498304e-05 9.99972345e-01 -6.36977086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.025769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:30.32, Y:-1.79, Z:-0.64 [[ 9.96142487e-01 8.74165981e-02 7.64747640e-03 3.03158158e+01] [-8.74133115e-02 9.96171838e-01 -7.63612361e-04 -1.79160743e+00] [-7.68495301e-03 9.21754806e-05 9.99970466e-01 -6.37048501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.055769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:30.34, Y:-1.79, Z:-0.64 [[ 9.96239869e-01 8.62766756e-02 7.90310663e-03 3.03440731e+01] [-8.62731311e-02 9.96271210e-01 -7.88956442e-04 -1.79260430e+00] [-7.94170615e-03 1.04164108e-04 9.99968459e-01 -6.36699443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.085769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:30.37, Y:-1.79, Z:-0.64 [[ 9.96350848e-01 8.48946936e-02 8.82491735e-03 3.03740541e+01] [-8.48902221e-02 9.96389921e-01 -8.80720767e-04 -1.79160283e+00] [-8.86782722e-03 1.28357689e-04 9.99960672e-01 -6.36255351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.115769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:30.40, Y:-1.79, Z:-0.64 [[ 9.96367804e-01 8.47417119e-02 8.36903728e-03 3.04030850e+01] [-8.47376861e-02 9.96402944e-01 -8.35096909e-04 -1.79248063e+00] [-8.40970093e-03 1.22890819e-04 9.99964630e-01 -6.37001864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:30.43, Y:-1.79, Z:-0.64 [[ 9.96285970e-01 8.58953795e-02 6.02085151e-03 3.04317108e+01] [-8.58933179e-02 9.96304159e-01 -6.00640173e-04 -1.79102284e+00] [-6.05019162e-03 8.12584637e-05 9.99981694e-01 -6.37120922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.175769231000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:30.46, Y:-1.79, Z:-0.64 [[ 9.96223333e-01 8.66137000e-02 6.09409493e-03 3.04610300e+01] [-8.66116015e-02 9.96241969e-01 -6.07923444e-04 -1.79202910e+00] [-6.12384763e-03 7.78081978e-05 9.99981246e-01 -6.37203398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.49, Y:-1.79, Z:-0.64 [[ 9.96200951e-01 8.68270253e-02 6.68821162e-03 3.04886480e+01] [-8.68245041e-02 9.96223399e-01 -6.66945835e-04 -1.79359360e+00] [-6.72086184e-03 8.37114178e-05 9.99977411e-01 -6.37217673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.52, Y:-1.80, Z:-0.64 [[ 9.96203830e-01 8.67939824e-02 6.68827145e-03 3.05178389e+01] [-8.67914645e-02 9.96226278e-01 -6.66345148e-04 -1.79641505e+00] [-6.72086653e-03 8.33307145e-05 9.99977411e-01 -6.37593183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.265769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.55, Y:-1.80, Z:-0.64 [[ 9.96269348e-01 8.59419753e-02 7.83348362e-03 3.05466251e+01] [-8.59384970e-02 9.96300139e-01 -7.80169870e-04 -1.79694854e+00] [-7.87155015e-03 1.04061518e-04 9.99969013e-01 -6.37210839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.295769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:30.57, Y:-1.80, Z:-0.64 [[ 9.96331304e-01 8.52421789e-02 7.59624224e-03 3.05747112e+01] [-8.52388909e-02 9.96360256e-01 -7.56146774e-04 -1.79914714e+00] [-7.63304946e-03 1.05877438e-04 9.99970862e-01 -6.37523640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:30.60, Y:-1.80, Z:-0.64 [[ 9.96439303e-01 8.39624951e-02 7.68215296e-03 3.06034709e+01] [-8.39590964e-02 9.96468909e-01 -7.64416621e-04 -1.80303855e+00] [-7.71920890e-03 1.16708143e-04 9.99970200e-01 -6.38469595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.355769231000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:30.63, Y:-1.81, Z:-0.64 [[ 9.96445060e-01 8.38351078e-02 8.30164371e-03 3.06327555e+01] [-8.38311374e-02 9.96479633e-01 -8.25706214e-04 -1.80620215e+00] [-8.34164204e-03 1.26834644e-04 9.99965200e-01 -6.38246812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.385769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:30.66, Y:-1.81, Z:-0.64 [[ 9.96455970e-01 8.36435985e-02 8.90212551e-03 3.06621905e+01] [-8.36390273e-02 9.96495725e-01 -8.85204581e-04 -1.80844122e+00] [-8.94497171e-03 1.37502270e-04 9.99959983e-01 -6.37957117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.415769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.81, Z:-0.64 [[ 9.96459622e-01 8.36129439e-02 8.78053549e-03 3.06905597e+01] [-8.36084972e-02 9.96498298e-01 -8.72925182e-04 -1.81112711e+00] [-8.82277651e-03 1.35707320e-04 9.99961069e-01 -6.37689685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:30.72, Y:-1.82, Z:-0.64 [[ 9.96481231e-01 8.33863677e-02 8.47762333e-03 3.07202742e+01] [-8.33822163e-02 9.96517283e-01 -8.42582668e-04 -1.81514884e+00] [-8.51835808e-03 1.32734792e-04 9.99963709e-01 -6.38216840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.475769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.82, Z:-0.64 [[ 9.96560036e-01 8.24090363e-02 8.76616291e-03 3.07486854e+01] [-8.24045612e-02 9.96598580e-01 -8.71090525e-04 -1.82244658e+00] [-8.80813124e-03 1.45722196e-04 9.99961197e-01 -6.38898404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.78, Y:-1.83, Z:-0.64 [[ 9.96652575e-01 8.12251598e-02 9.27996961e-03 3.07790149e+01] [-8.12200978e-02 9.96695764e-01 -9.21673344e-04 -1.82846054e+00] [-9.32416947e-03 1.64868072e-04 9.99956515e-01 -6.39323876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.535769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:30.81, Y:-1.84, Z:-0.64 [[ 9.96868034e-01 7.86174530e-02 8.56852159e-03 3.08074741e+01] [-7.85912360e-02 9.96901279e-01 -3.35514032e-03 -1.83660011e+00] [-8.80574272e-03 2.67122144e-03 9.99957661e-01 -6.40122557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.565769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.84, Y:-1.84, Z:-0.64 [[ 9.96930119e-01 7.78120074e-02 8.69650238e-03 3.08377148e+01] [-7.78290750e-02 9.96965366e-01 1.64118042e-03 -1.84469595e+00] [-8.54240814e-03 -2.31298293e-03 9.99960838e-01 -6.41034393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.595769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:30.87, Y:-1.85, Z:-0.64 [[ 9.96933798e-01 7.78700976e-02 7.69738304e-03 3.08673270e+01] [-7.78665145e-02 9.96963501e-01 -7.64549379e-04 -1.84966471e+00] [-7.73354548e-03 1.62836728e-04 9.99970082e-01 -6.41500458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.625769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:30.90, Y:-1.86, Z:-0.64 [[ 9.96840265e-01 7.91651126e-02 6.50933817e-03 3.08971459e+01] [-7.91625787e-02 9.96861509e-01 -6.46416897e-04 -1.85959461e+00] [-6.54008233e-03 1.29078396e-04 9.99978605e-01 -6.41434402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.655769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:30.93, Y:-1.87, Z:-0.64 [[ 9.96740680e-01 8.04728834e-02 5.66843285e-03 3.09274851e+01] [-8.04709830e-02 9.96756793e-01 -5.62909881e-04 -1.86599331e+00] [-5.69534793e-03 1.04930814e-04 9.99983776e-01 -6.41277965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:30.96, Y:-1.87, Z:-0.64 [[ 9.96462221e-01 8.39420516e-02 4.09551760e-03 3.09564706e+01] [-8.39410874e-02 9.96470636e-01 -4.07051535e-04 -1.87356178e+00] [-4.11523177e-03 6.18292753e-05 9.99991530e-01 -6.42236706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.715769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:30.99, Y:-1.88, Z:-0.64 [[ 9.96281185e-01 8.60759196e-02 3.83891556e-03 3.09861493e+01] [-8.60750893e-02 9.96288579e-01 -3.81288805e-04 -1.87760976e+00] [-3.85748752e-03 4.94358621e-05 9.99992559e-01 -6.42980338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745769231000004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:31.01, Y:-1.88, Z:-0.64 [[ 9.96058934e-01 8.85996606e-02 4.08664204e-03 3.10149456e+01] [-8.85987410e-02 9.96067316e-01 -4.05877166e-04 -1.88151742e+00] [-4.10653115e-03 4.22062378e-05 9.99991567e-01 -6.43288092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.775769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.04, Y:-1.89, Z:-0.64 [[ 9.95503278e-01 9.45938897e-02 5.02188703e-03 3.10441641e+01] [-9.45925791e-02 9.95515944e-01 -4.98389256e-04 -1.88658984e+00] [-5.04651319e-03 2.11148914e-05 9.99987266e-01 -6.42400586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.805769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.07, Y:-1.89, Z:-0.64 [[ 9.95142298e-01 9.82941991e-02 5.48244931e-03 3.10726083e+01] [-9.82926936e-02 9.95157400e-01 -5.44024356e-04 -1.88935428e+00] [-5.50937444e-03 2.49693652e-06 9.99984823e-01 -6.42365383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.835769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:31.10, Y:-1.89, Z:-0.64 [[ 9.94091594e-01 1.08346506e-01 6.55269712e-03 3.11014386e+01] [-1.08344575e-01 9.94113188e-01 -6.49986646e-04 -1.88784328e+00] [-6.58454641e-03 -6.38029256e-05 9.99978320e-01 -6.41557199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:31.13, Y:-1.89, Z:-0.64 [[ 9.93542342e-01 1.13242435e-01 7.05444817e-03 3.11292561e+01] [-1.13240322e-01 9.93567381e-01 -6.99436238e-04 -1.88733272e+00] [-7.08827546e-03 -1.03928466e-04 9.99974872e-01 -6.41770573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.895769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:31.16, Y:-1.89, Z:-0.64 [[ 9.93157700e-01 1.16491611e-01 8.21504501e-03 3.11583496e+01] [-1.16488863e-01 9.93191664e-01 -8.13829178e-04 -1.88717263e+00] [-8.25391850e-03 -1.48700543e-04 9.99965925e-01 -6.42449838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.19, Y:-1.89, Z:-0.64 [[ 9.92698164e-01 1.20065498e-01 1.16030855e-02 3.11875260e+01] [-1.20060269e-01 9.92765940e-01 -1.14865530e-03 -1.88647640e+00] [-1.16570619e-02 -2.52801563e-04 9.99932022e-01 -6.42466810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.955769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:31.22, Y:-1.89, Z:-0.64 [[ 9.92665510e-01 1.20413296e-01 1.07621493e-02 3.12159056e+01] [-1.20408823e-01 9.92723819e-01 -1.06495722e-03 -1.88518009e+00] [-1.08120770e-02 -2.38711432e-04 9.99941519e-01 -6.44501937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.985769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.24, Y:-1.89, Z:-0.65 [[ 9.92714266e-01 1.20128624e-01 9.35412842e-03 3.12447977e+01] [-1.20125237e-01 9.92758315e-01 -9.25128333e-04 -1.88573479e+00] [-9.39752316e-03 -2.05278798e-04 9.99955821e-01 -6.45778173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.015769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:31.27, Y:-1.89, Z:-0.65 [[ 9.92758244e-01 1.19896439e-01 7.47744228e-03 3.12739304e+01] [-1.19872488e-01 9.92782861e-01 -3.57467816e-03 -1.88546677e+00] [-7.85206772e-03 2.65245161e-03 9.99965654e-01 -6.46150057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:31.30, Y:-1.89, Z:-0.65 [[ 9.92768792e-01 1.19762629e-01 8.18765036e-03 3.13021110e+01] [-1.19782812e-01 9.92798067e-01 2.01910594e-03 -1.88640092e+00] [-7.88687002e-03 -2.98524515e-03 9.99964442e-01 -6.46358262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.33, Y:-1.88, Z:-0.65 [[ 9.92729763e-01 1.20117689e-01 7.70439972e-03 3.13313440e+01] [-1.20115401e-01 9.92759645e-01 -7.60693679e-04 -1.88475096e+00] [-7.73998989e-03 -1.70253802e-04 9.99970031e-01 -6.46273268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:31.36, Y:-1.88, Z:-0.65 [[ 9.92520184e-01 1.21789817e-01 8.42170500e-03 3.13601566e+01] [-1.21787147e-01 9.92555893e-01 -8.31114158e-04 -1.88048563e+00] [-8.46023417e-03 -2.00757846e-04 9.99964191e-01 -6.46474974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.39, Y:-1.88, Z:-0.65 [[ 9.92424099e-01 1.22517924e-01 9.15240003e-03 3.13893279e+01] [-1.22514807e-01 9.92466275e-01 -9.02591029e-04 -1.88048374e+00] [-9.19403195e-03 -2.25551438e-04 9.99957709e-01 -6.46694381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.165769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:31.42, Y:-1.88, Z:-0.65 [[ 9.92339690e-01 1.23163009e-01 9.63399331e-03 3.14175816e+01] [-1.23162160e-01 9.92386323e-01 -6.83643639e-04 -1.88082628e+00] [-9.64484281e-03 -5.08136708e-04 9.99953358e-01 -6.46811258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.195769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.45, Y:-1.88, Z:-0.65 [[ 9.92376194e-01 1.22903034e-01 9.18329303e-03 3.14472641e+01] [-1.22897431e-01 9.92418683e-01 -1.17416618e-03 -1.87504175e+00] [-9.25798016e-03 3.66114509e-05 9.99957143e-01 -6.47048398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.48, Y:-1.87, Z:-0.65 [[ 9.92605313e-01 1.21131405e-01 7.86613415e-03 3.14753053e+01] [-1.21129068e-01 9.92636464e-01 -7.74673458e-04 -1.86934510e+00] [-7.90204887e-03 -1.83872505e-04 9.99968761e-01 -6.48968890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.255769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:31.50, Y:-1.87, Z:-0.65 [[ 9.92809826e-01 1.19535945e-01 6.30928155e-03 3.15037043e+01] [-1.19534410e-01 9.92829864e-01 -6.21283735e-04 -1.86937909e+00] [-6.33830888e-03 -1.37359650e-04 9.99979903e-01 -6.49812974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:31.53, Y:-1.87, Z:-0.65 [[ 9.93095520e-01 1.17205466e-01 4.91601602e-03 3.15324522e+01] [-1.17204507e-01 9.93107683e-01 -4.83815034e-04 -1.86925980e+00] [-4.93883904e-03 -9.57046910e-05 9.99987799e-01 -6.50488493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.315769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:31.56, Y:-1.87, Z:-0.65 [[ 9.93413013e-01 1.14525786e-01 3.79859905e-03 3.15600949e+01] [-1.14525193e-01 9.93420274e-01 -3.73902915e-04 -1.86823352e+00] [-3.81642684e-03 -6.35952694e-05 9.99992715e-01 -6.51341543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.345769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:31.59, Y:-1.86, Z:-0.65 [[ 9.94034248e-01 1.08965201e-01 4.74337915e-03 3.15895700e+01] [-1.08964216e-01 9.94045563e-01 -4.66388945e-04 -1.86297996e+00] [-4.76595516e-03 -5.32520078e-05 9.99988641e-01 -6.52853718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.375769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:31.62, Y:-1.86, Z:-0.65 [[ 9.94743647e-01 1.02034544e-01 8.60401171e-03 3.16182220e+01] [-1.02031051e-01 9.94780856e-01 -8.45082973e-04 -1.86089203e+00] [-8.64533379e-03 -3.72354383e-05 9.99962628e-01 -6.52809893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:31.65, Y:-1.86, Z:-0.65 [[ 9.95175020e-01 9.75956609e-02 1.00879719e-02 3.16463797e+01] [-9.75906389e-02 9.95226149e-01 -9.90056059e-04 -1.86201093e+00] [-1.01364386e-02 7.87434595e-07 9.99948625e-01 -6.52540532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.435769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.68, Y:-1.86, Z:-0.65 [[ 9.95613803e-01 9.29471967e-02 1.06758574e-02 3.16755370e+01] [-9.29413121e-02 9.95671038e-01 -1.04710121e-03 -1.86391793e+00] [-1.07269671e-02 5.02802233e-05 9.99942463e-01 -6.52220761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.70, Y:-1.87, Z:-0.65 [[ 9.96450940e-01 8.35523360e-02 1.02240721e-02 3.17041570e+01] [-8.35464487e-02 9.96503380e-01 -1.00232396e-03 -1.86932786e+00] [-1.02720689e-02 1.44581742e-04 9.99947230e-01 -6.53815302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.495769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.73, Y:-1.87, Z:-0.66 [[ 9.96810860e-01 7.91801748e-02 9.93018696e-03 3.17311569e+01] [-7.91744084e-02 9.96860304e-01 -9.73089124e-04 -1.87457944e+00] [-9.97605856e-03 1.83769129e-04 9.99950221e-01 -6.55394549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.76, Y:-1.88, Z:-0.66 [[ 9.97319553e-01 7.25518007e-02 9.48390594e-03 3.17602856e+01] [-7.25462474e-02 9.97364617e-01 -9.28712503e-04 -1.88297571e+00] [-9.52629198e-03 2.38201352e-04 9.99954595e-01 -6.55406021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.555769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.79, Y:-1.89, Z:-0.65 [[ 9.97470084e-01 7.03816252e-02 9.99295224e-03 3.17884618e+01] [-7.03753532e-02 9.97520101e-01 -9.78339866e-04 -1.88830589e+00] [-1.00370279e-02 2.72607205e-04 9.99949591e-01 -6.54588713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.82, Y:-1.89, Z:-0.65 [[ 9.97560017e-01 6.90089004e-02 1.05727747e-02 3.18166395e+01] [-6.90018065e-02 9.97615998e-01 -1.03470761e-03 -1.89391249e+00] [-1.06189732e-02 3.02642394e-04 9.99943571e-01 -6.54140426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.85, Y:-1.90, Z:-0.65 [[ 9.97640389e-01 6.81317323e-02 8.46881293e-03 3.18452957e+01] [-6.81271516e-02 9.97676303e-01 -8.28545805e-04 -1.90196615e+00] [-8.50558424e-03 2.49634657e-04 9.99963796e-01 -6.54584652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.87, Y:-1.91, Z:-0.66 [[ 9.97599950e-01 6.89286484e-02 6.57122293e-03 3.18748031e+01] [-6.89259083e-02 9.97621575e-01 -6.42812285e-04 -1.90831509e+00] [-6.59990195e-03 1.88341994e-04 9.99978203e-01 -6.55689854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.675769231000004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:31.90, Y:-1.92, Z:-0.66 [[ 9.97410058e-01 7.16768085e-02 5.96754962e-03 3.19023612e+01] [-7.16745981e-02 9.97427898e-01 -5.83725356e-04 -1.91958210e+00] [-5.99404005e-03 1.54491820e-04 9.99982024e-01 -6.57466518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.705769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:31.93, Y:-1.93, Z:-0.66 [[ 9.97279800e-01 7.33030898e-02 7.72383042e-03 3.19317091e+01] [-7.32994392e-02 9.97309692e-01 -7.55048827e-04 -1.92635397e+00] [-7.75839835e-03 1.86842505e-04 9.99969886e-01 -6.56968419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.735769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:31.96, Y:-1.93, Z:-0.66 [[ 9.97124461e-01 7.51752590e-02 9.56500747e-03 3.19596976e+01] [-7.51697494e-02 9.97170314e-01 -9.34735115e-04 -1.93177246e+00] [-9.60821046e-03 2.13048034e-04 9.99953817e-01 -6.55725456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.99, Y:-1.94, Z:-0.65 [[ 9.96661405e-01 8.09487557e-02 1.06462570e-02 3.19884967e+01] [-8.09422622e-02 9.96718249e-01 -1.04011044e-03 -1.93830208e+00] [-1.06955142e-02 1.74905808e-04 9.99942786e-01 -6.54881653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.795769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.02, Y:-1.94, Z:-0.66 [[ 9.95987438e-01 8.92057248e-02 7.16677364e-03 3.20170352e+01] [-8.92029959e-02 9.96013220e-01 -7.00168839e-04 -1.94459528e+00] [-7.20066036e-03 5.80616884e-05 9.99974073e-01 -6.56486331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.05, Y:-1.95, Z:-0.66 [[ 9.95580047e-01 9.37522389e-02 5.55760868e-03 3.20458135e+01] [-9.37506692e-02 9.95595559e-01 -5.42861984e-04 -1.94720069e+00] [-5.58402505e-03 1.94330272e-05 9.99984409e-01 -6.57034968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.855769231000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:32.08, Y:-1.95, Z:-0.66 [[ 9.95137279e-01 9.83414244e-02 5.54621758e-03 3.20750245e+01] [-9.83399330e-02 9.95152734e-01 -5.41644821e-04 -1.94873617e+00] [-5.57259971e-03 -6.40371138e-06 9.99984473e-01 -6.58025128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.885769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:32.10, Y:-1.95, Z:-0.66 [[ 9.94463036e-01 1.04754280e-01 8.35529566e-03 3.21028829e+01] [-1.04751127e-01 9.94498133e-01 -8.15331587e-04 -1.94955889e+00] [-8.39473541e-03 -6.44095103e-05 9.99964762e-01 -6.57601124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.915769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:32.13, Y:-1.95, Z:-0.66 [[ 9.94331450e-01 1.05840273e-01 1.01392633e-02 3.21300822e+01] [-1.05835695e-01 9.94383140e-01 -9.88590727e-04 -1.95252115e+00] [-1.01869452e-02 -9.01091249e-05 9.99948108e-01 -6.57152983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.16, Y:-1.95, Z:-0.66 [[ 9.94421490e-01 1.04785101e-01 1.20823291e-02 3.21593353e+01] [-1.04778532e-01 9.94494884e-01 -1.17716954e-03 -1.95472122e+00] [-1.21391643e-02 -9.53660124e-05 9.99926313e-01 -6.56421578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.975769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:32.19, Y:-1.96, Z:-0.66 [[ 9.94599413e-01 1.03122921e-01 1.17333516e-02 3.21877794e+01] [-1.03116617e-01 9.94668617e-01 -1.14260965e-03 -1.95695461e+00] [-1.17886259e-02 -7.34646426e-05 9.99930509e-01 -6.57155510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.22, Y:-1.96, Z:-0.66 [[ 9.94864240e-01 1.00611284e-01 1.10686022e-02 3.22174085e+01] [-1.00605522e-01 9.94925810e-01 -1.07748390e-03 -1.95986011e+00] [-1.11208450e-02 -4.16123004e-05 9.99938161e-01 -6.59125740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.035769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.25, Y:-1.97, Z:-0.66 [[ 9.95364853e-01 9.57747577e-02 8.71811514e-03 3.22451675e+01] [-9.57709992e-02 9.95403032e-01 -8.48533401e-04 -1.96631949e+00] [-8.75930633e-03 9.65772517e-06 9.99961636e-01 -6.60977563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.27, Y:-1.97, Z:-0.66 [[ 9.95555874e-01 9.37897679e-02 8.48412529e-03 3.22745331e+01] [-9.37861382e-02 9.95592024e-01 -8.25545967e-04 -1.97102349e+00] [-8.52415524e-03 2.61837900e-05 9.99963668e-01 -6.60561002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.30, Y:-1.98, Z:-0.66 [[ 9.95720575e-01 9.19602417e-02 9.15702059e-03 3.23029918e+01] [-9.19559379e-02 9.95762679e-01 -8.90814766e-04 -1.97627645e+00] [-9.20013890e-03 4.49601737e-05 9.99957677e-01 -6.58828702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.33, Y:-1.98, Z:-0.66 [[ 9.95724273e-01 9.19201848e-02 9.15705162e-03 3.23330147e+01] [-9.19158823e-02 9.95766377e-01 -8.90495667e-04 -1.97914460e+00] [-9.20013865e-03 4.50096714e-05 9.99957677e-01 -6.59214796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.155769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.36, Y:-1.98, Z:-0.66 [[ 9.95707950e-01 9.20844054e-02 9.28121493e-03 3.23616207e+01] [-9.20799966e-02 9.95751204e-01 -9.02140503e-04 -1.98330021e+00] [-9.32485401e-03 4.36542318e-05 9.99956522e-01 -6.59641082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.39, Y:-1.99, Z:-0.66 [[ 9.95633883e-01 9.28752181e-02 9.34687864e-03 3.23906845e+01] [-9.28707841e-02 9.95677755e-01 -9.08251439e-04 -1.98892007e+00] [-9.39083320e-03 3.62339597e-05 9.99955904e-01 -6.60704749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.42, Y:-1.99, Z:-0.66 [[ 9.95632589e-01 9.29364324e-02 8.86381810e-03 3.24203463e+01] [-9.29324490e-02 9.95672044e-01 -8.61119680e-04 -1.99255935e+00] [-8.90548527e-03 3.36224927e-05 9.99960345e-01 -6.62100740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.45, Y:-2.00, Z:-0.66 [[ 9.95627820e-01 9.30427236e-02 8.26408825e-03 3.24500761e+01] [-9.30392661e-02 9.95662117e-01 -8.02680829e-04 -1.99620006e+00] [-8.30292321e-03 3.02866589e-05 9.99965530e-01 -6.62589299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.275769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.48, Y:-2.00, Z:-0.66 [[ 9.95697562e-01 9.23067185e-02 8.11390663e-03 3.24798839e+01] [-9.23033626e-02 9.95730620e-01 -7.87909183e-04 -2.00044801e+00] [-8.15199460e-03 3.55783860e-05 9.99966771e-01 -6.63083727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.51, Y:-2.00, Z:-0.66 [[ 9.95744693e-01 9.18149949e-02 7.90653655e-03 3.25084682e+01] [-9.18117942e-02 9.95776082e-01 -7.67591717e-04 -2.00364594e+00] [-7.94361642e-03 3.84120715e-05 9.99968448e-01 -6.63235301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.54, Y:-2.01, Z:-0.66 [[ 9.95798473e-01 9.12599755e-02 7.55098560e-03 3.25384687e+01] [-9.12570415e-02 9.95827101e-01 -7.32909541e-04 -2.00626707e+00] [-7.58636141e-03 4.07495955e-05 9.99971222e-01 -6.63938177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.57, Y:-2.01, Z:-0.67 [[ 9.95928052e-01 8.98956519e-02 6.78875567e-03 3.25673414e+01] [-8.98932492e-02 9.95951188e-01 -6.58864049e-04 -2.00951963e+00] [-6.82049829e-03 4.59178841e-05 9.99976739e-01 -6.65307201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.395769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:32.60, Y:-2.01, Z:-0.67 [[ 9.95917727e-01 8.99945315e-02 6.99043297e-03 3.25968802e+01] [-8.99919886e-02 9.95942258e-01 -6.78109483e-04 -2.01342992e+00] [-7.02309375e-03 4.62582901e-05 9.99975337e-01 -6.65809207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:32.62, Y:-2.02, Z:-0.66 [[ 9.95580854e-01 9.36078977e-02 7.50501085e-03 3.26249310e+01] [-9.36050702e-02 9.95609141e-01 -7.27890160e-04 -2.01674153e+00] [-7.54019367e-03 2.21664389e-05 9.99971572e-01 -6.64589979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.65, Y:-2.02, Z:-0.66 [[ 9.95296985e-01 9.65338875e-02 8.06975819e-03 3.26532253e+01] [-9.65307168e-02 9.95329698e-01 -7.82401830e-04 -2.01865980e+00] [-8.10759827e-03 -2.57359920e-07 9.99967133e-01 -6.64338271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.485769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.68, Y:-2.02, Z:-0.66 [[ 9.94986285e-01 9.96351110e-02 8.66822990e-03 3.26820508e+01] [-9.96315740e-02 9.95024042e-01 -8.39980711e-04 -2.02031684e+00] [-8.70878872e-03 -2.78601019e-05 9.99962077e-01 -6.64463591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.515769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.71, Y:-2.02, Z:-0.66 [[ 9.94706331e-01 1.02370228e-01 8.92473384e-03 3.27101675e+01] [-1.02366593e-01 9.94746366e-01 -8.64362591e-04 -2.02219194e+00] [-8.96633155e-03 -5.38076585e-05 9.99959800e-01 -6.64385311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.74, Y:-2.02, Z:-0.67 [[ 9.94348140e-01 1.05719329e-01 9.75705188e-03 3.27390566e+01] [-1.05715149e-01 9.94396005e-01 -9.44627671e-04 -2.02431596e+00] [-9.80223882e-03 -9.21794291e-05 9.99951953e-01 -6.65085492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.77, Y:-2.03, Z:-0.67 [[ 9.94285913e-01 1.06269701e-01 1.01130736e-02 3.27679202e+01] [-1.06265243e-01 9.94337337e-01 -9.78609230e-04 -2.02712451e+00] [-1.01598032e-02 -1.01650857e-04 9.99948383e-01 -6.65225351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:32.80, Y:-2.03, Z:-0.67 [[ 9.94392222e-01 1.05279990e-01 1.00115885e-02 3.27964133e+01] [-1.05275576e-01 9.94442615e-01 -9.68306114e-04 -2.02981485e+00] [-1.00578935e-02 -9.10996722e-05 9.99949414e-01 -6.66877839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.635769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.83, Y:-2.03, Z:-0.67 [[ 9.94534910e-01 1.03999606e-01 9.18669301e-03 3.28251266e+01] [-1.03995837e-01 9.94577336e-01 -8.88285322e-04 -2.03283346e+00] [-9.22925798e-03 -7.19470700e-05 9.99957407e-01 -6.68114674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.85, Y:-2.04, Z:-0.67 [[ 9.94876740e-01 1.00795549e-01 7.78006703e-03 3.28547422e+01] [-1.00792751e-01 9.94907159e-01 -7.51905382e-04 -2.03783555e+00] [-7.81623310e-03 -3.61211854e-05 9.99969452e-01 -6.69275964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.88, Y:-2.04, Z:-0.67 [[ 9.94982211e-01 9.97792618e-02 7.38230655e-03 3.28832843e+01] [-9.97767153e-02 9.95009597e-01 -7.13363203e-04 -2.04183982e+00] [-7.41664472e-03 -2.67986022e-05 9.99972496e-01 -6.68892092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.91, Y:-2.05, Z:-0.67 [[ 9.95081678e-01 9.87595119e-02 7.68204327e-03 3.29112223e+01] [-9.87567264e-02 9.95111330e-01 -7.42019502e-04 -2.04566947e+00] [-7.71776978e-03 -2.02834344e-05 9.99970217e-01 -6.68680342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.755769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.94, Y:-2.05, Z:-0.67 [[ 9.95197319e-01 9.74344124e-02 9.42507895e-03 3.29397572e+01] [-9.74301641e-02 9.95241948e-01 -9.09940108e-04 -2.05127834e+00] [-9.46889341e-03 -1.27170332e-05 9.99955169e-01 -6.68975655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.97, Y:-2.06, Z:-0.67 [[ 9.95195656e-01 9.73611298e-02 1.03157999e-02 3.29692629e+01] [-9.73560410e-02 9.95249120e-01 -9.95525001e-04 -2.05608570e+00] [-1.03637162e-02 -1.35632781e-05 9.99946295e-01 -6.69979660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.00, Y:-2.06, Z:-0.67 [[ 9.95180401e-01 9.74939187e-02 1.05312047e-02 3.29977532e+01] [-9.74886261e-02 9.95236121e-01 -1.01597533e-03 -2.06264393e+00] [-1.05800867e-02 -1.55939365e-05 9.99944029e-01 -6.71742231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.03, Y:-2.07, Z:-0.67 [[ 9.95168217e-01 9.77110179e-02 9.63210224e-03 3.30278820e+01] [-9.77065992e-02 9.95214829e-01 -9.29390037e-04 -2.06709178e+00] [-9.67682263e-03 -1.62205267e-05 9.99953178e-01 -6.71762669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.06, Y:-2.07, Z:-0.67 [[ 9.95165005e-01 9.79358024e-02 7.42914771e-03 3.30572435e+01] [-9.79331795e-02 9.95192734e-01 -7.16893847e-04 -2.07213871e+00] [-7.46364340e-03 -1.41323876e-05 9.99972147e-01 -6.71556815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.09, Y:-2.08, Z:-0.67 [[ 9.95125654e-01 9.83670478e-02 6.98970911e-03 3.30856604e+01] [-9.83647363e-02 9.95150202e-01 -6.74547632e-04 -2.07534213e+00] [-7.02216369e-03 -1.62812404e-05 9.99975344e-01 -6.72365274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.935769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.12, Y:-2.08, Z:-0.67 [[ 9.95018752e-01 9.94240927e-02 7.24798676e-03 3.31156063e+01] [-9.94216377e-02 9.95045149e-01 -6.99136599e-04 -2.07880989e+00] [-7.28158509e-03 -2.49526876e-05 9.99973489e-01 -6.72536132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:33.14, Y:-2.08, Z:-0.67 [[ 9.94698839e-01 1.02489958e-01 8.36826137e-03 3.31442130e+01] [-1.02486795e-01 9.94734038e-01 -8.07001683e-04 -2.08173711e+00] [-8.40690399e-03 -5.49126526e-05 9.99964660e-01 -6.72404060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.995769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.17, Y:-2.08, Z:-0.67 [[ 9.94569487e-01 1.03714556e-01 8.65028305e-03 3.31741822e+01] [-1.03711226e-01 9.94607101e-01 -8.33827497e-04 -2.08397244e+00] [-8.69011300e-03 -6.78320763e-05 9.99962238e-01 -6.71845294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.20, Y:-2.08, Z:-0.67 [[ 9.94475038e-01 1.04612945e-01 8.69081405e-03 3.32033830e+01] [-1.04609620e-01 9.94513009e-01 -8.37533951e-04 -2.08488947e+00] [-8.73074453e-03 -7.62361484e-05 9.99961883e-01 -6.72065734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.23, Y:-2.09, Z:-0.67 [[ 9.94555539e-01 1.03819423e-01 8.98930011e-03 3.32330856e+01] [-1.03815836e-01 9.94596160e-01 -8.66057649e-04 -2.08739103e+00] [-9.03063698e-03 -7.18892739e-05 9.99959220e-01 -6.72459460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.26, Y:-2.09, Z:-0.67 [[ 9.94853637e-01 1.00867930e-01 9.58652675e-03 3.32619443e+01] [-1.00863715e-01 9.94899823e-01 -9.23382547e-04 -2.09028512e+00] [-9.63077346e-03 -4.83022150e-05 9.99953622e-01 -6.72854228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.115769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.29, Y:-2.09, Z:-0.67 [[ 9.94963181e-01 9.97546756e-02 9.86269350e-03 3.32911967e+01] [-9.97501635e-02 9.95012062e-01 -9.49580486e-04 -2.09340227e+00] [-9.90822408e-03 -3.90076680e-05 9.99950912e-01 -6.73138432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.32, Y:-2.10, Z:-0.67 [[ 9.95166061e-01 9.76760049e-02 1.01935915e-02 3.33206759e+01] [-9.76710788e-02 9.95218266e-01 -9.81156775e-04 -2.09668357e+00] [-1.02406839e-02 -1.92051537e-05 9.99947563e-01 -6.73482293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.175769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.35, Y:-2.10, Z:-0.67 [[ 9.95260878e-01 9.67343175e-02 9.91249418e-03 3.33510809e+01] [-9.67296140e-02 9.95310239e-01 -9.53954502e-04 -2.09931946e+00] [-9.95828709e-03 -9.39814185e-06 9.99950415e-01 -6.74229059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.38, Y:-2.10, Z:-0.67 [[ 9.95341035e-01 9.59808280e-02 9.15999850e-03 3.33808874e+01] [-9.59767794e-02 9.95383183e-01 -8.81578079e-04 -2.10213530e+00] [-9.20232306e-03 -1.67631809e-06 9.99957658e-01 -6.74854861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.41, Y:-2.11, Z:-0.68 [[ 9.95565190e-01 9.38070894e-02 7.08391988e-03 3.34105235e+01] [-9.38046133e-02 9.95590393e-01 -6.81722202e-04 -2.10588877e+00] [-7.11663294e-03 1.41945290e-05 9.99974676e-01 -6.76169994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.44, Y:-2.11, Z:-0.68 [[ 9.95599851e-01 9.34673090e-02 6.69323971e-03 3.34398185e+01] [-9.34650908e-02 9.95622349e-01 -6.44124959e-04 -2.10999170e+00] [-6.72414367e-03 1.57064559e-05 9.99977393e-01 -6.76275561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.47, Y:-2.11, Z:-0.68 [[ 9.95542047e-01 9.40132681e-02 7.58539431e-03 3.34678561e+01] [-9.40104366e-02 9.95570944e-01 -7.29774374e-04 -2.11447844e+00] [-7.62040665e-03 1.34148435e-05 9.99970964e-01 -6.76297231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.50, Y:-2.12, Z:-0.68 [[ 9.95443969e-01 9.49549066e-02 8.65274320e-03 3.34972114e+01] [-9.49512613e-02 9.95481575e-01 -8.32051496e-04 -2.11747547e+00] [-8.69265380e-03 6.67176387e-06 9.99962218e-01 -6.76887690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.355769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.53, Y:-2.12, Z:-0.68 [[ 9.95323625e-01 9.60993578e-02 9.78747081e-03 3.35267923e+01] [-9.60947466e-02 9.95371746e-01 -9.41417901e-04 -2.12014682e+00] [-9.83264157e-03 -3.50904905e-06 9.99951658e-01 -6.76981675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.56, Y:-2.12, Z:-0.68 [[ 9.95095138e-01 9.82444865e-02 1.15623547e-02 3.35564318e+01] [-9.82382000e-02 9.95162308e-01 -1.11178089e-03 -2.12220201e+00] [-1.16156459e-02 -2.95371528e-05 9.99932536e-01 -6.76180668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.415769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.59, Y:-2.13, Z:-0.68 [[ 9.95033684e-01 9.88348486e-02 1.18169755e-02 3.35867784e+01] [-9.88283219e-02 9.95103850e-01 -1.13642935e-03 -2.12540765e+00] [-1.18714367e-02 -3.70663757e-05 9.99929531e-01 -6.75890577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:-2.13, Z:-0.68 [[ 9.95014010e-01 9.91502672e-02 1.07863448e-02 3.36170975e+01] [-9.91448479e-02 9.95072471e-01 -1.03731440e-03 -2.13088351e+00] [-1.08360448e-02 -3.72681573e-05 9.99941288e-01 -6.76331110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.65, Y:-2.14, Z:-0.68 [[ 9.95020499e-01 9.91305237e-02 1.03607843e-02 3.36468844e+01] [-9.91255225e-02 9.95074438e-01 -9.96388570e-04 -2.13524236e+00] [-1.04085241e-02 -3.55911004e-05 9.99945829e-01 -6.77580190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.68, Y:-2.14, Z:-0.68 [[ 9.94989189e-01 9.94544812e-02 1.02625356e-02 3.36767447e+01] [-9.94495930e-02 9.95042112e-01 -9.86801629e-04 -2.13925792e+00] [-1.03097970e-02 -3.87480385e-05 9.99946852e-01 -6.78384759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.535769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.71, Y:-2.14, Z:-0.68 [[ 9.94816422e-01 1.01194749e-01 9.99551016e-03 3.37060451e+01] [-1.01190192e-01 9.94866634e-01 -9.61849700e-04 -2.14240390e+00] [-1.00415337e-02 -5.45837155e-05 9.99949581e-01 -6.78126298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.74, Y:-2.14, Z:-0.68 [[ 9.94618814e-01 1.03138185e-01 9.79438787e-03 3.37360593e+01] [-1.03133906e-01 9.94667034e-01 -9.42355104e-04 -2.14499021e+00] [-9.83934753e-03 -7.28493613e-05 9.99951590e-01 -6.78655295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.595769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.76, Y:-2.14, Z:-0.68 [[ 9.93977496e-01 1.09241212e-01 8.66576115e-03 3.37647021e+01] [-1.09238093e-01 9.94015263e-01 -8.33872946e-04 -2.14462690e+00] [-8.70499214e-03 -1.17780282e-04 9.99962104e-01 -6.77836069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.625769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.79, Y:-2.14, Z:-0.68 [[ 9.93535416e-01 1.13225288e-01 8.21040231e-03 3.37940430e+01] [-1.13222626e-01 9.93569330e-01 -7.89845211e-04 -2.14462232e+00] [-8.24703437e-03 -1.44864118e-04 9.99965982e-01 -6.78307890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.82, Y:-2.14, Z:-0.68 [[ 9.92612172e-01 1.20942709e-01 9.69207898e-03 3.38223415e+01] [-1.20939368e-01 9.92659458e-01 -9.32205381e-04 -2.14087999e+00] [-9.73367731e-03 -2.46835498e-04 9.99952596e-01 -6.79016005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.85, Y:-2.14, Z:-0.68 [[ 9.92280613e-01 1.23504397e-01 1.12182106e-02 3.38512549e+01] [-1.23500093e-01 9.92343975e-01 -1.07819348e-03 -2.13998556e+00] [-1.12654853e-02 -3.15579565e-04 9.99936493e-01 -6.78972397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.715769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.88, Y:-2.14, Z:-0.68 [[ 9.92098207e-01 1.24863343e-01 1.22594234e-02 3.38797664e+01] [-1.24858315e-01 9.92173883e-01 -1.17768353e-03 -2.13860346e+00] [-1.23105292e-02 -3.62313224e-04 9.99924157e-01 -6.78441370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.91, Y:-2.13, Z:-0.68 [[ 9.92023601e-01 1.25571072e-01 1.10037103e-02 3.39084692e+01] [-1.25567071e-01 9.92084570e-01 -1.05653042e-03 -2.13189064e+00] [-1.10492809e-02 -3.33600561e-04 9.99938899e-01 -6.79603434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.94, Y:-2.13, Z:-0.68 [[ 9.92011880e-01 1.25757676e-01 9.87097762e-03 3.39371688e+01] [-1.25754470e-01 9.92060944e-01 -9.47277389e-04 -2.12985810e+00] [-9.91173878e-03 -3.01609130e-04 9.99950832e-01 -6.81005623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.97, Y:-2.13, Z:-0.68 [[ 9.92066895e-01 1.25380476e-01 9.11110149e-03 3.39667456e+01] [-1.25377732e-01 9.92108694e-01 -8.74007347e-04 -2.12750601e+00] [-9.14878646e-03 -2.75255485e-04 9.99958111e-01 -6.81201760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.00, Y:-2.12, Z:-0.68 [[ 9.92400476e-01 1.22646774e-01 9.95307389e-03 3.39964870e+01] [-1.22643366e-01 9.92450348e-01 -9.54307629e-04 -2.12155335e+00] [-9.99497440e-03 -2.73623141e-04 9.99950012e-01 -6.81098894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.02, Y:-2.12, Z:-0.68 [[ 9.92748704e-01 1.19750761e-01 1.04769369e-02 3.40248172e+01] [-1.19746829e-01 9.92803953e-01 -1.00404030e-03 -2.12114183e+00] [-1.05217790e-02 -2.57820273e-04 9.99944611e-01 -6.81780808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.05, Y:-2.12, Z:-0.68 [[ 9.93893137e-01 1.09939193e-01 9.47664383e-03 3.40527647e+01] [-1.09935535e-01 9.93938305e-01 -9.07658445e-04 -2.12146942e+00] [-9.51898655e-03 -1.39704410e-04 9.99954684e-01 -6.83784645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.08, Y:-2.12, Z:-0.68 [[ 9.94550175e-01 1.03848838e-01 9.23945852e-03 3.40818653e+01] [-1.03845102e-01 9.94593089e-01 -8.84513151e-04 -2.12470733e+00] [-9.28135725e-03 -7.97798009e-05 9.99956924e-01 -6.84606930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.11, Y:-2.13, Z:-0.68 [[ 9.95627298e-01 9.29182448e-02 9.61682044e-03 3.41101093e+01] [-9.29136906e-02 9.95673741e-01 -9.20230329e-04 -2.12941340e+00] [-9.66072178e-03 2.26721563e-05 9.99953334e-01 -6.83225829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.14, Y:-2.13, Z:-0.68 [[ 9.96045972e-01 8.82324497e-02 1.03661661e-02 3.41382797e+01] [-8.82269104e-02 9.96099909e-01 -9.91347372e-04 -2.13394462e+00] [-1.04132062e-02 7.28527452e-05 9.99945778e-01 -6.83576779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.015769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.17, Y:-2.14, Z:-0.68 [[ 9.96362567e-01 8.44910116e-02 1.10861784e-02 3.41680318e+01] [-8.44844495e-02 9.96424234e-01 -1.05974325e-03 -2.13936676e+00] [-1.11360756e-02 1.19278830e-04 9.99937985e-01 -6.84050785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.20, Y:-2.15, Z:-0.68 [[ 9.96790689e-01 7.90867981e-02 1.23935588e-02 3.41980820e+01] [-7.90781831e-02 9.96867713e-01 -1.18439839e-03 -2.14613996e+00] [-1.24484089e-02 2.00537178e-04 9.99922495e-01 -6.82805166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.23, Y:-2.15, Z:-0.68 [[ 9.96789759e-01 7.90985193e-02 1.23935592e-02 3.42289397e+01] [-7.90899053e-02 9.96866784e-01 -1.18439429e-03 -2.14909435e+00] [-1.24484113e-02 2.00386679e-04 9.99922495e-01 -6.83201991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.26, Y:-2.15, Z:-0.68 [[ 9.96914594e-01 7.75334017e-02 1.22419008e-02 3.42593177e+01] [-7.75248775e-02 9.96989731e-01 -1.17005037e-03 -2.15298292e+00] [-1.22957673e-02 2.17388437e-04 9.99924381e-01 -6.83317332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.29, Y:-2.16, Z:-0.68 [[ 9.96990938e-01 7.69389422e-02 9.45875674e-03 3.42887185e+01] [-7.69338284e-02 9.97035791e-01 -9.03863145e-04 -2.15902670e+00] [-9.50026128e-03 1.73444998e-04 9.99954856e-01 -6.84143955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.32, Y:-2.16, Z:-0.68 [[ 9.97021934e-01 7.66306304e-02 8.66083236e-03 3.43181933e+01] [-7.66263253e-02 9.97059537e-01 -8.28306733e-04 -2.16465644e+00] [-8.69883917e-03 1.62192223e-04 9.99962151e-01 -6.84907201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.35, Y:-2.17, Z:-0.69 [[ 9.97064478e-01 7.60713903e-02 8.69310857e-03 3.43478334e+01] [-7.60670331e-02 9.97102360e-01 -8.31243677e-04 -2.17030163e+00] [-8.73115293e-03 1.67544566e-04 9.99961869e-01 -6.85698317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.38, Y:-2.18, Z:-0.69 [[ 9.97151195e-01 7.49378185e-02 8.59168998e-03 3.43778934e+01] [-7.49335203e-02 9.97188193e-01 -8.21545931e-04 -2.17760670e+00] [-8.62909667e-03 1.75399931e-04 9.99962753e-01 -6.85541141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.41, Y:-2.18, Z:-0.69 [[ 9.96999056e-01 7.69794512e-02 8.18819727e-03 3.44072581e+01] [-7.69756165e-02 9.97032668e-01 -7.82909660e-04 -2.18449090e+00] [-8.22416812e-03 1.50268659e-04 9.99966170e-01 -6.85324003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.44, Y:-2.19, Z:-0.69 [[ 9.96830113e-01 7.91263229e-02 8.29158157e-03 3.44367132e+01] [-7.91224633e-02 9.96864588e-01 -7.92998639e-04 -2.18859524e+00] [-8.32833112e-03 1.34434564e-04 9.99965310e-01 -6.85127808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.315769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.47, Y:-2.19, Z:-0.68 [[ 9.96627127e-01 8.16689908e-02 8.03405504e-03 3.44674821e+01] [-8.16654510e-02 9.96659503e-01 -7.68226917e-04 -2.19213288e+00] [-8.06995761e-03 1.09531057e-04 9.99967431e-01 -6.84869033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.50, Y:-2.20, Z:-0.69 [[ 9.96044547e-01 8.85528979e-02 7.32421042e-03 3.44968466e+01] [-8.85501410e-02 9.96071474e-01 -7.00476842e-04 -2.19505713e+00] [-7.35746632e-03 4.91462739e-05 9.99972932e-01 -6.85326992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.53, Y:-2.20, Z:-0.69 [[ 9.95690482e-01 9.24679879e-02 7.08064960e-03 3.45254687e+01] [-9.24655109e-02 9.95715658e-01 -6.77093745e-04 -2.19759566e+00] [-7.11292317e-03 1.94599144e-05 9.99974703e-01 -6.85421876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.55, Y:-2.20, Z:-0.69 [[ 9.94931082e-01 1.00310184e-01 7.07169060e-03 3.45535213e+01] [-1.00307912e-01 9.94956213e-01 -6.76116521e-04 -2.19761682e+00] [-7.10384387e-03 -3.66571786e-05 9.99974767e-01 -6.85891343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.435769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.58, Y:-2.20, Z:-0.69 [[ 9.94585239e-01 1.03642190e-01 7.64842030e-03 3.45814975e+01] [-1.03639635e-01 9.94614645e-01 -7.30759770e-04 -2.19759346e+00] [-7.68296839e-03 -6.58766054e-05 9.99970483e-01 -6.86056256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.61, Y:-2.19, Z:-0.69 [[ 9.94229027e-01 1.06938066e-01 8.53771162e-03 3.46106046e+01] [-1.06935009e-01 9.94265679e-01 -8.15108880e-04 -2.19450044e+00] [-8.57591980e-03 -1.02575359e-04 9.99963221e-01 -6.86874336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.495769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:-2.19, Z:-0.69 [[ 9.94251328e-01 1.06757033e-01 8.19961603e-03 3.46383454e+01] [-1.06754209e-01 9.94285133e-01 -7.82530259e-04 -2.19412903e+00] [-8.23629693e-03 -9.73117754e-05 9.99966076e-01 -6.87603435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:-2.19, Z:-0.69 [[ 9.94394598e-01 1.05439113e-01 7.87253416e-03 3.46673071e+01] [-1.05436473e-01 9.94425757e-01 -7.50840371e-04 -2.19362566e+00] [-7.90781869e-03 -8.34206257e-05 9.99968729e-01 -6.88247870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.70, Y:-2.19, Z:-0.69 [[ 9.94898556e-01 1.00531289e-01 8.38594780e-03 3.46954676e+01] [-1.00528121e-01 9.94933896e-01 -7.99459682e-04 -2.19037079e+00] [-8.42383443e-03 -4.76422951e-05 9.99964518e-01 -6.88864402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.72, Y:-2.19, Z:-0.69 [[ 9.95288512e-01 9.65879770e-02 8.45812006e-03 3.47245547e+01] [-9.65846172e-02 9.95324451e-01 -8.05751746e-04 -2.19113255e+00] [-8.49639964e-03 -1.49688320e-05 9.99963905e-01 -6.89248201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.75, Y:-2.19, Z:-0.69 [[ 9.96105048e-01 8.75913856e-02 1.01233676e-02 3.47529774e+01] [-8.75861137e-02 9.96156486e-01 -9.63799367e-04 -2.19289148e+00] [-1.01688788e-02 7.33789877e-05 9.99948293e-01 -6.89498394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.78, Y:-2.20, Z:-0.69 [[ 9.96455414e-01 8.35265279e-02 9.99634288e-03 3.47823144e+01] [-8.35211864e-02 9.96505548e-01 -9.51350155e-04 -2.19561303e+00] [-1.00408741e-02 1.13071595e-04 9.99949583e-01 -6.89779552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.675769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.81, Y:-2.20, Z:-0.69 [[ 9.96720658e-01 8.04419073e-02 8.77663735e-03 3.48116888e+01] [-8.04376716e-02 9.96759291e-01 -8.35112996e-04 -2.19838807e+00] [-8.81537290e-03 1.26402102e-04 9.99961136e-01 -6.90586956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.84, Y:-2.20, Z:-0.69 [[ 9.97036789e-01 7.67046320e-02 5.83442274e-03 3.48413782e+01] [-7.67026963e-02 9.97053854e-01 -5.55138197e-04 -2.20175148e+00] [-5.85981535e-03 1.05977249e-04 9.99982826e-01 -6.92429772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:-2.21, Z:-0.69 [[ 9.97119588e-01 7.56225717e-02 5.80989262e-03 3.48708343e+01] [-7.56206341e-02 9.97136507e-01 -5.52775177e-04 -2.20557280e+00] [-5.83505832e-03 1.11835192e-04 9.99982970e-01 -6.92381390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.90, Y:-2.21, Z:-0.69 [[ 9.97206756e-01 7.44134695e-02 6.42809109e-03 3.48992176e+01] [-7.44110751e-02 9.97227466e-01 -6.11182336e-04 -2.21231522e+00] [-6.45574918e-03 1.31153987e-04 9.99979153e-01 -6.91150183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.93, Y:-2.22, Z:-0.69 [[ 9.97279624e-01 7.34240239e-02 6.50113674e-03 3.49282060e+01] [-7.34215548e-02 9.97300804e-01 -6.17966345e-04 -2.21747815e+00] [-6.52896247e-03 1.38961677e-04 9.99978676e-01 -6.91463361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.96, Y:-2.22, Z:-0.69 [[ 9.97401012e-01 7.17505024e-02 6.56405188e-03 3.49571731e+01] [-7.17479502e-02 9.97422600e-01 -6.23787451e-04 -2.22326589e+00] [-6.59189075e-03 1.51208968e-04 9.99978262e-01 -6.91654387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.855769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.99, Y:-2.23, Z:-0.69 [[ 9.97716931e-01 6.70149797e-02 8.36171014e-03 3.49867976e+01] [-6.70106754e-02 9.97751942e-01 -7.94182993e-04 -2.23456081e+00] [-8.39613469e-03 2.32045974e-04 9.99964725e-01 -6.92287246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.02, Y:-2.25, Z:-0.69 [[ 9.97908529e-01 6.40358830e-02 8.83024151e-03 3.50173576e+01] [-6.40309657e-02 9.97947560e-01 -8.38751058e-04 -2.24650353e+00] [-8.86582813e-03 2.71587943e-04 9.99960661e-01 -6.92445237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.05, Y:-2.25, Z:-0.69 [[ 9.97915809e-01 6.39780378e-02 8.41713622e-03 3.50482590e+01] [-6.39735662e-02 9.97951273e-01 -7.99694031e-04 -2.25330335e+00] [-8.45105466e-03 2.59553095e-04 9.99964256e-01 -6.93150878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.08, Y:-2.26, Z:-0.69 [[ 9.97867133e-01 6.48841327e-02 7.15780963e-03 3.50796589e+01] [-6.48809215e-02 9.97892782e-01 -6.80170159e-04 -2.25909174e+00] [-7.18685881e-03 2.14314162e-04 9.99974151e-01 -6.92645572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.11, Y:-2.26, Z:-0.69 [[ 9.97728922e-01 6.70843261e-02 6.05736209e-03 3.51100881e+01] [-6.70820653e-02 9.97747295e-01 -5.75849978e-04 -2.26409658e+00] [-6.08234715e-03 1.68201819e-04 9.99981488e-01 -6.92535254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.14, Y:-2.27, Z:-0.69 [[ 9.97296658e-01 7.32700625e-02 5.55635484e-03 3.51391373e+01] [-7.32682562e-02 9.97312129e-01 -5.28221158e-04 -2.26918161e+00] [-5.58012288e-03 1.19688766e-04 9.99984424e-01 -6.92164809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.035769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:35.17, Y:-2.27, Z:-0.69 [[ 9.96726084e-01 8.06363282e-02 5.90736747e-03 3.51682884e+01] [-8.06344148e-02 9.96743586e-01 -5.61748255e-04 -2.27300298e+00] [-5.93342795e-03 8.35720188e-05 9.99982394e-01 -6.86311796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.20, Y:-2.27, Z:-0.69 [[ 9.96479423e-01 8.35480456e-02 6.96306291e-03 3.51976165e+01] [-8.35454602e-02 9.96503747e-01 -6.61857347e-04 -2.27474751e+00] [-6.99401517e-03 7.77949321e-05 9.99975539e-01 -6.93123514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.23, Y:-2.28, Z:-0.69 [[ 9.96296416e-01 8.56268035e-02 7.84234733e-03 3.52283812e+01] [-8.56235896e-02 9.96327278e-01 -7.45270421e-04 -2.27665090e+00] [-7.87735969e-03 7.10203205e-05 9.99968971e-01 -6.93961079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.26, Y:-2.28, Z:-0.69 [[ 9.96104523e-01 8.78698936e-02 7.39325831e-03 3.52575034e+01] [-8.78670986e-02 9.96131959e-01 -7.02655712e-04 -2.27770242e+00] [-7.42640316e-03 5.02943769e-05 9.99972423e-01 -6.94191333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.29, Y:-2.28, Z:-0.69 [[ 9.96039733e-01 8.86347015e-02 6.98140362e-03 3.52876492e+01] [-8.86322280e-02 9.96064199e-01 -6.63502651e-04 -2.27929705e+00] [-7.01273557e-03 4.20976453e-05 9.99975410e-01 -6.94091021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.32, Y:-2.28, Z:-0.69 [[ 9.95995673e-01 8.90173751e-02 8.27805593e-03 3.53166234e+01] [-8.90139124e-02 9.96030072e-01 -7.86542566e-04 -2.27835925e+00] [-8.31520860e-03 4.65308469e-05 9.99965427e-01 -6.93196993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.35, Y:-2.28, Z:-0.69 [[ 9.96004684e-01 8.88297288e-02 9.16230388e-03 3.53460262e+01] [-8.88254825e-02 9.96046824e-01 -8.70159761e-04 -2.27922389e+00] [-9.20337974e-03 5.28371359e-05 9.99957647e-01 -6.93191344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.38, Y:-2.28, Z:-0.69 [[ 9.96078977e-01 8.79669085e-02 9.40715753e-03 3.53756233e+01] [-8.79623958e-02 9.96123396e-01 -8.93196194e-04 -2.28041826e+00] [-9.44926141e-03 6.22178369e-05 9.99955353e-01 -6.94127372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.275769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.41, Y:-2.28, Z:-0.69 [[ 9.96152737e-01 8.71369607e-02 9.32061901e-03 3.54061411e+01] [-8.71324969e-02 9.96196339e-01 -8.84698927e-04 -2.28286163e+00] [-9.36225651e-03 6.91664503e-05 9.99956171e-01 -6.94918275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.44, Y:-2.29, Z:-0.69 [[ 9.96234490e-01 8.61749686e-02 9.52451855e-03 3.54359118e+01] [-8.61702630e-02 9.96280015e-01 -9.04088251e-04 -2.28505931e+00] [-9.56699726e-03 7.99536290e-05 9.99954232e-01 -6.94532805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.47, Y:-2.29, Z:-0.69 [[ 9.96319263e-01 8.51532907e-02 9.84085286e-03 3.54651630e+01] [-8.51482186e-02 9.96367858e-01 -9.34002041e-04 -2.28586589e+00] [-9.88464283e-03 9.26331348e-05 9.99951141e-01 -6.94920629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.49, Y:-2.29, Z:-0.70 [[ 9.96287045e-01 8.56371883e-02 8.85411917e-03 3.54947157e+01] [-8.56331019e-02 9.96326385e-01 -8.40309274e-04 -2.28684895e+00] [-8.89355427e-03 7.89835546e-05 9.99960448e-01 -6.95179753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.395769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.52, Y:-2.29, Z:-0.70 [[ 9.96086951e-01 8.81601635e-02 6.21055387e-03 3.55234051e+01] [-8.81582019e-02 9.96106312e-01 -5.89436940e-04 -2.28597204e+00] [-6.23833677e-03 3.96191819e-05 9.99980541e-01 -6.96860070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.55, Y:-2.29, Z:-0.70 [[ 9.96033437e-01 8.88234150e-02 5.27186322e-03 3.55526447e+01] [-8.88220109e-02 9.96047388e-01 -5.00328488e-04 -2.28691955e+00] [-5.29546648e-03 3.00864114e-05 9.99985978e-01 -6.97703780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.58, Y:-2.29, Z:-0.70 [[ 9.96090671e-01 8.81179523e-02 6.21307053e-03 3.55817129e+01] [-8.81159912e-02 9.96110047e-01 -5.89201909e-04 -2.28816689e+00] [-6.24082124e-03 3.94276561e-05 9.99980525e-01 -6.98571006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.61, Y:-2.29, Z:-0.70 [[ 9.96235429e-01 8.64286334e-02 6.71271244e-03 3.56108613e+01] [-8.64263081e-02 9.96258043e-01 -6.36254656e-04 -2.29061233e+00] [-6.74258438e-03 5.37044766e-05 9.99977267e-01 -6.99006100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.64, Y:-2.29, Z:-0.70 [[ 9.96685738e-01 8.11130672e-02 6.18149095e-03 3.56400239e+01] [-8.11109937e-02 9.96704903e-01 -5.85804982e-04 -2.29309221e+00] [-6.20863878e-03 8.24765968e-05 9.99980723e-01 -6.98994871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.67, Y:-2.30, Z:-0.70 [[ 9.96907791e-01 7.83928181e-02 5.42422800e-03 3.56683959e+01] [-7.83911813e-02 9.96922544e-01 -5.14034479e-04 -2.29567879e+00] [-5.44783179e-03 8.72333364e-05 9.99985157e-01 -7.00255255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.70, Y:-2.30, Z:-0.70 [[ 9.97066291e-01 7.64050796e-02 4.59075508e-03 3.56967079e+01] [-7.64038866e-02 9.97076856e-01 -4.34951549e-04 -2.29925557e+00] [-4.61056815e-03 8.29239978e-05 9.99989368e-01 -7.00621781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.73, Y:-2.31, Z:-0.70 [[ 9.97280467e-01 7.35190181e-02 5.15981365e-03 3.57252175e+01] [-7.35174736e-02 9.97293809e-01 -4.88620804e-04 -2.30712086e+00] [-5.18177313e-03 1.07955520e-04 9.99986569e-01 -6.99912062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.635769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.75, Y:-2.31, Z:-0.70 [[ 9.97394299e-01 7.18582014e-02 6.40395339e-03 3.57540149e+01] [-7.18557903e-02 9.97414848e-01 -6.06087887e-04 -2.31310234e+00] [-6.43095058e-03 1.44347471e-04 9.99979311e-01 -6.99573659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.665769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:35.78, Y:-2.32, Z:-0.70 [[ 9.97509843e-01 7.01423507e-02 7.35964012e-03 3.57823801e+01] [-7.01391217e-02 9.97536976e-01 -6.96256487e-04 -2.32342180e+00] [-7.39035022e-03 1.78324005e-04 9.99972675e-01 -6.99808484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.695769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.81, Y:-2.33, Z:-0.70 [[ 9.97520248e-01 7.00275339e-02 7.03556218e-03 3.58127859e+01] [-7.00245811e-02 9.97545044e-01 -6.65454736e-04 -2.33108472e+00] [-7.06489034e-03 1.71142279e-04 9.99975029e-01 -7.00262511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.84, Y:-2.34, Z:-0.70 [[ 9.97390451e-01 7.18466642e-02 7.09538792e-03 3.58420648e+01] [-7.18437079e-02 9.97415676e-01 -6.70982233e-04 -2.34361191e+00] [-7.12525898e-03 1.59472295e-04 9.99974602e-01 -6.99763266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.87, Y:-2.35, Z:-0.70 [[ 9.97264357e-01 7.35103503e-02 7.74792083e-03 3.58717932e+01] [-7.35068751e-02 9.97294441e-01 -7.32743614e-04 -2.35003450e+00] [-7.78082262e-03 1.61213641e-04 9.99969716e-01 -6.99011680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.90, Y:-2.36, Z:-0.70 [[ 9.97098564e-01 7.56022817e-02 8.87407964e-03 3.59024809e+01] [-7.55977993e-02 9.97138038e-01 -8.39943221e-04 -2.35621406e+00] [-8.91218399e-03 1.66645288e-04 9.99960272e-01 -6.99116344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.93, Y:-2.37, Z:-0.70 [[ 9.96582655e-01 8.19914048e-02 1.00210748e-02 3.59330784e+01] [-8.19860124e-02 9.96633029e-01 -9.48430387e-04 -2.36709443e+00] [-1.00650972e-02 1.23601314e-04 9.99949338e-01 -7.00020029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.845769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.96, Y:-2.37, Z:-0.70 [[ 9.96290391e-01 8.55875127e-02 8.95735463e-03 3.59643059e+01] [-8.55833352e-02 9.96330654e-01 -8.49359078e-04 -2.37446078e+00] [-8.99718152e-03 7.96080049e-05 9.99959521e-01 -7.01070712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.875769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.99, Y:-2.38, Z:-0.70 [[ 9.95653947e-01 9.30089303e-02 4.74949168e-03 3.59944797e+01] [-9.30078399e-02 9.95665274e-01 -4.50407593e-04 -2.38143661e+00] [-4.77079587e-03 6.71013480e-06 9.99988620e-01 -7.01507345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.02, Y:-2.38, Z:-0.70 [[ 9.95229510e-01 9.74888707e-02 3.76069610e-03 3.60239893e+01] [-9.74882178e-02 9.95236615e-01 -3.56970906e-04 -2.38485438e+00] [-3.77758315e-03 -1.13555808e-05 9.99992865e-01 -7.01787346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.935769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.05, Y:-2.39, Z:-0.70 [[ 9.94794184e-01 1.01811496e-01 4.35316725e-03 3.60538322e+01] [-1.01810663e-01 9.94803708e-01 -4.13232234e-04 -2.38775081e+00] [-4.37261871e-03 -3.21178189e-05 9.99990440e-01 -7.01524315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.08, Y:-2.39, Z:-0.70 [[ 9.94795339e-01 1.01800213e-01 4.35318561e-03 3.60838647e+01] [-1.01799380e-01 9.94804863e-01 -4.13038657e-04 -2.39055933e+00] [-4.37261764e-03 -3.22626657e-05 9.99990440e-01 -7.01910439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.995769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:36.11, Y:-2.39, Z:-0.70 [[ 9.94000122e-01 1.09029775e-01 8.73298417e-03 3.61128910e+01] [-1.09026704e-01 9.94038476e-01 -8.28446903e-04 -2.38990722e+00] [-8.77124765e-03 -1.28652156e-04 9.99961524e-01 -7.00527865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.025769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:36.14, Y:-2.39, Z:-0.70 [[ 9.93206079e-01 1.15868976e-01 1.07733312e-02 3.61429966e+01] [-1.15864709e-01 9.93264479e-01 -1.02150909e-03 -2.38711857e+00] [-1.08191284e-02 -2.33679841e-04 9.99941444e-01 -7.00344664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.055769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:36.17, Y:-2.39, Z:-0.70 [[ 9.92875045e-01 1.18756860e-01 9.79558021e-03 3.61735070e+01] [-1.18753475e-01 9.92923335e-01 -9.28544160e-04 -2.38744878e+00] [-9.83653116e-03 -2.41330861e-04 9.99951591e-01 -7.01714710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.20, Y:-2.39, Z:-0.70 [[ 9.92628502e-01 1.20912782e-01 8.29188106e-03 3.62034885e+01] [-1.20910431e-01 9.92663110e-01 -7.86103579e-04 -2.38733339e+00] [-8.32609441e-03 -2.22266094e-04 9.99965313e-01 -7.03081620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.115769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.23, Y:-2.39, Z:-0.70 [[ 9.92515533e-01 1.21911475e-01 7.10694831e-03 3.62319357e+01] [-1.21909773e-01 9.92540958e-01 -6.73836409e-04 -2.38579411e+00] [-7.13608567e-03 -1.97613351e-04 9.99974518e-01 -7.03881797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.26, Y:-2.38, Z:-0.70 [[ 9.92545088e-01 1.21643855e-01 7.55126220e-03 3.62616222e+01] [-1.21641930e-01 9.92573790e-01 -7.15445223e-04 -2.37689605e+00] [-7.58221446e-03 -2.08438465e-04 9.99971233e-01 -7.03258431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.175769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.29, Y:-2.37, Z:-0.70 [[ 9.92572186e-01 1.21394159e-01 7.99457525e-03 3.62906548e+01] [-1.21391996e-01 9.92604357e-01 -7.57062474e-04 -2.36870318e+00] [-8.02735319e-03 -2.19038292e-04 9.99967756e-01 -7.02387485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.205769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.32, Y:-2.37, Z:-0.70 [[ 9.92619222e-01 1.20997356e-01 8.16819861e-03 3.63196000e+01] [-1.20995088e-01 9.92652805e-01 -7.73158277e-04 -2.36624361e+00] [-8.20173536e-03 -2.20860140e-04 9.99966341e-01 -7.02855852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.235769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.35, Y:-2.36, Z:-0.70 [[ 9.92747980e-01 1.19920890e-01 8.39218997e-03 3.63490484e+01] [-1.19918460e-01 9.92783427e-01 -7.93937111e-04 -2.36300704e+00] [-8.42683676e-03 -2.18199034e-04 9.99964470e-01 -7.03424725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.265769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.38, Y:-2.35, Z:-0.70 [[ 9.93222778e-01 1.15844280e-01 9.41356230e-03 3.63783906e+01] [-1.15841045e-01 9.93267366e-01 -8.90076342e-04 -2.35343852e+00] [-9.45329448e-03 -2.06432794e-04 9.99955295e-01 -7.04736664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.295769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:36.41, Y:-2.35, Z:-0.71 [[ 9.93515361e-01 1.13297425e-01 9.53523257e-03 3.64062640e+01] [-1.13293994e-01 9.93561100e-01 -9.01002000e-04 -2.35182811e+00] [-9.57591737e-03 -1.85125252e-04 9.99954133e-01 -7.05345868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.43, Y:-2.35, Z:-0.71 [[ 9.94200185e-01 1.07245319e-01 8.02706250e-03 3.64348487e+01] [-1.07242693e-01 9.94232584e-01 -7.58130940e-04 -2.34802470e+00] [-8.06207309e-03 -1.07109876e-04 9.99967495e-01 -7.06039906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.355769231000004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:36.46, Y:-2.35, Z:-0.71 [[ 9.94557818e-01 1.03940011e-01 7.15690097e-03 3.64640686e+01] [-1.03937841e-01 9.94583566e-01 -6.75544121e-04 -2.34701203e+00] [-7.18835215e-03 -7.20051476e-05 9.99974161e-01 -7.06601604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.49, Y:-2.34, Z:-0.71 [[ 9.95242632e-01 9.72026037e-02 6.61493754e-03 3.64929306e+01] [-9.72006025e-02 9.95264615e-01 -6.24121767e-04 -2.34435388e+00] [-6.64427953e-03 -2.18233246e-05 9.99977926e-01 -7.07632888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.415769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.52, Y:-2.35, Z:-0.71 [[ 9.95594505e-01 9.34852895e-02 7.21674723e-03 3.65210670e+01] [-9.34828120e-02 9.95620661e-01 -6.80606127e-04 -2.34648178e+00] [-7.24876931e-03 2.96589569e-06 9.99973727e-01 -7.08582476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.55, Y:-2.35, Z:-0.71 [[ 9.96174335e-01 8.70723489e-02 7.42289780e-03 3.65486075e+01] [-8.70695535e-02 9.96201989e-01 -6.99536193e-04 -2.34888139e+00] [-7.45561581e-03 5.05516057e-05 9.99972205e-01 -7.08151147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.475769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.58, Y:-2.35, Z:-0.71 [[ 9.96385108e-01 8.46697707e-02 6.90982303e-03 3.65770708e+01] [-8.46672939e-02 9.96409066e-01 -6.50703604e-04 -2.35167699e+00] [-6.94010523e-03 6.33153640e-05 9.99975915e-01 -7.08294679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.61, Y:-2.36, Z:-0.71 [[ 9.96700036e-01 8.08600253e-02 7.11998871e-03 3.66057586e+01] [-8.08573008e-02 9.96725463e-01 -6.70148981e-04 -2.35589199e+00] [-7.15086230e-03 9.22344451e-05 9.99974428e-01 -7.07625041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.535769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.63, Y:-2.36, Z:-0.71 [[ 9.96811684e-01 7.93309326e-02 8.54811810e-03 3.66338498e+01] [-7.93269533e-02 9.96848327e-01 -8.04105357e-04 -2.35928533e+00] [-8.58496766e-03 1.23445449e-04 9.99963141e-01 -7.07216704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.66, Y:-2.36, Z:-0.71 [[ 9.96900280e-01 7.79795154e-02 1.04415560e-02 3.66629887e+01] [-7.79735125e-02 9.96954948e-01 -9.81386248e-04 -2.36248523e+00] [-1.04862890e-02 1.64179426e-04 9.99945004e-01 -7.07769905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.595769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.69, Y:-2.37, Z:-0.71 [[ 9.97141236e-01 7.48150471e-02 1.05860635e-02 3.66930054e+01] [-7.48087017e-02 9.97197407e-01 -9.94677656e-04 -2.36875037e+00] [-1.06308119e-02 1.99904443e-04 9.99943471e-01 -7.09522872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.625769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.72, Y:-2.37, Z:-0.71 [[ 9.97273582e-01 7.32200410e-02 9.17755647e-03 3.67223793e+01] [-7.32152036e-02 9.97315793e-01 -8.62416454e-04 -2.37428420e+00] [-9.21606818e-03 1.88128481e-04 9.99957513e-01 -7.10390679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.655769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:36.75, Y:-2.38, Z:-0.71 [[ 9.97429790e-01 7.13259413e-02 6.81358019e-03 3.67511959e+01] [-7.13232319e-02 9.97453050e-01 -6.40120935e-04 -2.38254743e+00] [-6.84188357e-03 1.52509129e-04 9.99976582e-01 -7.11219088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.78, Y:-2.39, Z:-0.71 [[ 9.97470716e-01 7.08004900e-02 6.28189823e-03 3.67799724e+01] [-7.07981769e-02 9.97490486e-01 -5.90104283e-04 -2.38757005e+00] [-6.30791340e-03 1.43864799e-04 9.99980095e-01 -7.11325454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.715769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.81, Y:-2.40, Z:-0.71 [[ 9.97536339e-01 6.97417605e-02 7.57229606e-03 3.68087887e+01] [-6.97383699e-02 9.97565063e-01 -7.11207967e-04 -2.39691287e+00] [-7.60345889e-03 1.81376208e-04 9.99971077e-01 -7.11868402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.84, Y:-2.40, Z:-0.71 [[ 9.97584782e-01 6.90096891e-02 7.89080652e-03 3.68388532e+01] [-6.90059855e-02 9.97615971e-01 -7.40977093e-04 -2.40364445e+00] [-7.92312921e-03 1.94674591e-04 9.99968593e-01 -7.12354648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.775769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.87, Y:-2.41, Z:-0.71 [[ 9.97650092e-01 6.80426165e-02 8.03096795e-03 3.68685947e+01] [-6.80387489e-02 9.97682394e-01 -7.54138790e-04 -2.41021433e+00] [-8.06366891e-03 2.05949621e-04 9.99967467e-01 -7.12959986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.90, Y:-2.42, Z:-0.71 [[ 9.97762212e-01 6.64849459e-02 7.09367179e-03 3.68978148e+01] [-6.64818886e-02 9.97787410e-01 -6.66187061e-04 -2.41959830e+00] [-7.12226781e-03 1.93095579e-04 9.99974618e-01 -7.14048665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.835769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:36.93, Y:-2.43, Z:-0.71 [[ 9.97729939e-01 6.70624206e-02 6.13196571e-03 3.69272995e+01] [-6.70601482e-02 9.97748769e-01 -5.75674463e-04 -2.42970452e+00] [-6.15676735e-03 1.63157118e-04 9.99981034e-01 -7.13817534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.96, Y:-2.44, Z:-0.71 [[ 9.97671635e-01 6.78799090e-02 6.60504467e-03 3.69569804e+01] [-6.78772894e-02 9.97693484e-01 -6.20235502e-04 -2.43583575e+00] [-6.63191156e-03 1.70458839e-04 9.99977994e-01 -7.13022651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.895769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:36.99, Y:-2.44, Z:-0.71 [[ 9.97573406e-01 6.92910219e-02 6.78636514e-03 3.69870432e+01] [-6.92882891e-02 9.97596475e-01 -6.37262093e-04 -2.44143088e+00] [-6.81421048e-03 1.65500087e-04 9.99976769e-01 -7.12877558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.02, Y:-2.45, Z:-0.71 [[ 9.97294266e-01 7.31848105e-02 6.93756537e-03 3.70156219e+01] [-7.31820482e-02 9.97318386e-01 -6.51526468e-04 -2.44748658e+00] [-6.96664334e-03 1.42058367e-04 9.99975723e-01 -7.12826999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.955769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:37.05, Y:-2.45, Z:-0.71 [[ 9.96878029e-01 7.85532819e-02 7.97358493e-03 3.70455007e+01] [-7.85498059e-02 9.96909909e-01 -7.48655078e-04 -2.45255676e+00] [-8.00775514e-03 1.19994250e-04 9.99967930e-01 -7.13115291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.985769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:37.08, Y:-2.46, Z:-0.71 [[ 9.96651001e-01 8.13375568e-02 8.42525892e-03 3.70752785e+01] [-8.13337757e-02 9.96686606e-01 -7.91014466e-04 -2.45620834e+00] [-8.46168190e-03 1.03107240e-04 9.99964194e-01 -7.13468838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.015769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.11, Y:-2.46, Z:-0.71 [[ 9.96470879e-01 8.34650022e-02 8.90954853e-03 3.71064322e+01] [-8.34608583e-02 9.96510705e-01 -8.36546035e-04 -2.45946477e+00] [-8.94828280e-03 8.99951960e-05 9.99959959e-01 -7.14263497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.14, Y:-2.46, Z:-0.72 [[ 9.96284661e-01 8.56149447e-02 9.32495714e-03 3.71370621e+01] [-8.56104971e-02 9.96328297e-01 -8.75822641e-04 -2.46208626e+00] [-9.36570218e-03 7.42544477e-05 9.99956138e-01 -7.15312594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.075769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:37.17, Y:-2.47, Z:-0.72 [[ 9.96262958e-01 8.59518342e-02 8.50890065e-03 3.71673274e+01] [-8.59481425e-02 9.96299291e-01 -7.99263426e-04 -2.46522591e+00] [-8.54610985e-03 6.49523391e-05 9.99963479e-01 -7.15492200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.20, Y:-2.47, Z:-0.72 [[ 9.96319111e-01 8.53632271e-02 7.83250488e-03 3.71978538e+01] [-8.53600798e-02 9.96349896e-01 -7.35863298e-04 -2.46938701e+00] [-7.86673109e-03 6.45714256e-05 9.99969055e-01 -7.15903194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.135769231000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:37.23, Y:-2.47, Z:-0.72 [[ 9.96312252e-01 8.53110141e-02 9.16123521e-03 3.72278179e+01] [-8.53067061e-02 9.96354367e-01 -8.60697421e-04 -2.47285251e+00] [-9.20126368e-03 7.60085865e-05 9.99957665e-01 -7.15697194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.165769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.26, Y:-2.48, Z:-0.72 [[ 9.96274266e-01 8.55130675e-02 1.11849219e-02 3.72593287e+01] [-8.55066591e-02 9.96337045e-01 -1.05078688e-03 -2.47620013e+00] [-1.12338081e-02 9.04866271e-05 9.99936895e-01 -7.15511241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.195769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:37.29, Y:-2.48, Z:-0.72 [[ 9.96126009e-01 8.71510483e-02 1.17332168e-02 3.72910859e+01] [-8.71441064e-02 9.96195106e-01 -1.10258101e-03 -2.47815452e+00] [-1.17846642e-02 7.58289296e-05 9.99930556e-01 -7.15199621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:37.32, Y:-2.48, Z:-0.72 [[ 9.96019130e-01 8.85776421e-02 9.99468022e-03 3.73217616e+01] [-8.85726784e-02 9.96069274e-01 -9.39051528e-04 -2.48021809e+00] [-1.00385728e-02 5.00576896e-05 9.99949611e-01 -7.15994072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.255769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:37.35, Y:-2.48, Z:-0.72 [[ 9.95802336e-01 9.11837183e-02 7.95214155e-03 3.73526922e+01] [-9.11806473e-02 9.95834087e-01 -7.48638424e-04 -2.48025954e+00] [-7.98727726e-03 2.04144783e-05 9.99968101e-01 -7.17796393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.38, Y:-2.48, Z:-0.72 [[ 9.95714766e-01 9.20790569e-02 8.57628290e-03 3.73831581e+01] [-9.20755181e-02 9.95751700e-01 -8.07396960e-04 -2.48170544e+00] [-8.61419262e-03 1.42713844e-05 9.99962897e-01 -7.17905929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.315769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.41, Y:-2.48, Z:-0.72 [[ 9.95666380e-01 9.23329814e-02 1.10941548e-02 3.74123827e+01] [-9.23270756e-02 9.95728186e-01 -1.04441427e-03 -2.48224727e+00] [-1.11431966e-02 1.55973039e-05 9.99937913e-01 -7.17724108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:-2.48, Z:-0.72 [[ 9.95737626e-01 9.15267513e-02 1.13768765e-02 3.74423687e+01] [-9.15204860e-02 9.95802618e-01 -1.07120974e-03 -2.48437211e+00] [-1.14271677e-02 2.54265822e-05 9.99934707e-01 -7.17779922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.375769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:37.47, Y:-2.49, Z:-0.72 [[ 9.95854264e-01 9.03445968e-02 1.05895304e-02 3.74721342e+01] [-9.03391022e-02 9.95910565e-01 -9.97049842e-04 -2.48704208e+00] [-1.06363033e-02 3.62676646e-05 9.99943432e-01 -7.19082072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.50, Y:-2.49, Z:-0.72 [[ 9.96080455e-01 8.79744957e-02 9.17691024e-03 3.75026699e+01] [-8.79702678e-02 9.96122726e-01 -8.64139401e-04 -2.49087059e+00] [-9.21735107e-03 5.34571165e-05 9.99957518e-01 -7.20062681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.435769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:37.53, Y:-2.49, Z:-0.72 [[ 9.96166862e-01 8.69060575e-02 9.94590098e-03 3.75334040e+01] [-8.69010366e-02 9.96216509e-01 -9.36702942e-04 -2.49445418e+00] [-9.98967591e-03 6.88033255e-05 9.99950100e-01 -7.19788719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.56, Y:-2.50, Z:-0.72 [[ 9.96417527e-01 8.37485981e-02 1.17594508e-02 3.75643319e+01] [-8.37413594e-02 9.96486908e-01 -1.10747917e-03 -2.50000081e+00] [-1.18108886e-02 1.18759265e-04 9.99930242e-01 -7.19220065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.495769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.60, Y:-2.51, Z:-0.72 [[ 9.96578380e-01 8.18525256e-02 1.14759368e-02 3.75955987e+01] [-8.18455049e-02 9.96644443e-01 -1.08087947e-03 -2.50546972e+00] [-1.15259014e-02 1.37927270e-04 9.99933565e-01 -7.19883217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.63, Y:-2.52, Z:-0.72 [[ 9.97017213e-01 7.66607677e-02 8.93328010e-03 3.76263837e+01] [-7.66562951e-02 9.97057221e-01 -8.42507790e-04 -2.51504933e+00] [-8.97157873e-03 1.55202613e-04 9.99959743e-01 -7.21848976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.555769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:37.66, Y:-2.52, Z:-0.72 [[ 9.97219052e-01 7.40555636e-02 8.36280798e-03 3.76578535e+01] [-7.40515469e-02 9.97254103e-01 -7.89367144e-04 -2.52164539e+00] [-8.39830159e-03 1.67893088e-04 9.99964720e-01 -7.23157006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.585769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.69, Y:-2.53, Z:-0.72 [[ 9.97483057e-01 7.02602154e-02 9.54217367e-03 3.76894796e+01] [-7.02547962e-02 9.97528671e-01 -9.02356121e-04 -2.53189521e+00] [-9.58199155e-03 2.29701476e-04 9.99954065e-01 -7.23409708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.615769231 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:37.72, Y:-2.54, Z:-0.72 [[ 9.97532311e-01 6.94899009e-02 1.00221017e-02 3.77218219e+01] [-6.94838672e-02 9.97582624e-01 -9.49408857e-04 -2.53832941e+00] [-1.00638488e-02 2.50691631e-04 9.99949327e-01 -7.23613151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:37.75, Y:-2.54, Z:-0.72 [[ 9.97545132e-01 6.93735637e-02 9.54029843e-03 3.77531680e+01] [-6.93680721e-02 9.97590723e-01 -9.05731000e-04 -2.54456813e+00] [-9.58014699e-03 2.41715441e-04 9.99954080e-01 -7.23198474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.675769231000004 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:37.79, Y:-2.55, Z:-0.72 [[ 9.97508412e-01 7.01328677e-02 7.63869064e-03 3.77852172e+01] [-7.01293674e-02 9.97537641e-01 -7.25457073e-04 -2.55368053e+00] [-7.67075983e-03 1.87952990e-04 9.99970562e-01 -7.23674846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.705769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:37.82, Y:-2.56, Z:-0.72 [[ 9.97469977e-01 7.07446171e-02 6.98890989e-03 3.78167893e+01] [-7.07416935e-02 9.97494446e-01 -6.64953859e-04 -2.56052623e+00] [-7.01844071e-03 1.68864189e-04 9.99975356e-01 -7.24457752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.735769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:37.85, Y:-2.57, Z:-0.73 [[ 9.97402666e-01 7.15743336e-02 8.06451065e-03 3.78480634e+01] [-7.15704533e-02 9.97435250e-01 -7.69105836e-04 -2.57177569e+00] [-8.09887543e-03 1.89927528e-04 9.99967186e-01 -7.25049252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.765769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.88, Y:-2.58, Z:-0.73 [[ 9.97341344e-01 7.22808117e-02 9.25891850e-03 3.78808828e+01] [-7.22757097e-02 9.97384298e-01 -8.84891660e-04 -2.57915025e+00] [-9.29866062e-03 2.13344132e-04 9.99956744e-01 -7.25213618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.795769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.91, Y:-2.59, Z:-0.72 [[ 9.97192676e-01 7.40363034e-02 1.11978462e-02 3.79125668e+01] [-7.40289221e-02 9.97255518e-01 -1.07280811e-03 -2.58988381e+00] [-1.12465406e-02 2.40831913e-04 9.99936727e-01 -7.24588288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.95, Y:-2.60, Z:-0.72 [[ 9.97124779e-01 7.48460468e-02 1.18425203e-02 3.79451673e+01] [-7.48378201e-02 9.97195070e-01 -1.13692483e-03 -2.59699697e+00] [-1.18943972e-02 2.47387513e-04 9.99929229e-01 -7.24559057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.855769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.98, Y:-2.60, Z:-0.73 [[ 9.97100155e-01 7.51001832e-02 1.22980668e-02 3.79773049e+01] [-7.50913009e-02 9.97175961e-01 -1.18307506e-03 -2.60350030e+00] [-1.23521857e-02 2.56166488e-04 9.99923676e-01 -7.25037634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.01, Y:-2.61, Z:-0.73 [[ 9.97093993e-01 7.51819969e-02 1.22978404e-02 3.80106363e+01] [-7.51730918e-02 9.97169795e-01 -1.18542345e-03 -2.60685390e+00] [-1.23521575e-02 2.57511908e-04 9.99923676e-01 -7.25466618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.915769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.04, Y:-2.62, Z:-0.73 [[ 9.97038276e-01 7.59181119e-02 1.22929061e-02 3.80412788e+01] [-7.59092579e-02 9.97114025e-01 -1.18592331e-03 -2.61713028e+00] [-1.23474622e-02 2.49265550e-04 9.99923736e-01 -7.27067159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.945769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:38.07, Y:-2.63, Z:-0.73 [[ 9.96989054e-01 7.67908144e-02 1.07701700e-02 3.80733246e+01] [-7.67840494e-02 9.97047204e-01 -1.04082803e-03 -2.62970469e+00] [-1.08182939e-02 2.10716889e-04 9.99941458e-01 -7.28997614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.975769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.11, Y:-2.64, Z:-0.73 [[ 9.96974722e-01 7.71333689e-02 9.58370330e-03 3.81054840e+01] [-7.71280252e-02 9.97020767e-01 -9.26479117e-04 -2.63736639e+00] [-9.62661366e-03 1.84504150e-04 9.99953646e-01 -7.29668865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.14, Y:-2.64, Z:-0.73 [[ 9.96948676e-01 7.76013615e-02 8.44783657e-03 3.81381474e+01] [-7.75972149e-02 9.96984455e-01 -8.18012109e-04 -2.64474022e+00] [-8.48584059e-03 1.59987499e-04 9.99963982e-01 -7.30831683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:-2.65, Z:-0.73 [[ 9.96787105e-01 7.97196950e-02 7.76133004e-03 3.81696627e+01] [-7.97162485e-02 9.96817312e-01 -7.52892063e-04 -2.65436197e+00] [-7.79664847e-03 1.31768985e-04 9.99969597e-01 -7.30613193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.20, Y:-2.66, Z:-0.73 [[ 9.96620296e-01 8.16999650e-02 8.54995857e-03 3.82024759e+01] [-8.16958409e-02 9.96656961e-01 -8.31089054e-04 -2.65970302e+00] [-8.58927567e-03 1.29784164e-04 9.99963103e-01 -7.30461589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.095769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.24, Y:-2.67, Z:-0.73 [[ 9.96051923e-01 8.82506246e-02 9.61216023e-03 3.82352928e+01] [-8.82456956e-02 9.96098298e-01 -9.36534139e-04 -2.66541800e+00] [-9.65730617e-03 8.46048646e-05 9.99953364e-01 -7.30186446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.125769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.27, Y:-2.67, Z:-0.73 [[ 9.95712132e-01 9.19435305e-02 1.01851214e-02 3.82669150e+01] [-9.19381673e-02 9.95764221e-01 -9.94535931e-04 -2.66870586e+00] [-1.02334206e-02 5.38700969e-05 9.99947636e-01 -7.30577867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.155769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.30, Y:-2.67, Z:-0.73 [[ 9.94982522e-01 9.93265578e-02 1.20006663e-02 3.82994902e+01] [-9.93196171e-02 9.95054890e-01 -1.17442833e-03 -2.67209100e+00] [-1.20579737e-02 -2.33659203e-05 9.99927300e-01 -7.30428931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.33, Y:-2.67, Z:-0.73 [[ 9.94667180e-01 1.02368891e-01 1.25623304e-02 3.83322773e+01] [-1.02361496e-01 9.94746504e-01 -1.23194047e-03 -2.67471427e+00] [-1.26224467e-02 -6.05281842e-05 9.99920332e-01 -7.30555112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.215769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.36, Y:-2.68, Z:-0.73 [[ 9.94416120e-01 1.04786874e-01 1.25016411e-02 3.83641338e+01] [-1.04779710e-01 9.94494697e-01 -1.22843228e-03 -2.67675761e+00] [-1.25615394e-02 -8.83454791e-05 9.99921097e-01 -7.31495282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245769231000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:38.40, Y:-2.68, Z:-0.73 [[ 9.94038082e-01 1.08481718e-01 1.09548763e-02 3.83974142e+01] [-1.08476423e-01 9.94098437e-01 -1.07814287e-03 -2.67801786e+00] [-1.10071842e-02 -1.16630721e-04 9.99939412e-01 -7.32721090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.275769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.43, Y:-2.68, Z:-0.73 [[ 9.93888197e-01 1.09876310e-01 1.06512108e-02 3.84294718e+01] [-1.09871363e-01 9.93945260e-01 -1.05028415e-03 -2.68097104e+00] [-1.07021218e-02 -1.26398029e-04 9.99942723e-01 -7.32810242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.305769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.46, Y:-2.68, Z:-0.73 [[ 9.93657198e-01 1.11810518e-01 1.19909039e-02 3.84612136e+01] [-1.11804359e-01 9.93729531e-01 -1.18485140e-03 -2.68214443e+00] [-1.20481942e-02 -1.63299212e-04 9.99927405e-01 -7.33027862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.49, Y:-2.68, Z:-0.73 [[ 9.93465312e-01 1.13494919e-01 1.20655387e-02 3.84942239e+01] [-1.13488782e-01 9.93538560e-01 -1.19439235e-03 -2.68350342e+00] [-1.21231354e-02 -1.82715921e-04 9.99926495e-01 -7.33337870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:-2.68, Z:-0.73 [[ 9.93217256e-01 1.15754704e-01 1.09695000e-02 3.85259576e+01] [-1.15749747e-01 9.93277812e-01 -1.08786481e-03 -2.68438415e+00] [-1.10216865e-02 -1.89230749e-04 9.99939241e-01 -7.34242268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.395769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.56, Y:-2.68, Z:-0.74 [[ 9.92694328e-01 1.20394054e-01 7.95251571e-03 3.85594071e+01] [-1.20391591e-01 9.92726166e-01 -7.89461453e-04 -2.68110701e+00] [-7.98971690e-03 -1.73722110e-04 9.99968067e-01 -7.35786736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.59, Y:-2.68, Z:-0.74 [[ 9.92284688e-01 1.23656085e-01 8.95939419e-03 3.85923331e+01] [-1.23653071e-01 9.92325110e-01 -8.91700168e-04 -2.67638232e+00] [-9.00089598e-03 -2.23036180e-04 9.99959466e-01 -7.35702084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:-2.68, Z:-0.74 [[ 9.92166723e-01 1.24473240e-01 1.05643629e-02 3.86251769e+01] [-1.24469082e-01 9.92222928e-01 -1.05280516e-03 -2.67692325e+00] [-1.06132492e-02 -2.70378299e-04 9.99943641e-01 -7.35856205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.66, Y:-2.68, Z:-0.74 [[ 9.92253170e-01 1.23727447e-01 1.11877081e-02 3.86577842e+01] [-1.23722708e-01 9.92316201e-01 -1.11736497e-03 -2.67755053e+00] [-1.12399927e-02 -2.75464609e-04 9.99936791e-01 -7.36151193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.515769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:38.69, Y:-2.68, Z:-0.74 [[ 9.92506266e-01 1.21716324e-01 1.07911203e-02 3.86908382e+01] [-1.21711790e-01 9.92564898e-01 -1.07838972e-03 -2.67891715e+00] [-1.08421449e-02 -2.43098010e-04 9.99941193e-01 -7.36916252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:38.72, Y:-2.68, Z:-0.74 [[ 9.93445712e-01 1.14029158e-01 7.93521211e-03 3.87230901e+01] [-1.14026453e-01 9.93477397e-01 -7.93961359e-04 -2.67903752e+00] [-7.97398862e-03 -1.16066581e-04 9.99968201e-01 -7.38847541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.76, Y:-2.68, Z:-0.74 [[ 9.94352272e-01 1.05776827e-01 8.64997382e-03 3.87562795e+01] [-1.05773281e-01 9.94389893e-01 -8.67708621e-04 -2.68043733e+00] [-8.69323001e-03 -5.21280705e-05 9.99962212e-01 -7.39234086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:-2.68, Z:-0.74 [[ 9.94579599e-01 1.03486573e-01 1.00970784e-02 3.87885406e+01] [-1.03481616e-01 9.94630850e-01 -1.01363362e-03 -2.68288165e+00] [-1.01477632e-02 -3.67226690e-05 9.99948509e-01 -7.39234315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:-2.69, Z:-0.74 [[ 9.94687091e-01 1.02317039e-01 1.13496589e-02 3.88216466e+01] [-1.02310673e-01 9.94751840e-01 -1.14164465e-03 -2.68517088e+00] [-1.14069038e-02 -2.56120495e-05 9.99934939e-01 -7.38913279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.85, Y:-2.69, Z:-0.74 [[ 9.94740741e-01 1.01628554e-01 1.27473830e-02 3.88547510e+01] [-1.01620432e-01 9.94822415e-01 -1.28492718e-03 -2.68705088e+00] [-1.28119676e-02 -1.72251466e-05 9.99917923e-01 -7.38617717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:-2.69, Z:-0.74 [[ 9.94740545e-01 1.01624689e-01 1.27933463e-02 3.88868940e+01] [-1.01616476e-01 9.94822809e-01 -1.29213527e-03 -2.68944293e+00] [-1.28584256e-02 -1.46754176e-05 9.99917327e-01 -7.38746912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.92, Y:-2.69, Z:-0.74 [[ 9.94746088e-01 1.01511422e-01 1.32533721e-02 3.89198530e+01] [-1.01502562e-01 9.94834374e-01 -1.34117354e-03 -2.69056781e+00] [-1.33210546e-02 -1.11240967e-05 9.99911271e-01 -7.39765678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.755769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.95, Y:-2.69, Z:-0.74 [[ 9.94733086e-01 1.01676748e-01 1.29586281e-02 3.89515254e+01] [-1.01668259e-01 9.94817490e-01 -1.31390114e-03 -2.69333555e+00] [-1.30250631e-02 -1.05002150e-05 9.99915170e-01 -7.40459457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.98, Y:-2.70, Z:-0.74 [[ 9.94748469e-01 1.01667930e-01 1.17946850e-02 3.89829735e+01] [-1.01660873e-01 9.94818391e-01 -1.19789234e-03 -2.69647116e+00] [-1.18553568e-02 -7.45639815e-06 9.99929723e-01 -7.41286852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.02, Y:-2.70, Z:-0.74 [[ 9.94880540e-01 1.00631510e-01 9.27413765e-03 3.90153841e+01] [-1.00627090e-01 9.94923766e-01 -9.43158454e-04 -2.69825017e+00] [-9.32197142e-03 5.10051097e-06 9.99956549e-01 -7.41618840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.845769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.05, Y:-2.70, Z:-0.74 [[ 9.95002426e-01 9.94689496e-02 8.72360026e-03 3.90482376e+01] [-9.94649825e-02 9.95040666e-01 -8.88508484e-04 -2.69828772e+00] [-8.76871602e-03 1.63753502e-05 9.99961554e-01 -7.41986217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:-2.70, Z:-0.74 [[ 9.95064824e-01 9.87849828e-02 9.35540294e-03 3.90795537e+01] [-9.87803682e-02 9.95108801e-01 -9.55193991e-04 -2.70062013e+00] [-9.40400262e-03 2.63497937e-05 9.99955781e-01 -7.42103939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:39.11, Y:-2.70, Z:-0.74 [[ 9.95095234e-01 9.83634942e-02 1.04928146e-02 3.91117026e+01] [-9.83576555e-02 9.95150552e-01 -1.07229446e-03 -2.70317359e+00] [-1.05474048e-02 3.49864682e-05 9.99944374e-01 -7.41901979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.935769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.14, Y:-2.71, Z:-0.74 [[ 9.95118432e-01 9.80457487e-02 1.12400221e-02 3.91436045e+01] [-9.80390054e-02 9.95181908e-01 -1.15070871e-03 -2.70528576e+00] [-1.12986887e-02 4.31308648e-05 9.99936167e-01 -7.41678787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:39.18, Y:-2.70, Z:-0.74 [[ 9.95121223e-01 9.80391044e-02 1.10492347e-02 3.91763936e+01] [-9.80325672e-02 9.95182562e-01 -1.13301378e-03 -2.70463976e+00] [-1.11070854e-02 4.43012100e-05 9.99938313e-01 -7.42402637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.995769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.21, Y:-2.70, Z:-0.74 [[ 9.95182695e-01 9.74606121e-02 1.06222348e-02 3.92091118e+01] [-9.74545208e-02 9.95239382e-01 -1.09078732e-03 -2.70491224e+00] [-1.06779752e-02 5.03478644e-05 9.99942988e-01 -7.43981422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.24, Y:-2.71, Z:-0.74 [[ 9.95273175e-01 9.65094792e-02 1.08271253e-02 3.92397330e+01] [-9.65030726e-02 9.95332063e-01 -1.11382710e-03 -2.70741031e+00] [-1.08840799e-02 6.37113729e-05 9.99940765e-01 -7.44183780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.055769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.27, Y:-2.71, Z:-0.74 [[ 9.95326741e-01 9.59063607e-02 1.12538385e-02 3.92722938e+01] [-9.58993892e-02 9.95390358e-01 -1.15873114e-03 -2.71022028e+00] [-1.13130920e-02 7.40798458e-05 9.99936002e-01 -7.44050946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.30, Y:-2.71, Z:-0.74 [[ 9.95390220e-01 9.53712641e-02 1.01307533e-02 3.93047825e+01] [-9.53655736e-02 9.95441770e-01 -1.04440152e-03 -2.71235366e+00] [-1.01841808e-02 7.34619636e-05 9.99948137e-01 -7.44340770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.34, Y:-2.71, Z:-0.74 [[ 9.95260250e-01 9.68636653e-02 8.62927885e-03 3.93371888e+01] [-9.68595830e-02 9.95297658e-01 -8.90734213e-04 -2.71470282e+00] [-8.67498080e-03 5.06840046e-05 9.99962370e-01 -7.44939194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.37, Y:-2.72, Z:-0.74 [[ 9.95149847e-01 9.79501742e-02 9.08542822e-03 3.93689102e+01] [-9.79456746e-02 9.95191319e-01 -9.39955832e-04 -2.71688067e+00] [-9.13380813e-03 4.55185062e-05 9.99958285e-01 -7.44810284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.175769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.40, Y:-2.72, Z:-0.74 [[ 9.95035493e-01 9.90218123e-02 9.95232064e-03 3.94001932e+01] [-9.90164677e-02 9.95085262e-01 -1.02954627e-03 -2.71773710e+00] [-1.00053551e-02 3.89914470e-05 9.99949944e-01 -7.44945011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205769231000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:39.43, Y:-2.72, Z:-0.75 [[ 9.94905880e-01 1.00296077e-01 1.01482426e-02 3.94317845e+01] [-1.00290566e-01 9.94957635e-01 -1.05173553e-03 -2.71672626e+00] [-1.02025564e-02 2.86048698e-05 9.99947952e-01 -7.45716813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.235769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:39.46, Y:-2.72, Z:-0.75 [[ 9.94893763e-01 1.00507475e-01 9.20036988e-03 3.94624209e+01] [-1.00502953e-01 9.94936303e-01 -9.53730452e-04 -2.71904796e+00] [-9.24963903e-03 2.41961378e-05 9.99957221e-01 -7.46210286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.49, Y:-2.72, Z:-0.75 [[ 9.94900369e-01 1.00474050e-01 8.84422918e-03 3.94938884e+01] [-1.00469870e-01 9.94939679e-01 -9.16864078e-04 -2.71904571e+00] [-8.89159559e-03 2.36098553e-05 9.99960469e-01 -7.45968757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.53, Y:-2.72, Z:-0.75 [[ 9.94921122e-01 1.00175602e-01 9.83915388e-03 3.95256032e+01] [-1.00170411e-01 9.94969772e-01 -1.02026684e-03 -2.71979439e+00] [-9.89186654e-03 2.94929389e-05 9.99951074e-01 -7.45868037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.56, Y:-2.72, Z:-0.75 [[ 9.94973029e-01 9.95205341e-02 1.11505318e-02 3.95561182e+01] [-9.95138219e-02 9.95035508e-01 -1.15656637e-03 -2.71696133e+00] [-1.12102772e-02 4.11203070e-05 9.99937162e-01 -7.46600411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.355769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.59, Y:-2.72, Z:-0.75 [[ 9.94978670e-01 9.95350420e-02 1.04986896e-02 3.95863530e+01] [-9.95290913e-02 9.95034057e-01 -1.08906809e-03 -2.71785595e+00] [-1.05549542e-02 3.86744829e-05 9.99944294e-01 -7.47407371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.62, Y:-2.72, Z:-0.75 [[ 9.94910265e-01 1.00465430e-01 7.76282759e-03 3.96163832e+01] [-1.00462203e-01 9.94940549e-01 -8.05432654e-04 -2.71741445e+00] [-7.80447009e-03 2.14624505e-05 9.99969544e-01 -7.48094586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.65, Y:-2.72, Z:-0.75 [[ 9.94801283e-01 1.01588249e-01 7.08764837e-03 3.96463685e+01] [-1.01585588e-01 9.94826531e-01 -7.35380205e-04 -2.71891071e+00] [-7.12568663e-03 1.15542432e-05 9.99974612e-01 -7.48459359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.68, Y:-2.72, Z:-0.75 [[ 9.94728332e-01 1.02286777e-01 7.27739404e-03 3.96753150e+01] [-1.02283991e-01 9.94754952e-01 -7.54949283e-04 -2.72012105e+00] [-7.31644509e-03 6.60853668e-06 9.99973234e-01 -7.48435343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.71, Y:-2.72, Z:-0.75 [[ 9.94711820e-01 1.02296614e-01 9.15411449e-03 3.97050054e+01] [-1.02292211e-01 9.94753941e-01 -9.49154032e-04 -2.71950968e+00] [-9.20318671e-03 7.74012325e-06 9.99957650e-01 -7.48327985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.73, Y:-2.72, Z:-0.75 [[ 9.94716371e-01 1.02207613e-01 9.64083053e-03 3.97346712e+01] [-1.02202728e-01 9.94763089e-01 -9.99371921e-04 -2.72105790e+00] [-9.69248578e-03 8.77243218e-06 9.99953027e-01 -7.49262515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.535769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.76, Y:-2.72, Z:-0.75 [[ 9.94864605e-01 1.00791309e-01 9.24826251e-03 3.97641644e+01] [-1.00786754e-01 9.94907589e-01 -9.58471652e-04 -2.72189117e+00] [-9.29777217e-03 2.14471646e-05 9.99956775e-01 -7.50530219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.79, Y:-2.72, Z:-0.75 [[ 9.94971004e-01 9.97426061e-02 9.17133301e-03 3.97940178e+01] [-9.97380844e-02 9.95013272e-01 -9.50232620e-04 -2.72446878e+00] [-9.22037675e-03 3.07227191e-05 9.99957491e-01 -7.51118385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.595769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.82, Y:-2.73, Z:-0.75 [[ 9.95150591e-01 9.78589394e-02 9.94631714e-03 3.98232453e+01] [-9.78535281e-02 9.95200294e-01 -1.03042598e-03 -2.72677766e+00] [-9.99941414e-03 5.21468013e-05 9.99950003e-01 -7.51412673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.625769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:39.85, Y:-2.73, Z:-0.75 [[ 9.95160901e-01 9.76575098e-02 1.08532132e-02 3.98532280e+01] [-9.76510583e-02 9.95220080e-01 -1.12405048e-03 -2.72943651e+00] [-1.09111077e-02 5.87833336e-05 9.99940470e-01 -7.51415707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.88, Y:-2.73, Z:-0.75 [[ 9.95104756e-01 9.81443377e-02 1.15850991e-02 3.98840825e+01] [-9.81370197e-02 9.95172189e-01 -1.19985077e-03 -2.73199995e+00] [-1.16469270e-02 5.70501072e-05 9.99932171e-01 -7.51692346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.91, Y:-2.73, Z:-0.75 [[ 9.95047619e-01 9.86876217e-02 1.18738888e-02 3.99135628e+01] [-9.86799729e-02 9.95118461e-01 -1.22977091e-03 -2.73415053e+00] [-1.19372891e-02 5.19655843e-05 9.99928747e-01 -7.51993088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:-2.74, Z:-0.75 [[ 9.95044175e-01 9.88837990e-02 1.04443601e-02 3.99430518e+01] [-9.88778930e-02 9.95098986e-01 -1.08160444e-03 -2.73617288e+00] [-1.05001253e-02 4.35278757e-05 9.99944871e-01 -7.53228686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.97, Y:-2.74, Z:-0.75 [[ 9.95315502e-01 9.62748886e-02 8.84297067e-03 3.99735734e+01] [-9.62705531e-02 9.95354782e-01 -9.15636453e-04 -2.74066934e+00] [-8.89004594e-03 6.00294781e-05 9.99960481e-01 -7.53868978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.00, Y:-2.74, Z:-0.75 [[ 9.95316676e-01 9.62627474e-02 8.84296576e-03 4.00035800e+01] [-9.62584110e-02 9.95355956e-01 -9.15683899e-04 -2.74373736e+00] [-8.89004489e-03 6.01856225e-05 9.99960481e-01 -7.54255104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.03, Y:-2.75, Z:-0.75 [[ 9.95442034e-01 9.49522150e-02 8.90138755e-03 4.00326896e+01] [-9.49477697e-02 9.95481829e-01 -9.21622407e-04 -2.74841140e+00] [-8.94867965e-03 7.22547879e-05 9.99959957e-01 -7.54409595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.06, Y:-2.75, Z:-0.75 [[ 9.95523481e-01 9.40745832e-02 9.10892544e-03 4.00623784e+01] [-9.40698928e-02 9.95565149e-01 -9.42950399e-04 -2.75316637e+00] [-9.15723638e-03 8.18536230e-05 9.99958068e-01 -7.54572923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:-2.76, Z:-0.76 [[ 9.95589353e-01 9.33337603e-02 9.52095096e-03 4.00911310e+01] [-9.33286019e-02 9.95634873e-01 -9.85642052e-04 -2.75786698e+00] [-9.57138448e-03 9.27176921e-05 9.99954189e-01 -7.55166504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.12, Y:-2.76, Z:-0.76 [[ 9.95809440e-01 9.09563683e-02 9.51307665e-03 4.01208282e+01] [-9.09511113e-02 9.95854872e-01 -9.84672280e-04 -2.76311467e+00] [-9.56320595e-03 1.15321058e-04 9.99954265e-01 -7.55566283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.15, Y:-2.77, Z:-0.76 [[ 9.96016163e-01 8.85339551e-02 1.06556387e-02 4.01506930e+01] [-8.85272209e-02 9.96073147e-01 -1.10293572e-03 -2.76766892e+00] [-1.07114428e-02 1.55227722e-04 9.99942619e-01 -7.55354510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.955769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.18, Y:-2.77, Z:-0.76 [[ 9.96072518e-01 8.78413857e-02 1.11099135e-02 4.01819706e+01] [-8.78340224e-02 9.96134460e-01 -1.14991772e-03 -2.77146719e+00] [-1.11679781e-02 1.69573050e-04 9.99937622e-01 -7.55544849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:-2.78, Z:-0.76 [[ 9.96114829e-01 8.73439525e-02 1.12375066e-02 4.02124032e+01] [-8.73363866e-02 9.96178198e-01 -1.16320069e-03 -2.77551054e+00] [-1.12961576e-02 1.77238239e-04 9.99936181e-01 -7.55946132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:-2.78, Z:-0.76 [[ 9.96235757e-01 8.60964318e-02 1.00856505e-02 4.02432737e+01] [-8.60902566e-02 9.96286793e-01 -1.04564350e-03 -2.78156435e+00] [-1.01382265e-02 1.73431209e-04 9.99948592e-01 -7.56320903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.27, Y:-2.79, Z:-0.76 [[ 9.96298088e-01 8.53948705e-02 9.89124889e-03 4.02739334e+01] [-8.53888928e-02 9.96347171e-01 -1.02585881e-03 -2.78641105e+00] [-9.94272093e-03 1.77458380e-04 9.99950554e-01 -7.56925654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.30, Y:-2.79, Z:-0.76 [[ 9.96308548e-01 8.51134712e-02 1.11791883e-02 4.03038554e+01] [-8.51058141e-02 9.96371244e-01 -1.15975799e-03 -2.79176248e+00] [-1.12373328e-02 2.04062884e-04 9.99936838e-01 -7.57324110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.33, Y:-2.80, Z:-0.76 [[ 9.96273487e-01 8.54880339e-02 1.14427019e-02 4.03348545e+01] [-8.54800348e-02 9.96339176e-01 -1.18721883e-03 -2.79644442e+00] [-1.15023052e-02 2.04672080e-04 9.99933825e-01 -7.57651814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.135769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.37, Y:-2.80, Z:-0.76 [[ 9.96223361e-01 8.60952024e-02 1.12530756e-02 4.03653740e+01] [-8.60875042e-02 9.96286896e-01 -1.16761304e-03 -2.80202117e+00] [-1.13118177e-02 1.94454194e-04 9.99936000e-01 -7.58382010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.40, Y:-2.81, Z:-0.76 [[ 9.96197799e-01 8.65068264e-02 1.03205865e-02 4.03954720e+01] [-8.65003587e-02 9.96251243e-01 -1.07226228e-03 -2.80954472e+00] [-1.03746551e-02 1.75450893e-04 9.99946166e-01 -7.58890506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.43, Y:-2.82, Z:-0.76 [[ 9.96205042e-01 8.61757831e-02 1.22167348e-02 4.04265812e+01] [-8.61666687e-02 9.96279925e-01 -1.27144534e-03 -2.81674448e+00] [-1.22808555e-02 2.13944912e-04 9.99924565e-01 -7.58734935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.46, Y:-2.82, Z:-0.76 [[ 9.96198354e-01 8.60463872e-02 1.35962559e-02 4.04584387e+01] [-8.60350528e-02 9.96291102e-01 -1.41744637e-03 -2.82250624e+00] [-1.36677949e-02 2.42303150e-04 9.99906562e-01 -7.59140498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.49, Y:-2.83, Z:-0.76 [[ 9.96247569e-01 8.54087671e-02 1.40044086e-02 4.04908615e+01] [-8.53966438e-02 9.96345961e-01 -1.46249455e-03 -2.82849886e+00] [-1.40781458e-02 2.61077148e-04 9.99900864e-01 -7.59741915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.52, Y:-2.84, Z:-0.76 [[ 9.96400865e-01 8.39385829e-02 1.18164968e-02 4.05216630e+01] [-8.39298257e-02 9.96470901e-01 -1.23592971e-03 -2.83841361e+00] [-1.18785374e-02 2.39724909e-04 9.99929419e-01 -7.61434758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.315769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.55, Y:-2.85, Z:-0.76 [[ 9.96448828e-01 8.35663538e-02 1.03148981e-02 4.05533614e+01] [-8.35596444e-02 9.96502192e-01 -1.08046876e-03 -2.84565453e+00] [-1.03691094e-02 2.14722613e-04 9.99946216e-01 -7.62168442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.345769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:40.59, Y:-2.86, Z:-0.76 [[ 9.96489396e-01 8.32029962e-02 9.28141614e-03 4.05854983e+01] [-8.31975352e-02 9.96532600e-01 -9.73605435e-04 -2.85742093e+00] [-9.33024064e-03 1.97996547e-04 9.99956453e-01 -7.63060728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.375769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.62, Y:-2.87, Z:-0.76 [[ 9.96417748e-01 8.39290090e-02 1.03727268e-02 4.06167814e+01] [-8.39222050e-02 9.96471713e-01 -1.09025534e-03 -2.86576977e+00] [-1.04276329e-02 2.15847670e-04 9.99945607e-01 -7.63352268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.65, Y:-2.88, Z:-0.76 [[ 9.96181460e-01 8.62871090e-02 1.33054059e-02 4.06485295e+01] [-8.62760852e-02 9.96270281e-01 -1.40137266e-03 -2.88080294e+00] [-1.33767009e-02 2.48083133e-04 9.99910497e-01 -7.63015994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.435769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.68, Y:-2.89, Z:-0.76 [[ 9.96006363e-01 8.82691817e-02 1.34118115e-02 4.06794534e+01] [-8.82581266e-02 9.96096632e-01 -1.41509247e-03 -2.88994833e+00] [-1.34843693e-02 2.25739743e-04 9.99909056e-01 -7.63188051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.71, Y:-2.90, Z:-0.76 [[ 9.95817140e-01 9.04996971e-02 1.25709476e-02 4.07102888e+01] [-9.04901450e-02 9.95896466e-01 -1.32775353e-03 -2.89859491e+00] [-1.26395236e-02 1.84652850e-04 9.99920101e-01 -7.64622378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.495769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:40.74, Y:-2.91, Z:-0.77 [[ 9.95314424e-01 9.62457428e-02 9.27112567e-03 4.07416738e+01] [-9.62407863e-02 9.95357599e-01 -9.80312134e-04 -2.91217773e+00] [-9.32243626e-03 8.34583829e-05 9.99956542e-01 -7.66856890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.525769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:40.77, Y:-2.92, Z:-0.77 [[ 9.94948270e-01 1.00058602e-01 8.13736852e-03 4.07732911e+01] [-1.00054900e-01 9.94981545e-01 -8.61690709e-04 -2.92025488e+00] [-8.18275107e-03 4.31540820e-05 9.99966520e-01 -7.67761874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.555769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.80, Y:-2.93, Z:-0.77 [[ 9.94165717e-01 1.07598769e-01 7.55190710e-03 4.08048584e+01] [-1.07595790e-01 9.94194400e-01 -8.00742172e-04 -2.93115257e+00] [-7.59422262e-03 -1.64829962e-05 9.99971163e-01 -7.68326934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:40.84, Y:-2.94, Z:-0.77 [[ 9.93782522e-01 1.11016922e-01 8.45824217e-03 4.08363312e+01] [-1.11013293e-01 9.93818515e-01 -8.98761009e-04 -2.93726404e+00] [-8.50573535e-03 -4.58043342e-05 9.99963825e-01 -7.67781884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.615769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:40.87, Y:-2.94, Z:-0.77 [[ 9.93377430e-01 1.14449334e-01 1.01307431e-02 4.08688113e+01] [-1.14444284e-01 9.93429083e-01 -1.07866810e-03 -2.94277114e+00] [-1.01876277e-02 -8.78810989e-05 9.99948101e-01 -7.66960899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.90, Y:-2.95, Z:-0.77 [[ 9.92671111e-01 1.20175363e-01 1.27258739e-02 4.09002639e+01] [-1.20167829e-01 9.92752663e-01 -1.35783857e-03 -2.94830289e+00] [-1.27968239e-02 -1.81353515e-04 9.99918101e-01 -7.66659714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.675769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.93, Y:-2.95, Z:-0.77 [[ 9.92005193e-01 1.25683426e-01 1.13742322e-02 4.09329171e+01] [-1.25677750e-01 9.92070374e-01 -1.21526140e-03 -2.95170336e+00] [-1.14367770e-02 -2.23942289e-04 9.99934573e-01 -7.68707627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.97, Y:-2.95, Z:-0.77 [[ 9.91632204e-01 1.28711030e-01 9.95199820e-03 4.09650965e+01] [-1.28706822e-01 9.91682116e-01 -1.06485489e-03 -2.95424408e+00] [-1.00062772e-02 -2.24945659e-04 9.99949911e-01 -7.68374717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.735769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:41.00, Y:-2.96, Z:-0.77 [[ 9.91177192e-01 1.32195751e-01 9.59462258e-03 4.09966802e+01] [-1.32191987e-01 9.91223598e-01 -1.02816598e-03 -2.95613843e+00] [-9.64633549e-03 -2.49237551e-04 9.99953442e-01 -7.68563309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:41.03, Y:-2.95, Z:-0.77 [[ 9.90202464e-01 1.39269150e-01 1.01579089e-02 4.10298473e+01] [-1.39265285e-01 9.90254508e-01 -1.09038554e-03 -2.95261749e+00] [-1.02107722e-02 -3.34941622e-04 9.99947813e-01 -7.66986524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.795769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.06, Y:-2.95, Z:-0.77 [[ 9.89758461e-01 1.42338001e-01 1.08666113e-02 4.10623462e+01] [-1.42333741e-01 9.89818034e-01 -1.16829124e-03 -2.95121165e+00] [-1.09222601e-02 -3.90359306e-04 9.99940274e-01 -7.67540183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:41.09, Y:-2.94, Z:-0.77 [[ 9.89307689e-01 1.45298262e-01 1.25980808e-02 4.10932485e+01] [-1.45292746e-01 9.89387779e-01 -1.35692196e-03 -2.94479230e+00] [-1.26615456e-02 -4.87996424e-04 9.99919720e-01 -7.68364204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.855769231000004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:41.13, Y:-2.94, Z:-0.77 [[ 9.89362940e-01 1.44922432e-01 1.25881691e-02 4.11252927e+01] [-1.44916892e-01 9.89442902e-01 -1.35597237e-03 -2.94444216e+00] [-1.26517854e-02 -4.82689542e-04 9.99919846e-01 -7.69380743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885769231000005 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:41.16, Y:-2.94, Z:-0.77 [[ 9.89618040e-01 1.43204200e-01 1.21939081e-02 4.11563711e+01] [-1.43198848e-01 9.89693063e-01 -1.31538259e-03 -2.94418764e+00] [-1.22565945e-02 -4.44427251e-04 9.99924786e-01 -7.70147208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.915769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:41.19, Y:-2.94, Z:-0.77 [[ 9.90464744e-01 1.37229736e-01 1.21486472e-02 4.11894756e+01] [-1.37223963e-01 9.90539178e-01 -1.31151181e-03 -2.94088849e+00] [-1.22136894e-02 -3.68079299e-04 9.99925342e-01 -7.70945414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.945769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:41.22, Y:-2.94, Z:-0.77 [[ 9.90856287e-01 1.34401690e-01 1.18323065e-02 4.12204987e+01] [-1.34395990e-01 9.90926880e-01 -1.27918448e-03 -2.94019159e+00] [-1.18968751e-02 -3.22726559e-04 9.99929178e-01 -7.71285194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.975769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:41.25, Y:-2.93, Z:-0.77 [[ 9.91403240e-01 1.30510827e-01 9.30266814e-03 4.12539137e+01] [-1.30507124e-01 9.91446861e-01 -1.00660174e-03 -2.93449882e+00] [-9.35447354e-03 -2.16116236e-04 9.99956223e-01 -7.70875257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:41.28, Y:-2.93, Z:-0.77 [[ 9.91633142e-01 1.28778056e-01 8.94003982e-03 4.12843519e+01] [-1.28774547e-01 9.91673422e-01 -9.69387695e-04 -2.93236486e+00] [-8.99043575e-03 -1.89972615e-04 9.99959567e-01 -7.71796385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.035769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:41.31, Y:-2.93, Z:-0.77 [[ 9.91843520e-01 1.27081567e-01 9.83401904e-03 4.13145823e+01] [-1.27077239e-01 9.91892251e-01 -1.06629136e-03 -2.93045361e+00] [-9.88979326e-03 -1.92085810e-04 9.99951076e-01 -7.72137029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065769231000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:41.35, Y:-2.93, Z:-0.77 [[ 9.92209273e-01 1.23873565e-01 1.32701776e-02 4.13460837e+01] [-1.23865394e-01 9.92297986e-01 -1.43906259e-03 -2.92676579e+00] [-1.33462323e-02 -2.15864523e-04 9.99910912e-01 -7.73367423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.095769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:41.38, Y:-2.93, Z:-0.77 [[ 9.92501474e-01 1.21415386e-01 1.41112440e-02 4.13772446e+01] [-1.21405895e-01 9.92601766e-01 -1.53048729e-03 -2.92899999e+00] [-1.41926704e-02 -1.94177312e-04 9.99899260e-01 -7.74242902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.125769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:41.41, Y:-2.93, Z:-0.78 [[ 9.93545592e-01 1.12855539e-01 1.14361220e-02 4.14078802e+01] [-1.12848721e-01 9.93611405e-01 -1.24175958e-03 -2.93098369e+00] [-1.15032006e-02 -5.68069788e-05 9.99933834e-01 -7.75519522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.155769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:41.44, Y:-2.93, Z:-0.78 [[ 9.94152973e-01 1.07637111e-01 8.60925088e-03 4.14388826e+01] [-1.07633039e-01 9.94190250e-01 -9.36195802e-04 -2.93387646e+00] [-8.66000269e-03 4.08199981e-06 9.99962501e-01 -7.75961255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:41.47, Y:-2.94, Z:-0.78 [[ 9.95222382e-01 9.74140717e-02 6.55046784e-03 4.14700094e+01] [-9.74114985e-02 9.95243937e-01 -7.11491405e-04 -2.93949299e+00] [-6.58862267e-03 7.00012831e-05 9.99978292e-01 -7.76712738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.215769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:41.50, Y:-2.95, Z:-0.78 [[ 9.95677260e-01 9.25521377e-02 7.80359459e-03 4.15013397e+01] [-9.25483169e-02 9.95707832e-01 -8.50093384e-04 -2.94535645e+00] [-7.84877821e-03 1.24209106e-04 9.99969190e-01 -7.76487620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:41.53, Y:-2.95, Z:-0.78 [[ 9.95996144e-01 8.88380405e-02 9.97413370e-03 4.15326750e+01] [-8.88316130e-02 9.96046065e-01 -1.08647553e-03 -2.95133826e+00] [-1.00312170e-02 1.96107054e-04 9.99949667e-01 -7.76160953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.275769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:41.56, Y:-2.96, Z:-0.78 [[ 9.96359953e-01 8.43611925e-02 1.22488213e-02 4.15641528e+01] [-8.43511292e-02 9.96435196e-01 -1.33680441e-03 -2.95871174e+00] [-1.23179311e-02 2.98736466e-04 9.99924087e-01 -7.76133677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.305769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:41.60, Y:-2.97, Z:-0.78 [[ 9.96556220e-01 8.21313424e-02 1.14079817e-02 4.15955659e+01] [-8.21224455e-02 9.96621467e-01 -1.24694427e-03 -2.96751517e+00] [-1.14718527e-02 3.05798712e-04 9.99934149e-01 -7.77134334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.335769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:41.63, Y:-2.97, Z:-0.78 [[ 9.96606398e-01 8.16113010e-02 1.07370035e-02 4.16282257e+01] [-8.16033711e-02 9.96664190e-01 -1.17533167e-03 -2.97422326e+00] [-1.07971073e-02 2.95167376e-04 9.99941666e-01 -7.77739097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:41.66, Y:-2.98, Z:-0.78 [[ 9.96688468e-01 8.08543872e-02 8.64089445e-03 4.16612239e+01] [-8.08160001e-02 9.96717939e-01 -4.70354430e-03 -2.97859565e+00] [-8.99283670e-03 3.98964584e-03 9.99951605e-01 -7.78245845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.395769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:41.69, Y:-2.99, Z:-0.78 [[ 9.96750118e-01 7.99806786e-02 9.60696359e-03 4.16915014e+01] [-8.00100209e-02 9.96790378e-01 2.70917477e-03 -2.99016533e+00] [-9.35944722e-03 -3.46902363e-03 9.99950182e-01 -7.78480380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425769231000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:41.72, Y:-2.99, Z:-0.78 [[ 9.96715853e-01 8.04543496e-02 9.19815336e-03 4.17241672e+01] [-8.04484473e-02 9.96758259e-01 -1.01049280e-03 -2.99472958e+00] [-9.24963386e-03 2.67197036e-04 9.99957186e-01 -7.78725756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.455769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.76, Y:-3.00, Z:-0.78 [[ 9.96450196e-01 8.36252597e-02 9.68622701e-03 4.17561168e+01] [-8.36188451e-02 9.96497241e-01 -1.06605066e-03 -3.00313876e+00] [-9.74144726e-03 2.52315275e-04 9.99952519e-01 -7.79008129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.485769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:41.79, Y:-3.01, Z:-0.78 [[ 9.96229897e-01 8.61236800e-02 1.04261056e-02 4.17888855e+01] [-8.61163625e-02 9.96284423e-01 -1.14960364e-03 -3.00846468e+00] [-1.04863747e-02 2.47411222e-04 9.99944986e-01 -7.79857541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.515769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.82, Y:-3.01, Z:-0.78 [[ 9.95728607e-01 9.15833898e-02 1.17057185e-02 4.18210091e+01] [-9.15745130e-02 9.95797387e-01 -1.29321807e-03 -3.01467058e+00] [-1.17749612e-02 2.15748754e-04 9.99930649e-01 -7.80012566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:41.85, Y:-3.02, Z:-0.78 [[ 9.95428657e-01 9.47437765e-02 1.20584416e-02 4.18524152e+01] [-9.47345588e-02 9.95501674e-01 -1.33462132e-03 -3.01912237e+00] [-1.21306459e-02 1.86169164e-04 9.99926404e-01 -7.80444393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.575769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:41.88, Y:-3.02, Z:-0.78 [[ 9.95143379e-01 9.76982159e-02 1.20297007e-02 4.18838035e+01] [-9.76892312e-02 9.95216075e-01 -1.33363807e-03 -3.02360830e+00] [-1.21024456e-02 1.51988882e-04 9.99926751e-01 -7.80732155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:41.92, Y:-3.03, Z:-0.78 [[ 9.94657356e-01 1.02802245e-01 9.40441703e-03 4.19160538e+01] [-1.02796971e-01 9.94701811e-01 -1.04370654e-03 -3.02913481e+00] [-9.46188603e-03 7.13848024e-05 9.99955233e-01 -7.83001762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.635769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.95, Y:-3.03, Z:-0.78 [[ 9.94083133e-01 1.08292990e-01 8.44711259e-03 4.19484876e+01] [-1.08288922e-01 9.94119021e-01 -9.38778178e-04 -3.03424069e+00] [-8.49909839e-03 1.84948336e-05 9.99963882e-01 -7.83704692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.98, Y:-3.04, Z:-0.78 [[ 9.94074541e-01 1.08371848e-01 8.44689508e-03 4.19817647e+01] [-1.08367767e-01 9.94110428e-01 -9.40730643e-04 -3.03809760e+00] [-8.49909519e-03 1.97852249e-05 9.99963882e-01 -7.84133601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.695769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.01, Y:-3.04, Z:-0.78 [[ 9.93747110e-01 1.11275583e-01 9.18835822e-03 4.20147085e+01] [-1.11270874e-01 9.93789588e-01 -1.02376886e-03 -3.04190432e+00] [-9.24521520e-03 -5.02930773e-06 9.99957262e-01 -7.83747537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.05, Y:-3.05, Z:-0.78 [[ 9.93452489e-01 1.13819009e-01 9.86839152e-03 4.20476399e+01] [-1.13813682e-01 9.93501501e-01 -1.10152788e-03 -3.04515618e+00] [-9.92963660e-03 -2.88423648e-05 9.99950700e-01 -7.84001876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.755769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:42.08, Y:-3.05, Z:-0.78 [[ 9.93246012e-01 1.15525622e-01 1.07791779e-02 4.20802173e+01] [-1.15519343e-01 9.93304499e-01 -1.20536761e-03 -3.04737006e+00] [-1.08462567e-02 -4.79769821e-05 9.99941176e-01 -7.84828789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:42.11, Y:-3.05, Z:-0.79 [[ 9.93244321e-01 1.15555396e-01 1.06146166e-02 4.21119039e+01] [-1.15549288e-01 9.93301036e-01 -1.18900150e-03 -3.05090125e+00] [-1.06809052e-02 -4.55424122e-05 9.99942956e-01 -7.85624382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.815769231000004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:42.14, Y:-3.05, Z:-0.79 [[ 9.93326907e-01 1.14942902e-01 9.47549703e-03 4.21432719e+01] [-1.14937992e-01 9.93372100e-01 -1.06289154e-03 -3.05399657e+00] [-9.53486622e-03 -3.32958366e-05 9.99954542e-01 -7.87015620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.845769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.18, Y:-3.06, Z:-0.79 [[ 9.93347152e-01 1.14793763e-01 9.15569953e-03 4.21764398e+01] [-1.14789160e-01 9.93389345e-01 -1.02841627e-03 -3.05683032e+00] [-9.21323013e-03 -2.94006763e-05 9.99957557e-01 -7.88367875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.875769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:42.21, Y:-3.06, Z:-0.79 [[ 9.93232471e-01 1.15790152e-01 9.04987288e-03 4.22089187e+01] [-1.15785680e-01 9.93273698e-01 -1.01825218e-03 -3.05841831e+00] [-9.10690428e-03 -3.64845628e-05 9.99958531e-01 -7.89070871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.24, Y:-3.06, Z:-0.79 [[ 9.93179767e-01 1.16232890e-01 9.15777525e-03 4.22409878e+01] [-1.16228314e-01 9.93221986e-01 -1.03211145e-03 -3.06099903e+00] [-9.21566902e-03 -3.93205697e-05 9.99957534e-01 -7.89029018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.935769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:42.27, Y:-3.06, Z:-0.79 [[ 9.93156295e-01 1.16455779e-01 8.86713975e-03 4.22733036e+01] [-1.16451486e-01 9.93195877e-01 -1.00064915e-03 -3.06335793e+00] [-8.92333802e-03 -3.87906003e-05 9.99960185e-01 -7.88781816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:42.30, Y:-3.06, Z:-0.79 [[ 9.93231819e-01 1.15809126e-01 8.87688668e-03 4.23048728e+01] [-1.15804786e-01 9.93271486e-01 -1.00316731e-03 -3.06483429e+00] [-8.93333435e-03 -3.16082723e-05 9.99960096e-01 -7.88675838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.995769231000004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:42.34, Y:-3.07, Z:-0.79 [[ 9.93259848e-01 1.15497968e-01 9.75156286e-03 4.23362540e+01] [-1.15492696e-01 9.93307716e-01 -1.10394112e-03 -3.06789326e+00] [-9.81380559e-03 -2.97338991e-05 9.99951843e-01 -7.88947160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.025769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.37, Y:-3.07, Z:-0.79 [[ 9.93425647e-01 1.13934733e-01 1.11517046e-02 4.23687038e+01] [-1.13927739e-01 9.93488237e-01 -1.26252606e-03 -3.07056032e+00] [-1.12229329e-02 -1.62627223e-05 9.99937021e-01 -7.90136407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.055769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:42.40, Y:-3.07, Z:-0.79 [[ 9.93568718e-01 1.12698346e-01 1.09674589e-02 4.24006332e+01] [-1.12691488e-01 9.93629248e-01 -1.24329132e-03 -3.07396091e+00] [-1.10377049e-02 -6.43901597e-07 9.99939083e-01 -7.90964925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.43, Y:-3.08, Z:-0.79 [[ 9.93683825e-01 1.11773697e-01 9.95477070e-03 4.24337528e+01] [-1.11767987e-01 9.93733687e-01 -1.12984479e-03 -3.07861559e+00] [-1.00186779e-02 1.00838102e-05 9.99949812e-01 -7.91288746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.115769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.46, Y:-3.08, Z:-0.79 [[ 9.93767911e-01 1.11099187e-01 9.07247720e-03 4.24648026e+01] [-1.11094402e-01 9.93809323e-01 -1.03120733e-03 -3.08465749e+00] [-9.13087872e-03 1.68793278e-05 9.99958313e-01 -7.91206194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:42.50, Y:-3.09, Z:-0.79 [[ 9.93540099e-01 1.12881815e-01 1.16519521e-02 4.24953105e+01] [-1.12874014e-01 9.93608422e-01 -1.32704281e-03 -3.08837016e+00] [-1.17272767e-02 3.26763612e-06 9.99931233e-01 -7.90594432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.175769231000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:42.53, Y:-3.09, Z:-0.79 [[ 9.93323008e-01 1.14649332e-01 1.28425951e-02 4.25270816e+01] [-1.14639976e-01 9.93406025e-01 -1.46472464e-03 -3.09112437e+00] [-1.29258411e-02 -1.73301119e-05 9.99916458e-01 -7.91281445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205769231000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.56, Y:-3.09, Z:-0.79 [[ 9.93074115e-01 1.16748600e-01 1.31744496e-02 4.25596085e+01] [-1.16738911e-01 9.93161499e-01 -1.50470762e-03 -3.09410846e+00] [-1.32600286e-02 -4.36847151e-05 9.99912081e-01 -7.91565582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.235769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.59, Y:-3.10, Z:-0.79 [[ 9.92725485e-01 1.19853563e-01 1.14557307e-02 4.25924667e+01] [-1.19846427e-01 9.92791578e-01 -1.30990939e-03 -3.09684525e+00] [-1.15301503e-02 -7.25479584e-05 9.99933523e-01 -7.92926469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.62, Y:-3.10, Z:-0.79 [[ 9.92655010e-01 1.20504988e-01 1.07041355e-02 4.26245119e+01] [-1.20498775e-01 9.92712719e-01 -1.22588745e-03 -3.09961241e+00] [-1.07738570e-02 -7.29518962e-05 9.99941958e-01 -7.93213936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.295769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.66, Y:-3.10, Z:-0.80 [[ 9.92613692e-01 1.20883593e-01 1.02574694e-02 4.26561663e+01] [-1.20877890e-01 9.92666687e-01 -1.17637171e-03 -3.10030281e+00] [-1.03244522e-02 -7.22185985e-05 9.99946699e-01 -7.95216955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.69, Y:-3.10, Z:-0.80 [[ 9.92656247e-01 1.20580671e-01 9.68900095e-03 4.26873637e+01] [-1.20575553e-01 9.92703530e-01 -1.11274677e-03 -3.10226131e+00] [-9.75248120e-03 -6.36816210e-05 9.99952441e-01 -7.95757239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.355769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.72, Y:-3.10, Z:-0.80 [[ 9.92721951e-01 1.20112721e-01 8.72137843e-03 4.27178857e+01] [-1.20108548e-01 9.92760259e-01 -1.00259473e-03 -3.10460586e+00] [-8.77866229e-03 -5.22143018e-05 9.99961465e-01 -7.96629471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385769231000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.75, Y:-3.10, Z:-0.80 [[ 9.92865304e-01 1.19104555e-01 5.70903860e-03 4.27489732e+01] [-1.19102750e-01 9.92881717e-01 -6.56395549e-04 -3.10462113e+00] [-5.74657974e-03 -2.82498305e-05 9.99983488e-01 -7.97747582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.415769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:42.78, Y:-3.10, Z:-0.80 [[ 9.92799249e-01 1.19616944e-01 6.43730737e-03 4.27797472e+01] [-1.19614659e-01 9.92820117e-01 -7.40128103e-04 -3.10211253e+00] [-6.47962012e-03 -3.51977021e-05 9.99979006e-01 -7.97110007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.445769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.81, Y:-3.10, Z:-0.80 [[ 9.92755499e-01 1.19855303e-01 8.43954973e-03 4.28098439e+01] [-1.19851385e-01 9.92791370e-01 -9.70384383e-04 -3.10304221e+00] [-8.49501785e-03 -4.81372888e-05 9.99963916e-01 -7.96544413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.475769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.84, Y:-3.11, Z:-0.80 [[ 9.92706183e-01 1.20145083e-01 9.97963483e-03 4.28398145e+01] [-1.20139620e-01 9.92756342e-01 -1.14729238e-03 -3.10541641e+00] [-1.00451873e-02 -6.00252965e-05 9.99949544e-01 -7.96623405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.87, Y:-3.11, Z:-0.80 [[ 9.92716303e-01 1.20022287e-01 1.04399449e-02 4.28704552e+01] [-1.20016302e-01 9.92771196e-01 -1.20021117e-03 -3.10797719e+00] [-1.05085286e-02 -6.14943791e-05 9.99944782e-01 -7.96846250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.535769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.90, Y:-3.11, Z:-0.80 [[ 9.92790166e-01 1.19406492e-01 1.04773784e-02 4.29008190e+01] [-1.19400429e-01 9.92845450e-01 -1.20451465e-03 -3.11067329e+00] [-1.05462443e-02 -5.51731752e-05 9.99944385e-01 -7.96862864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.93, Y:-3.11, Z:-0.80 [[ 9.93092908e-01 1.16855074e-01 1.05530568e-02 4.29313188e+01] [-1.16848781e-01 9.93148977e-01 -1.21309860e-03 -3.11393550e+00] [-1.06225143e-02 -2.83922034e-05 9.99943579e-01 -7.97186326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.595769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.96, Y:-3.12, Z:-0.80 [[ 9.93265276e-01 1.15362573e-01 1.07503000e-02 4.29619288e+01] [-1.15355947e-01 9.93323450e-01 -1.23642328e-03 -3.11846185e+00] [-1.08211621e-02 -1.20147365e-05 9.99941449e-01 -7.97641285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.625769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.99, Y:-3.12, Z:-0.80 [[ 9.93502101e-01 1.13257716e-01 1.12367775e-02 4.29935327e+01] [-1.13250342e-01 9.93565644e-01 -1.29243919e-03 -3.12420625e+00] [-1.13108548e-02 1.14721594e-05 9.99936030e-01 -7.97845724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.03, Y:-3.13, Z:-0.80 [[ 9.93478943e-01 1.13481829e-01 1.10210387e-02 4.30255261e+01] [-1.13474730e-01 9.93540072e-01 -1.26940542e-03 -3.12877384e+00] [-1.10938981e-02 1.05181607e-05 9.99938461e-01 -7.98834464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.06, Y:-3.13, Z:-0.80 [[ 9.93230600e-01 1.15798426e-01 9.14879543e-03 4.30554991e+01] [-1.15793616e-01 9.93272734e-01 -1.05549307e-03 -3.13439638e+00] [-9.20947349e-03 -1.10240920e-05 9.99957592e-01 -7.99890459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.08, Y:-3.14, Z:-0.80 [[ 9.93057016e-01 1.17306901e-01 8.76660099e-03 4.30843068e+01] [-1.17302540e-01 9.93095711e-01 -1.01174348e-03 -3.13878074e+00] [-8.82475833e-03 -2.36256032e-05 9.99961061e-01 -8.00706719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.12, Y:-3.14, Z:-0.80 [[ 9.92613592e-01 1.20995514e-01 8.85118440e-03 4.31150132e+01] [-1.20991216e-01 9.92653052e-01 -1.02135766e-03 -3.14227294e+00] [-8.90973490e-03 -5.71020698e-05 9.99960306e-01 -8.00016068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.775769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.15, Y:-3.15, Z:-0.80 [[ 9.92012447e-01 1.25754547e-01 9.85383219e-03 4.31451224e+01] [-1.25749455e-01 9.92061380e-01 -1.13705540e-03 -3.14512681e+00] [-9.91859624e-03 -1.11140920e-04 9.99950803e-01 -7.99613729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.18, Y:-3.15, Z:-0.80 [[ 9.91684881e-01 1.28326531e-01 9.66429507e-03 4.31753119e+01] [-1.28321756e-01 9.91731961e-01 -1.11518429e-03 -3.14820296e+00] [-9.72749804e-03 -1.34227909e-04 9.99952678e-01 -8.00124015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.835769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.20, Y:-3.15, Z:-0.80 [[ 9.91367567e-01 1.30780318e-01 9.31965114e-03 4.32049031e+01] [-1.30775985e-01 9.91411360e-01 -1.07545661e-03 -3.14992807e+00] [-9.38025657e-03 -1.52613757e-04 9.99955993e-01 -8.00546640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.23, Y:-3.15, Z:-0.80 [[ 9.90808515e-01 1.34921199e-01 9.73433340e-03 4.32340274e+01] [-1.34916672e-01 9.90856311e-01 -1.12325281e-03 -3.14728709e+00] [-9.79687631e-03 -2.00395422e-04 9.99951989e-01 -8.00975776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.895769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:43.26, Y:-3.15, Z:-0.80 [[ 9.90561050e-01 1.36736902e-01 9.58260025e-03 4.32637648e+01] [-1.36732604e-01 9.90607376e-01 -1.10537392e-03 -3.14798648e+00] [-9.64373990e-03 -2.15313527e-04 9.99953475e-01 -8.01233100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.29, Y:-3.15, Z:-0.80 [[ 9.90169142e-01 1.39512287e-01 1.00693596e-02 4.32930364e+01] [-1.39507687e-01 9.90220307e-01 -1.16133198e-03 -3.14648170e+00] [-1.01329044e-02 -2.54837964e-04 9.99948628e-01 -8.02235889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.955769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.32, Y:-3.15, Z:-0.80 [[ 9.90124719e-01 1.39810946e-01 1.02927014e-02 4.33219219e+01] [-1.39806160e-01 9.90178181e-01 -1.18659115e-03 -3.14685552e+00] [-1.03575068e-02 -2.64109833e-04 9.99946325e-01 -8.02210547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.35, Y:-3.14, Z:-0.80 [[ 9.90149986e-01 1.39706764e-01 9.22087848e-03 4.33506945e+01] [-1.39702922e-01 9.90192892e-01 -1.06268473e-03 -3.14356826e+00] [-9.27891258e-03 -2.35966393e-04 9.99956922e-01 -8.02535226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.015769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:43.38, Y:-3.14, Z:-0.80 [[ 9.90154695e-01 1.39746473e-01 8.03763597e-03 4.33783587e+01] [-1.39743558e-01 9.90187296e-01 -9.25930028e-04 -3.14395450e+00] [-8.08816048e-03 -2.06393887e-04 9.99967269e-01 -8.03418288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.41, Y:-3.14, Z:-0.80 [[ 9.90203576e-01 1.39405644e-01 7.93374527e-03 4.34075264e+01] [-1.39402797e-01 9.90235339e-01 -9.13440610e-04 -3.14176891e+00] [-7.98361371e-03 -2.01494125e-04 9.99968110e-01 -8.02958198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.075769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.44, Y:-3.14, Z:-0.80 [[ 9.90288048e-01 1.38712655e-01 9.40117275e-03 4.34369311e+01] [-1.38708632e-01 9.90332644e-01 -1.08183765e-03 -3.14238462e+00] [-9.46035283e-03 -2.32692913e-04 9.99955223e-01 -8.03014263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.47, Y:-3.14, Z:-0.80 [[ 9.90537021e-01 1.36779745e-01 1.13009536e-02 4.34652250e+01] [-1.36773812e-01 9.90601451e-01 -1.29982235e-03 -3.14106242e+00] [-1.13725304e-02 -2.58152346e-04 9.99935297e-01 -8.02438410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.49, Y:-3.14, Z:-0.80 [[ 9.90658986e-01 1.35839964e-01 1.19280217e-02 4.34945653e+01] [-1.35833296e-01 9.90730758e-01 -1.37113551e-03 -3.14263308e+00] [-1.20037129e-02 -2.61894785e-04 9.99927919e-01 -8.02286492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:-3.14, Z:-0.80 [[ 9.90811224e-01 1.34684370e-01 1.23789745e-02 4.35226149e+01] [-1.34677106e-01 9.90888517e-01 -1.42235998e-03 -3.14376883e+00] [-1.24577533e-02 -2.57874214e-04 9.99922366e-01 -8.02630358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.55, Y:-3.14, Z:-0.80 [[ 9.91132234e-01 1.32241232e-01 1.30057937e-02 4.35512934e+01] [-1.32233014e-01 9.91217534e-01 -1.49357213e-03 -3.14254202e+00] [-1.30890826e-02 -2.39467818e-04 9.99914306e-01 -8.02903402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.58, Y:-3.14, Z:-0.80 [[ 9.91396748e-01 1.30335383e-01 1.20488992e-02 4.35799857e+01] [-1.30328195e-01 9.91469943e-01 -1.38315542e-03 -3.14181405e+00] [-1.21263955e-02 -1.99055507e-04 9.99926453e-01 -8.03518653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.61, Y:-3.14, Z:-0.80 [[ 9.91465880e-01 1.29804892e-01 1.20871206e-02 4.36092103e+01] [-1.29797626e-01 9.91539537e-01 -1.38696440e-03 -3.14268140e+00] [-1.21648928e-02 -1.93751684e-04 9.99925986e-01 -8.04154172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.64, Y:-3.14, Z:-0.80 [[ 9.91530183e-01 1.29292116e-01 1.23062651e-02 4.36372107e+01] [-1.29284553e-01 9.91606531e-01 -1.41150754e-03 -3.14307297e+00] [-1.23854697e-02 -1.91457660e-04 9.99923279e-01 -8.04069515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.315769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.67, Y:-3.14, Z:-0.80 [[ 9.91678189e-01 1.28104191e-01 1.27939323e-02 4.36666191e+01] [-1.28095929e-01 9.91760698e-01 -1.46657357e-03 -3.14089209e+00] [-1.28763935e-02 -1.84481623e-04 9.99917079e-01 -8.02925427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.70, Y:-3.14, Z:-0.80 [[ 9.91753112e-01 1.27516336e-01 1.28587825e-02 4.36950047e+01] [-1.27507948e-01 9.91836454e-01 -1.47338380e-03 -3.14112261e+00] [-1.29416897e-02 -1.78364001e-04 9.99916237e-01 -8.03020105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.72, Y:-3.14, Z:-0.80 [[ 9.92033812e-01 1.25365504e-01 1.23452728e-02 4.37240253e+01] [-1.25357615e-01 9.92110614e-01 -1.41382910e-03 -3.13794709e+00] [-1.24251216e-02 -1.45007681e-04 9.99922795e-01 -8.04120461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:-3.14, Z:-0.81 [[ 9.92246541e-01 1.23725766e-01 1.17786739e-02 4.37529652e+01] [-1.23718476e-01 9.92316442e-01 -1.34840665e-03 -3.13851807e+00] [-1.18550045e-02 -1.19287758e-04 9.99929720e-01 -8.05568651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.435769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.78, Y:-3.14, Z:-0.81 [[ 9.92770630e-01 1.19483763e-01 1.14064648e-02 4.37823256e+01] [-1.19476652e-01 9.92836153e-01 -1.30527063e-03 -3.13692735e+00] [-1.14807093e-02 -6.69718821e-05 9.99934092e-01 -8.07472501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.81, Y:-3.14, Z:-0.81 [[ 9.93005877e-01 1.17500872e-01 1.15270706e-02 4.38098297e+01] [-1.17493483e-01 9.93072778e-01 -1.31851897e-03 -3.13756577e+00] [-1.16021471e-02 -4.50585789e-05 9.99932692e-01 -8.07674084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.495769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.84, Y:-3.14, Z:-0.81 [[ 9.93411412e-01 1.14108249e-01 1.06336445e-02 4.38378438e+01] [-1.14101773e-01 9.93468322e-01 -1.21573812e-03 -3.13681984e+00] [-1.07029147e-02 -5.58955645e-06 9.99942722e-01 -8.06955773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.87, Y:-3.14, Z:-0.81 [[ 9.93619546e-01 1.12352792e-01 9.85131681e-03 4.38668351e+01] [-1.12347153e-01 9.93668380e-01 -1.12573765e-03 -3.13821456e+00] [-9.91542179e-03 1.17875400e-05 9.99950841e-01 -8.07818203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.90, Y:-3.14, Z:-0.81 [[ 9.93623456e-01 1.12318201e-01 9.85137268e-03 4.38959814e+01] [-1.12312565e-01 9.93672291e-01 -1.12524855e-03 -3.14145807e+00] [-9.91542195e-03 1.16404180e-05 9.99950841e-01 -8.08193581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.92, Y:-3.14, Z:-0.81 [[ 9.93796910e-01 1.10832017e-01 9.16324000e-03 4.39244594e+01] [-1.10827080e-01 9.93839154e-01 -1.04640066e-03 -3.14297231e+00] [-9.22276138e-03 2.43746089e-05 9.99957469e-01 -8.08896512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.95, Y:-3.14, Z:-0.81 [[ 9.93996067e-01 1.08927086e-01 1.03300310e-02 4.39535097e+01] [-1.08920715e-01 9.94049741e-01 -1.17907225e-03 -3.14332619e+00] [-1.03969976e-02 4.68388139e-05 9.99945949e-01 -8.09228166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:43.98, Y:-3.15, Z:-0.81 [[ 9.94081599e-01 1.08051389e-01 1.12549023e-02 4.39815743e+01] [-1.08043776e-01 9.94145308e-01 -1.28407665e-03 -3.14531466e+00] [-1.13277546e-02 6.04548209e-05 9.99935837e-01 -8.09252293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.675769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.01, Y:-3.15, Z:-0.81 [[ 9.94160972e-01 1.07210196e-01 1.22447812e-02 4.40106081e+01] [-1.07201132e-01 9.94236374e-01 -1.39612900e-03 -3.14703727e+00] [-1.23238861e-02 7.53225704e-05 9.99924055e-01 -8.09128464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705769231000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:44.04, Y:-3.15, Z:-0.81 [[ 9.94235330e-01 1.06574845e-01 1.17435298e-02 4.40390247e+01] [-1.06566470e-01 9.94304680e-01 -1.33844627e-03 -3.15025419e+00] [-1.18192913e-02 7.92640631e-05 9.99930147e-01 -8.10105822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.735769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:44.07, Y:-3.15, Z:-0.81 [[ 9.94400151e-01 1.05191015e-01 1.01582099e-02 4.40669955e+01] [-1.05184680e-01 9.94452032e-01 -1.15740758e-03 -3.15494208e+00] [-1.02236014e-02 8.24382111e-05 9.99947734e-01 -8.10289984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.10, Y:-3.16, Z:-0.81 [[ 9.94459358e-01 1.04761501e-01 8.69555617e-03 4.40956129e+01] [-1.04715077e-01 9.94486305e-01 -5.63393883e-03 -3.15654182e+00] [-9.23783141e-03 4.69216736e-03 9.99946322e-01 -8.09478750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:-3.16, Z:-0.81 [[ 9.94472947e-01 1.04369523e-01 1.14262803e-02 4.41222724e+01] [-1.04413615e-01 9.94528381e-01 3.33117075e-03 -3.16349536e+00] [-1.10160873e-02 -4.50581842e-03 9.99929169e-01 -8.10067280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.15, Y:-3.16, Z:-0.81 [[ 9.94365486e-01 1.05227724e-01 1.28221340e-02 4.41512919e+01] [-1.05217663e-01 9.94448146e-01 -1.45861615e-03 -3.16435465e+00] [-1.29044343e-02 1.01282574e-04 9.99916729e-01 -8.09078354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.855769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.18, Y:-3.17, Z:-0.81 [[ 9.94135668e-01 1.07253343e-01 1.38200577e-02 4.41800903e+01] [-1.07241860e-01 9.94231720e-01 -1.57144349e-03 -3.16721446e+00] [-1.39088823e-02 8.01393279e-05 9.99903264e-01 -8.08878568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.21, Y:-3.17, Z:-0.81 [[ 9.94010615e-01 1.08464459e-01 1.33550863e-02 4.42081545e+01] [-1.08453853e-01 9.94100326e-01 -1.51795926e-03 -3.16904907e+00] [-1.34409403e-02 6.04570552e-05 9.99909665e-01 -8.09744499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.915769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.24, Y:-3.17, Z:-0.81 [[ 9.93937121e-01 1.09231759e-01 1.25468320e-02 4.42368535e+01] [-1.09222469e-01 9.94016308e-01 -1.42533115e-03 -3.17050850e+00] [-1.26274470e-02 4.62935687e-05 9.99920270e-01 -8.10995076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.27, Y:-3.17, Z:-0.81 [[ 9.93939359e-01 1.09286802e-01 1.18720665e-02 4.42651746e+01] [-1.09278495e-01 9.94010258e-01 -1.34816093e-03 -3.17146088e+00] [-1.19482921e-02 4.26286519e-05 9.99928616e-01 -8.11893509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.975769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.29, Y:-3.17, Z:-0.81 [[ 9.94091942e-01 1.07493569e-01 1.50447509e-02 4.42942674e+01] [-1.07480038e-01 9.94205777e-01 -1.70738780e-03 -3.17263790e+00] [-1.51411115e-02 8.02900554e-05 9.99885364e-01 -8.10866788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.32, Y:-3.17, Z:-0.81 [[ 9.94229093e-01 1.06166576e-01 1.54002739e-02 4.43218722e+01] [-1.06152251e-01 9.94348353e-01 -1.74694284e-03 -3.17406572e+00] [-1.54987039e-02 1.02087657e-04 9.99879883e-01 -8.10925138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.35, Y:-3.18, Z:-0.81 [[ 9.94379409e-01 1.04914121e-01 1.42343822e-02 4.43497088e+01] [-1.04901767e-01 9.94481279e-01 -1.61389299e-03 -3.17570315e+00] [-1.43251468e-02 1.11610118e-04 9.99897384e-01 -8.12031186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.38, Y:-3.18, Z:-0.81 [[ 9.94588165e-01 1.03099223e-01 1.28425843e-02 4.43781510e+01] [-1.03089023e-01 9.94671069e-01 -1.45542259e-03 -3.17791520e+00] [-1.29242000e-02 1.23616612e-04 9.99916471e-01 -8.13810994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.41, Y:-3.18, Z:-0.82 [[ 9.95100317e-01 9.81812283e-02 1.16536030e-02 4.44068374e+01] [-9.82053927e-02 9.95165009e-01 1.51835589e-03 -3.18352017e+00] [-1.14481839e-02 -2.65536309e-03 9.99930942e-01 -8.15663104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.44, Y:-3.19, Z:-0.81 [[ 9.95680026e-01 9.23082985e-02 1.00231565e-02 4.44351894e+01] [-9.22732886e-02 9.95726074e-01 -3.90189681e-03 -3.18831820e+00] [-1.03404957e-02 2.96017111e-03 9.99942154e-01 -8.14722764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:-3.20, Z:-0.82 [[ 9.95917215e-01 8.96408961e-02 1.06494506e-02 4.44635308e+01] [-8.96331263e-02 9.95974121e-01 -1.20560961e-03 -3.19505424e+00] [-1.07146491e-02 2.46143810e-04 9.99942566e-01 -8.15781242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.49, Y:-3.20, Z:-0.82 [[ 9.96065636e-01 8.79335030e-02 1.09976082e-02 4.44908338e+01] [-8.79251186e-02 9.96126310e-01 -1.24450704e-03 -3.20110421e+00] [-1.10644408e-02 2.72644688e-04 9.99938750e-01 -8.16504920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.52, Y:-3.21, Z:-0.82 [[ 9.96133436e-01 8.72141091e-02 1.05771655e-02 4.45196614e+01] [-8.72063202e-02 9.96189554e-01 -1.19626378e-03 -3.20971361e+00] [-1.06411929e-02 2.69242667e-04 9.99943345e-01 -8.16824266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.55, Y:-3.22, Z:-0.82 [[ 9.96119365e-01 8.74862721e-02 9.61050970e-03 4.45477942e+01] [-8.74798563e-02 9.96165696e-01 -1.08674371e-03 -3.21718197e+00] [-9.66873524e-03 2.41800449e-04 9.99953227e-01 -8.16737440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.275769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:-3.22, Z:-0.82 [[ 9.96137965e-01 8.73269964e-02 9.11867057e-03 4.45752279e+01] [-8.73212152e-02 9.96179674e-01 -1.03097893e-03 -3.22318987e+00] [-9.17386657e-03 2.30743854e-04 9.99957893e-01 -8.17215557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.60, Y:-3.23, Z:-0.82 [[ 9.96171739e-01 8.69450524e-02 9.07875629e-03 4.46039273e+01] [-8.69393115e-02 9.96213082e-01 -1.02584755e-03 -3.22943144e+00] [-9.13356815e-03 2.32619513e-04 9.99958261e-01 -8.17583724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.63, Y:-3.24, Z:-0.82 [[ 9.96188950e-01 8.67056467e-02 9.47138119e-03 4.46332328e+01] [-8.66993899e-02 9.96233944e-01 -1.06997945e-03 -3.23828020e+00] [-9.52848470e-03 2.44738730e-04 9.99954573e-01 -8.17817132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.66, Y:-3.24, Z:-0.82 [[ 9.96199198e-01 8.65856684e-02 9.49101337e-03 4.46615538e+01] [-8.65793820e-02 9.96244378e-01 -1.07201157e-03 -3.24363369e+00] [-9.54818955e-03 2.46210990e-04 9.99954385e-01 -8.17637882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.69, Y:-3.25, Z:-0.82 [[ 9.96137289e-01 8.72150685e-02 1.01997130e-02 4.46892050e+01] [-8.72078451e-02 9.96189473e-01 -1.15166678e-03 -3.25054745e+00] [-1.02612894e-02 2.57723236e-04 9.99947318e-01 -8.17655814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.72, Y:-3.26, Z:-0.82 [[ 9.96034128e-01 8.83151965e-02 1.07908095e-02 4.47190305e+01] [-8.83071808e-02 9.96092545e-01 -1.21798149e-03 -3.25519991e+00] [-1.08562111e-02 2.60245171e-04 9.99941036e-01 -8.17335086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.455769231000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:44.75, Y:-3.26, Z:-0.82 [[ 9.95887326e-01 8.99330793e-02 1.09760884e-02 4.47477268e+01] [-8.99248873e-02 9.95947780e-01 -1.23860853e-03 -3.25968038e+00] [-1.10430028e-02 2.46491026e-04 9.99938994e-01 -8.17320386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.78, Y:-3.26, Z:-0.82 [[ 9.95462009e-01 9.44351136e-02 1.17216853e-02 4.47770871e+01] [-9.44260842e-02 9.95530997e-01 -1.32261109e-03 -3.26463558e+00] [-1.17942020e-02 2.09776251e-04 9.99930424e-01 -8.18266267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.81, Y:-3.27, Z:-0.82 [[ 9.95217533e-01 9.69112106e-02 1.22588676e-02 4.48057629e+01] [-9.69015260e-02 9.95293013e-01 -1.38292739e-03 -3.26841951e+00] [-1.23351865e-02 1.88410606e-04 9.99923901e-01 -8.18735871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.84, Y:-3.27, Z:-0.82 [[ 9.94769736e-01 1.01243647e-01 1.35238877e-02 4.48353152e+01] [-1.01232267e-01 9.94861650e-01 -1.52511965e-03 -3.27314466e+00] [-1.36088059e-02 1.48089057e-04 9.99907385e-01 -8.18860309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.86, Y:-3.28, Z:-0.82 [[ 9.94604625e-01 1.02905365e-01 1.31196927e-02 4.48634060e+01] [-1.02894804e-01 9.94691144e-01 -1.47923059e-03 -3.27709246e+00] [-1.32022629e-02 1.21301374e-04 9.99912839e-01 -8.19219203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.89, Y:-3.28, Z:-0.82 [[ 9.94494018e-01 1.04087300e-01 1.21442341e-02 4.48931380e+01] [-1.04078344e-01 9.94568160e-01 -1.36884201e-03 -3.28128514e+00] [-1.22207476e-02 9.73534249e-05 9.99925319e-01 -8.20194187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.92, Y:-3.29, Z:-0.82 [[ 9.94346844e-01 1.05795155e-01 9.04102296e-03 4.49220166e+01] [-1.05790263e-01 9.94387943e-01 -1.01892588e-03 -3.28695877e+00] [-9.09808165e-03 5.67135415e-05 9.99958610e-01 -8.22072675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.665769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.95, Y:-3.29, Z:-0.82 [[ 9.94322682e-01 1.06082482e-01 8.30124392e-03 4.49503196e+01] [-1.06078369e-01 9.94357332e-01 -9.35434208e-04 -3.29134736e+00] [-8.35363595e-03 4.95410315e-05 9.99965107e-01 -8.22504962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.98, Y:-3.30, Z:-0.82 [[ 9.94271160e-01 1.06437137e-01 9.79775010e-03 4.49786679e+01] [-1.06431429e-01 9.94319432e-01 -1.10367813e-03 -3.29575718e+00] [-9.85956565e-03 5.45667967e-05 9.99951392e-01 -8.21938876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.01, Y:-3.30, Z:-0.82 [[ 9.94191666e-01 1.07060346e-01 1.10006394e-02 4.50067542e+01] [-1.07053195e-01 9.94252523e-01 -1.23854689e-03 -3.29891467e+00] [-1.10700128e-02 5.36993904e-05 9.99938724e-01 -8.21863076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.755769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.04, Y:-3.30, Z:-0.82 [[ 9.94035108e-01 1.08510088e-01 1.09437285e-02 4.50362681e+01] [-1.08503102e-01 9.94095347e-01 -1.23186330e-03 -3.30153046e+00] [-1.10127792e-02 3.70868703e-05 9.99939357e-01 -8.22073258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.06, Y:-3.30, Z:-0.82 [[ 9.93909827e-01 1.09717926e-01 1.02583094e-02 4.50647363e+01] [-1.09711854e-01 9.93962764e-01 -1.15448829e-03 -3.30484281e+00] [-1.03230456e-02 2.19991197e-05 9.99946716e-01 -8.23054760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.09, Y:-3.31, Z:-0.82 [[ 9.93796860e-01 1.10782690e-01 9.74660983e-03 4.50930294e+01] [-1.10777262e-01 9.93844654e-01 -1.09673445e-03 -3.30784533e+00] [-9.80811526e-03 1.02285025e-05 9.99951899e-01 -8.23617614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.12, Y:-3.31, Z:-0.82 [[ 9.93647778e-01 1.12130058e-01 9.53645857e-03 4.51207911e+01] [-1.12124927e-01 9.93693539e-01 -1.07268608e-03 -3.30871632e+00] [-9.59659762e-03 -3.40257960e-06 9.99953952e-01 -8.23594756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.875769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.15, Y:-3.31, Z:-0.82 [[ 9.93664355e-01 1.11985032e-01 9.51329525e-03 4.51498450e+01] [-1.11979925e-01 9.93709894e-01 -1.06948638e-03 -3.30978561e+00] [-9.57322208e-03 -2.58759394e-06 9.99954176e-01 -8.23976448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.18, Y:-3.31, Z:-0.83 [[ 9.93849544e-01 1.10412788e-01 8.49118150e-03 4.51776936e+01] [-1.10408664e-01 9.93885816e-01 -9.54293129e-04 -3.30926925e+00] [-8.54463102e-03 1.09237829e-05 9.99963494e-01 -8.25523526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.935769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.21, Y:-3.31, Z:-0.83 [[ 9.94039086e-01 1.08747574e-01 7.76283369e-03 4.52059317e+01] [-1.08744080e-01 9.94069396e-01 -8.71985830e-04 -3.31174497e+00] [-7.81162174e-03 2.26257851e-05 9.99969489e-01 -8.26269806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.23, Y:-3.31, Z:-0.83 [[ 9.94477381e-01 1.04589798e-01 8.70133330e-03 4.52335368e+01] [-1.04585253e-01 9.94515445e-01 -9.76963257e-04 -3.31482043e+00] [-8.75579074e-03 6.15367154e-05 9.99961665e-01 -8.25542783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.26, Y:-3.32, Z:-0.83 [[ 9.94689625e-01 1.02448982e-01 9.83650006e-03 4.52624614e+01] [-1.02443077e-01 9.94738256e-01 -1.10369576e-03 -3.31901512e+00] [-9.89781542e-03 9.01533891e-05 9.99951011e-01 -8.25687488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.29, Y:-3.33, Z:-0.83 [[ 9.95066551e-01 9.86635029e-02 1.03957728e-02 4.52911781e+01] [-9.86567061e-02 9.95120844e-01 -1.16586783e-03 -3.32590380e+00] [-1.04600789e-02 1.34503371e-04 9.99945283e-01 -8.25385740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.055769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:45.32, Y:-3.33, Z:-0.83 [[ 9.95262354e-01 9.67296537e-02 9.80922304e-03 4.53192370e+01] [-9.67235101e-02 9.95310682e-01 -1.09990396e-03 -3.33179053e+00] [-9.86961780e-03 1.45910522e-04 9.99951283e-01 -8.25563937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.35, Y:-3.34, Z:-0.83 [[ 9.95552343e-01 9.35205072e-02 1.13774966e-02 4.53487582e+01] [-9.35120385e-02 9.95617332e-01 -1.27522177e-03 -3.34173427e+00] [-1.14468922e-02 2.05617119e-04 9.99934461e-01 -8.25181108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.38, Y:-3.35, Z:-0.82 [[ 9.95630596e-01 9.24155562e-02 1.33821585e-02 4.53788774e+01] [-9.24037405e-02 9.95720492e-01 -1.49990990e-03 -3.34895580e+00] [-1.34635045e-02 2.56794689e-04 9.99909330e-01 -8.24499183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:-3.36, Z:-0.82 [[ 9.95650400e-01 9.20143140e-02 1.46166688e-02 4.54097427e+01] [-9.20001701e-02 9.95757643e-01 -1.63855982e-03 -3.35711699e+00] [-1.47054306e-02 2.86696725e-04 9.99891828e-01 -8.23799077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.175769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.44, Y:-3.37, Z:-0.83 [[ 9.95572444e-01 9.31004641e-02 1.29542344e-02 4.54398421e+01] [-9.30894235e-02 9.95656690e-01 -1.45397208e-03 -3.36943816e+00] [-1.30333357e-02 2.41632322e-04 9.99915033e-01 -8.25214142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:-3.38, Z:-0.83 [[ 9.95400197e-01 9.50538318e-02 1.19673077e-02 4.54709926e+01] [-9.50445305e-02 9.95472113e-01 -1.34486776e-03 -3.37746169e+00] [-1.20409559e-02 2.01254487e-04 9.99927485e-01 -8.26418117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.235769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.50, Y:-3.39, Z:-0.83 [[ 9.94938373e-01 9.98376436e-02 1.14052332e-02 4.55014257e+01] [-9.98294872e-02 9.95003732e-01 -1.28365623e-03 -3.38907993e+00] [-1.14764068e-02 1.38580258e-04 9.99934134e-01 -8.25620006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.53, Y:-3.40, Z:-0.83 [[ 9.94653199e-01 1.02624308e-01 1.15440573e-02 4.55313025e+01] [-1.02616136e-01 9.94720182e-01 -1.29956839e-03 -3.39507221e+00] [-1.16164741e-02 1.08013309e-04 9.99932521e-01 -8.25075988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.56, Y:-3.40, Z:-0.82 [[ 9.93823184e-01 1.10459924e-01 1.06809820e-02 4.55617004e+01] [-1.10453379e-01 9.93880579e-01 -1.20254577e-03 -3.40145540e+00] [-1.07484537e-02 1.53673093e-05 9.99942234e-01 -8.24989354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.59, Y:-3.41, Z:-0.83 [[ 9.93340212e-01 1.14763736e-01 1.02228798e-02 4.55916479e+01] [-1.14757968e-01 9.93392815e-01 -1.15096915e-03 -3.40617494e+00] [-1.02874249e-02 -2.98529716e-05 9.99947083e-01 -8.25646299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.355769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.62, Y:-3.41, Z:-0.83 [[ 9.92462596e-01 1.22084057e-01 1.06526332e-02 4.56205169e+01] [-1.22078215e-01 9.92519758e-01 -1.19940343e-03 -3.41235259e+00] [-1.07193770e-02 -1.10091397e-04 9.99942540e-01 -8.26981735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.65, Y:-3.42, Z:-0.83 [[ 9.92150548e-01 1.24540544e-01 1.12668839e-02 4.56493152e+01] [-1.24534171e-01 9.92214509e-01 -1.26823459e-03 -3.41654211e+00] [-1.13371123e-02 -1.44832401e-04 9.99935722e-01 -8.27297444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:-3.42, Z:-0.83 [[ 9.91450844e-01 1.29956594e-01 1.16836406e-02 4.56791614e+01] [-1.29950114e-01 9.91519661e-01 -1.31528142e-03 -3.42112175e+00] [-1.17554889e-02 -2.14253560e-04 9.99930879e-01 -8.27566791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.71, Y:-3.42, Z:-0.83 [[ 9.90993136e-01 1.33467316e-01 1.09123878e-02 4.57089074e+01] [-1.33461876e-01 9.91053186e-01 -1.22850296e-03 -3.42430967e+00] [-1.09787217e-02 -2.38949749e-04 9.99939703e-01 -8.28155833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.74, Y:-3.43, Z:-0.83 [[ 9.90451484e-01 1.37522660e-01 9.66312521e-03 4.57387326e+01] [-1.37518589e-01 9.90498589e-01 -1.08762758e-03 -3.42657407e+00] [-9.72088532e-03 -2.51616989e-04 9.99952719e-01 -8.28555819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.77, Y:-3.43, Z:-0.83 [[ 9.90456728e-01 1.37484884e-01 9.66312875e-03 4.57687112e+01] [-1.37480811e-01 9.90503833e-01 -1.08759613e-03 -3.42989258e+00] [-9.72089409e-03 -2.51277875e-04 9.99952719e-01 -8.28943914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.535769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.80, Y:-3.43, Z:-0.83 [[ 9.89310714e-01 1.45590770e-01 8.22429737e-03 4.57972146e+01] [-1.45588101e-01 9.89344858e-01 -9.25515119e-04 -3.42780194e+00] [-8.27141277e-03 -2.81737809e-04 9.99965752e-01 -8.29676066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:-3.43, Z:-0.83 [[ 9.88782462e-01 1.49119070e-01 8.52908840e-03 4.58256435e+01] [-1.49116335e-01 9.88819194e-01 -9.59236379e-04 -3.42733713e+00] [-8.57676676e-03 -3.23350293e-04 9.99963167e-01 -8.29434921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.86, Y:-3.42, Z:-0.83 [[ 9.87918509e-01 1.54604542e-01 1.06984120e-02 4.58555668e+01] [-1.54600569e-01 9.87976325e-01 -1.20240233e-03 -3.42319449e+00] [-1.07556747e-02 -4.66105071e-04 9.99942047e-01 -8.29849926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.88, Y:-3.42, Z:-0.83 [[ 9.87560702e-01 1.56823338e-01 1.14149293e-02 4.58846933e+01] [-1.56818969e-01 9.87626532e-01 -1.28238453e-03 -3.42238513e+00] [-1.14747949e-02 -5.23644881e-04 9.99934025e-01 -8.29524882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.91, Y:-3.42, Z:-0.83 [[ 9.87287429e-01 1.58510666e-01 1.17431399e-02 4.59142670e+01] [-1.58506168e-01 9.87357107e-01 -1.31868784e-03 -3.42166262e+00] [-1.18036988e-02 -5.59436187e-04 9.99930177e-01 -8.30181546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.94, Y:-3.42, Z:-0.83 [[ 9.87130951e-01 1.59491711e-01 1.16137649e-02 4.59430327e+01] [-1.59487385e-01 9.87199106e-01 -1.30363526e-03 -3.41578028e+00] [-1.16730174e-02 -5.65390289e-04 9.99931708e-01 -8.30841884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.715769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:45.97, Y:-3.41, Z:-0.83 [[ 9.87381832e-01 1.57871182e-01 1.24019382e-02 4.59721391e+01] [-1.57866131e-01 9.87459543e-01 -1.39133404e-03 -3.40960507e+00] [-1.24660638e-02 -5.84068050e-04 9.99922125e-01 -8.30611911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.00, Y:-3.41, Z:-0.83 [[ 9.87656231e-01 1.56204485e-01 1.16330440e-02 4.60013893e+01] [-1.56199934e-01 9.87724597e-01 -1.30443712e-03 -3.40813467e+00] [-1.16940026e-02 -5.28745250e-04 9.99931483e-01 -8.31367924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.775769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.03, Y:-3.41, Z:-0.83 [[ 9.88070053e-01 1.53664355e-01 1.02389522e-02 4.60300233e+01] [-1.53660697e-01 9.88123005e-01 -1.14777190e-03 -3.40651754e+00] [-1.02937159e-02 -4.39245489e-04 9.99946922e-01 -8.32708853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.06, Y:-3.40, Z:-0.83 [[ 9.89342812e-01 1.45383399e-01 8.02913647e-03 4.60574701e+01] [-1.45380879e-01 9.89375354e-01 -8.99687452e-04 -3.40202614e+00] [-8.07462935e-03 -2.77183605e-04 9.99967361e-01 -8.34836391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.09, Y:-3.40, Z:-0.84 [[ 9.90199264e-01 1.39395551e-01 8.61961421e-03 4.60859575e+01] [-1.39392426e-01 9.90236749e-01 -9.65105428e-04 -3.40320946e+00] [-8.66999016e-03 -2.45862256e-04 9.99962385e-01 -8.35692039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:-3.41, Z:-0.83 [[ 9.92005993e-01 1.25672625e-01 1.14237045e-02 4.61132795e+01] [-1.25666235e-01 9.92071753e-01 -1.27834091e-03 -3.40643449e+00] [-1.14937871e-02 -1.67452097e-04 9.99933930e-01 -8.34232765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.14, Y:-3.41, Z:-0.83 [[ 9.92888661e-01 1.18415025e-01 1.22469907e-02 4.61412154e+01] [-1.18407138e-01 9.92964186e-01 -1.36968496e-03 -3.41070377e+00] [-1.23230144e-02 -9.01864463e-05 9.99924065e-01 -8.34239529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.17, Y:-3.42, Z:-0.84 [[ 9.94464394e-01 1.04269701e-01 1.29768385e-02 4.61704985e+01] [-1.04259651e-01 9.94549054e-01 -1.45047314e-03 -3.41838009e+00] [-1.30573428e-02 8.94832454e-05 9.99914745e-01 -8.35049630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.955769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.20, Y:-3.43, Z:-0.84 [[ 9.95163197e-01 9.73127983e-02 1.34324490e-02 4.62006594e+01] [-9.73013994e-02 9.95253829e-01 -1.50109889e-03 -3.42508169e+00] [-1.35147725e-02 1.86842284e-04 9.99908654e-01 -8.35688794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.23, Y:-3.44, Z:-0.84 [[ 9.96269546e-01 8.53483390e-02 1.27535674e-02 4.62311534e+01] [-8.53370823e-02 9.96351118e-01 -1.42522733e-03 -3.43786583e+00] [-1.28286720e-02 3.31558348e-04 9.99917654e-01 -8.36718602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.26, Y:-3.45, Z:-0.84 [[ 9.96615930e-01 8.13104059e-02 1.20543228e-02 4.62626107e+01] [-8.13000322e-02 9.96688760e-01 -1.34893786e-03 -3.44720188e+00] [-1.21240908e-02 3.64356128e-04 9.99926434e-01 -8.36609580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.29, Y:-3.46, Z:-0.83 [[ 9.96972431e-01 7.68751158e-02 1.16700130e-02 4.62932868e+01] [-7.68650675e-02 9.97040647e-01 -1.30779421e-03 -3.46198950e+00] [-1.17360141e-02 4.06818434e-04 9.99931048e-01 -8.34994199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.075769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.32, Y:-3.47, Z:-0.83 [[ 9.96978130e-01 7.67530962e-02 1.19820889e-02 4.63243903e+01] [-7.67424701e-02 9.97050041e-01 -1.34478849e-03 -3.47073492e+00] [-1.20499589e-02 4.21189616e-04 9.99927308e-01 -8.34737311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.36, Y:-3.48, Z:-0.83 [[ 9.96853571e-01 7.83110035e-02 1.22614775e-02 4.63559970e+01] [-7.82999679e-02 9.96928892e-01 -1.37824341e-03 -3.48005190e+00] [-1.23317528e-02 4.13833567e-04 9.99923875e-01 -8.34680159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:-3.50, Z:-0.83 [[ 9.96328651e-01 8.47594171e-02 1.20441272e-02 4.63867781e+01] [-8.47492131e-02 9.96401391e-01 -1.35601144e-03 -3.49508360e+00] [-1.21157198e-02 3.30302752e-04 9.99926547e-01 -8.34031385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:-3.50, Z:-0.83 [[ 9.95926064e-01 8.93714023e-02 1.20011193e-02 4.64183153e+01] [-8.93615981e-02 9.95998332e-01 -1.35177875e-03 -3.50327762e+00] [-1.20739051e-02 2.73832497e-04 9.99927070e-01 -8.34883057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.195769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.45, Y:-3.51, Z:-0.84 [[ 9.95036970e-01 9.87326967e-02 1.23807632e-02 4.64491632e+01] [-9.87229577e-02 9.95113977e-01 -1.39682813e-03 -3.51266947e+00] [-1.24581831e-02 1.67630065e-04 9.99922380e-01 -8.35805829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.48, Y:-3.52, Z:-0.84 [[ 9.94554510e-01 1.03427917e-01 1.28059936e-02 4.64813069e+01] [-1.03417872e-01 9.94636945e-01 -1.44596068e-03 -3.51914940e+00] [-1.28868671e-02 1.13718107e-04 9.99916954e-01 -8.36177606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.51, Y:-3.53, Z:-0.84 [[ 9.93674912e-01 1.11687202e-01 1.16677956e-02 4.65122017e+01] [-1.11679410e-01 9.93743412e-01 -1.31922808e-03 -3.52936375e+00] [-1.17421359e-02 7.83132053e-06 9.99931059e-01 -8.36478269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.54, Y:-3.54, Z:-0.84 [[ 9.93277368e-01 1.15245463e-01 1.08882021e-02 4.65433892e+01] [-1.15238872e-01 9.93337044e-01 -1.23293853e-03 -3.53545538e+00] [-1.09577450e-02 -3.00941824e-05 9.99939962e-01 -8.37353743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.315769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.57, Y:-3.54, Z:-0.84 [[ 9.92486424e-01 1.21968008e-01 9.72122227e-03 4.65729753e+01] [-1.21963058e-01 9.92534028e-01 -1.10265966e-03 -3.54020706e+00] [-9.78313310e-03 -9.12552541e-05 9.99952140e-01 -8.38481719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345769231000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.60, Y:-3.54, Z:-0.84 [[ 9.92059078e-01 1.25400418e-01 9.67062340e-03 4.66038259e+01] [-1.25395681e-01 9.92106204e-01 -1.09699542e-03 -3.54318943e+00] [-9.73184916e-03 -1.24370147e-04 9.99952637e-01 -8.39063262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.375769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:46.63, Y:-3.55, Z:-0.84 [[ 9.91185467e-01 1.32064777e-01 1.05007148e-02 4.66337524e+01] [-1.32059563e-01 9.91241067e-01 -1.19146550e-03 -3.54620441e+00] [-1.05660904e-02 -2.05756516e-04 9.99944156e-01 -8.39242435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:46.66, Y:-3.55, Z:-0.84 [[ 9.90876276e-01 1.34370652e-01 1.04275208e-02 4.66644242e+01] [-1.34365636e-01 9.90931115e-01 -1.18328486e-03 -3.54907157e+00] [-1.04919536e-02 -2.28611577e-04 9.99944932e-01 -8.39486527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.435769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:46.70, Y:-3.55, Z:-0.84 [[ 9.90688570e-01 1.35790975e-01 9.84725464e-03 4.66950309e+01] [-1.35786571e-01 9.90737482e-01 -1.11758058e-03 -3.55235155e+00] [-9.90780162e-03 -2.29950637e-04 9.99950890e-01 -8.40529416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.73, Y:-3.56, Z:-0.84 [[ 9.90843571e-01 1.34681051e-01 9.48850830e-03 4.67257437e+01] [-1.34676911e-01 9.90888980e-01 -1.07686588e-03 -3.55624762e+00] [-9.54709173e-03 -2.10877354e-04 9.99954403e-01 -8.41581645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.495769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.76, Y:-3.56, Z:-0.84 [[ 9.91402469e-01 1.30544765e-01 8.89991094e-03 4.67567213e+01] [-1.30540957e-01 9.91442403e-01 -1.00997294e-03 -3.56056220e+00] [-8.95559577e-03 -1.60513231e-04 9.99959885e-01 -8.42702381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:-3.56, Z:-0.84 [[ 9.91778132e-01 1.27649402e-01 9.04248378e-03 4.67873623e+01] [-1.27645349e-01 9.91819344e-01 -1.02637168e-03 -3.56472026e+00] [-9.09952606e-03 -1.36298010e-04 9.99958589e-01 -8.42031567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.555769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.82, Y:-3.57, Z:-0.84 [[ 9.92332400e-01 1.23194396e-01 9.97737238e-03 4.68185965e+01] [-1.23189233e-01 9.92382552e-01 -1.13275429e-03 -3.56834470e+00] [-1.00409192e-02 -1.05036068e-04 9.99949583e-01 -8.40729350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.85, Y:-3.57, Z:-0.84 [[ 9.92449431e-01 1.22184203e-01 1.07306858e-02 4.68507753e+01] [-1.22178172e-01 9.92507436e-01 -1.21826405e-03 -3.57198418e+00] [-1.07991380e-02 -1.01990104e-04 9.99941682e-01 -8.41062559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.615769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:46.88, Y:-3.57, Z:-0.84 [[ 9.92534668e-01 1.21399643e-01 1.17072820e-02 4.68817328e+01] [-1.21392384e-01 9.92603706e-01 -1.33128707e-03 -3.57491148e+00] [-1.17823093e-02 -9.98263069e-05 9.99930581e-01 -8.41449320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.91, Y:-3.58, Z:-0.84 [[ 9.92832289e-01 1.18828672e-01 1.27981802e-02 4.69124093e+01] [-1.18819757e-01 9.92914770e-01 -1.45748201e-03 -3.57700980e+00] [-1.28806928e-02 -7.36414594e-05 9.99917038e-01 -8.41511132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.675769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.94, Y:-3.58, Z:-0.84 [[ 9.93126246e-01 1.16387186e-01 1.24210334e-02 4.69449386e+01] [-1.16378574e-01 9.93203917e-01 -1.41633452e-03 -3.58106879e+00] [-1.25014622e-02 -3.89431796e-05 9.99921853e-01 -8.42721203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.98, Y:-3.59, Z:-0.84 [[ 9.93986158e-01 1.08966784e-01 1.08516375e-02 4.69765438e+01] [-1.08959747e-01 9.94045390e-01 -1.23937980e-03 -3.58718675e+00] [-1.09220714e-02 4.95347003e-05 9.99940351e-01 -8.44520973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.01, Y:-3.59, Z:-0.85 [[ 9.94454210e-01 1.04649019e-01 1.04597941e-02 4.70081531e+01] [-1.04642228e-01 9.94509213e-01 -1.19588945e-03 -3.59255498e+00] [-1.05275103e-02 9.47211351e-05 9.99944580e-01 -8.45944079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.04, Y:-3.60, Z:-0.85 [[ 9.94873528e-01 1.00612953e-01 1.01831918e-02 4.70406071e+01] [-1.00606296e-01 9.94925633e-01 -1.16526358e-03 -3.59819674e+00] [-1.02487592e-02 1.34796675e-04 9.99947471e-01 -8.46212677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.795769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.07, Y:-3.61, Z:-0.85 [[ 9.95550254e-01 9.37154285e-02 9.85445734e-03 4.70730231e+01] [-9.37088382e-02 9.95599005e-01 -1.12940702e-03 -3.60706185e+00] [-9.91693078e-03 2.00931693e-04 9.99950806e-01 -8.46180648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.10, Y:-3.62, Z:-0.85 [[ 9.95755023e-01 9.14150940e-02 1.07338136e-02 4.71045402e+01] [-9.14071160e-02 9.95812844e-01 -1.23253169e-03 -3.61521377e+00] [-1.08015415e-02 2.46152671e-04 9.99941631e-01 -8.46388906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.855769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:-3.63, Z:-0.85 [[ 9.95911379e-01 8.95717299e-02 1.17230508e-02 4.71350431e+01] [-8.95620575e-02 9.95980331e-01 -1.34853286e-03 -3.62674315e+00] [-1.17967184e-02 2.93078670e-04 9.99930373e-01 -8.45551298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.17, Y:-3.63, Z:-0.85 [[ 9.95832815e-01 9.04212045e-02 1.18747864e-02 4.71678688e+01] [-9.04113242e-02 9.95903571e-01 -1.36735520e-03 -3.63327656e+00] [-1.19497801e-02 2.88042012e-04 9.99928557e-01 -8.45879848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.915769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.20, Y:-3.64, Z:-0.85 [[ 9.95572534e-01 9.33976131e-02 1.05931975e-02 4.71988875e+01] [-9.33898997e-02 9.95628864e-01 -1.22156557e-03 -3.64181538e+00] [-1.06609845e-02 2.26859476e-04 9.99943144e-01 -8.46766156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:-3.65, Z:-0.85 [[ 9.95418541e-01 9.51429521e-02 9.47344100e-03 4.72309675e+01] [-9.51368488e-02 9.95463602e-01 -1.09385069e-03 -3.64815578e+00] [-9.53453789e-03 1.87565931e-04 9.99954528e-01 -8.47245777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.975769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.26, Y:-3.65, Z:-0.85 [[ 9.94969858e-01 9.97697534e-02 8.99876911e-03 4.72629437e+01] [-9.97644208e-02 9.95010541e-01 -1.04066898e-03 -3.65381603e+00] [-9.05769741e-03 1.37677277e-04 9.99958969e-01 -8.48219033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.29, Y:-3.66, Z:-0.85 [[ 9.94690187e-01 1.02496558e-01 9.26754583e-03 4.72948063e+01] [-1.02491004e-01 9.94733352e-01 -1.07345936e-03 -3.65707241e+00] [-9.32876282e-03 1.17919406e-04 9.99956479e-01 -8.48384394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.035769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.33, Y:-3.66, Z:-0.85 [[ 9.94426263e-01 1.05002588e-01 9.53225539e-03 4.73273789e+01] [-1.04996811e-01 9.94471944e-01 -1.10582980e-03 -3.66069859e+00] [-9.59567554e-03 9.88097752e-05 9.99953956e-01 -8.48731830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:-3.66, Z:-0.85 [[ 9.94009210e-01 1.08893444e-01 9.37591473e-03 4.73597106e+01] [-1.08888013e-01 9.94053426e-01 -1.08933372e-03 -3.66416553e+00] [-9.43878146e-03 6.18830222e-05 9.99955452e-01 -8.48026054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.095769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.39, Y:-3.67, Z:-0.85 [[ 9.93830017e-01 1.10529193e-01 9.23007188e-03 4.73916187e+01] [-1.10523984e-01 9.93872877e-01 -1.07411075e-03 -3.66638845e+00] [-9.29223869e-03 4.73391892e-05 9.99956825e-01 -8.47901906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.125769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:47.42, Y:-3.67, Z:-0.85 [[ 9.93649610e-01 1.12037410e-01 1.03957643e-02 4.74249099e+01] [-1.12030863e-01 9.93703989e-01 -1.21182466e-03 -3.66733976e+00] [-1.04660822e-02 3.94826541e-05 9.99945228e-01 -8.49569853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.155769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.46, Y:-3.67, Z:-0.85 [[ 9.93649036e-01 1.11977187e-01 1.10771616e-02 4.74566235e+01] [-1.11969725e-01 9.93710777e-01 -1.29350021e-03 -3.67193904e+00] [-1.11523374e-02 4.49784985e-05 9.99937810e-01 -8.50474202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.49, Y:-3.68, Z:-0.85 [[ 9.93782210e-01 1.10738321e-01 1.15734244e-02 4.74893921e+01] [-1.10730067e-01 9.93849596e-01 -1.35353949e-03 -3.67944517e+00] [-1.16521318e-02 6.35974082e-05 9.99932110e-01 -8.51278268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.52, Y:-3.68, Z:-0.85 [[ 9.93825511e-01 1.10414854e-01 1.09276244e-02 4.75210823e+01] [-1.10407454e-01 9.93885585e-01 -1.27999193e-03 -3.68434138e+00] [-1.10021385e-02 6.55974417e-05 9.99939472e-01 -8.51429608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.55, Y:-3.69, Z:-0.85 [[ 9.93797491e-01 1.10720961e-01 1.03641220e-02 4.75540010e+01] [-1.10714303e-01 9.93851531e-01 -1.21567295e-03 -3.68866439e+00] [-1.04349990e-02 6.06761804e-05 9.99945552e-01 -8.51486210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.275769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.59, Y:-3.69, Z:-0.85 [[ 9.93450133e-01 1.13776632e-01 1.05693025e-02 4.75851894e+01] [-1.13769859e-01 9.93506355e-01 -1.24189816e-03 -3.69392917e+00] [-1.06419682e-02 3.12958417e-05 9.99943372e-01 -8.51258335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.305769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.62, Y:-3.70, Z:-0.85 [[ 9.93240181e-01 1.15547417e-01 1.10786584e-02 4.76182788e+01] [-1.15540061e-01 9.93301965e-01 -1.30387840e-03 -3.69830689e+00] [-1.11551130e-02 1.50355457e-05 9.99937780e-01 -8.52210072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.335769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.65, Y:-3.70, Z:-0.85 [[ 9.92843682e-01 1.18916393e-01 1.09688432e-02 4.76503365e+01] [-1.18909364e-01 9.92904271e-01 -1.29306960e-03 -3.70104582e+00] [-1.10447784e-02 -2.04821765e-05 9.99939004e-01 -8.52763905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:-3.70, Z:-0.85 [[ 9.92668429e-01 1.20415471e-01 1.04644745e-02 4.76834307e+01] [-1.20409139e-01 9.92723583e-01 -1.23536329e-03 -3.70497160e+00] [-1.05370875e-02 -3.37122267e-05 9.99944483e-01 -8.53707320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.72, Y:-3.71, Z:-0.85 [[ 9.92658464e-01 1.20497610e-01 1.04642118e-02 4.77166802e+01] [-1.20491259e-01 9.92713617e-01 -1.23758442e-03 -3.70904827e+00] [-1.05370915e-02 -3.23473926e-05 9.99944483e-01 -8.54138539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425769231000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.75, Y:-3.71, Z:-0.85 [[ 9.92430597e-01 1.22418123e-01 9.76280230e-03 4.77482336e+01] [-1.22412683e-01 9.92478615e-01 -1.15509185e-03 -3.71214765e+00] [-9.83077668e-03 -4.87423290e-05 9.99951676e-01 -8.53981582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.455769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.78, Y:-3.71, Z:-0.85 [[ 9.92336072e-01 1.23201768e-01 9.51022145e-03 4.77806981e+01] [-1.23196627e-01 9.92381641e-01 -1.12681239e-03 -3.71462511e+00] [-9.57659445e-03 -5.34506189e-05 9.99954142e-01 -8.54086427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.485769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.81, Y:-3.72, Z:-0.85 [[ 9.92305389e-01 1.23443786e-01 9.57319708e-03 4.78140924e+01] [-1.23438570e-01 9.92351565e-01 -1.13609584e-03 -3.71673280e+00] [-9.64022108e-03 -5.43477391e-05 9.99953531e-01 -8.54704895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.85, Y:-3.72, Z:-0.85 [[ 9.92332437e-01 1.23159790e-01 1.03923086e-02 4.78463714e+01] [-1.23153604e-01 9.92386852e-01 -1.23551001e-03 -3.71708523e+00] [-1.04653556e-02 -5.38136008e-05 9.99945235e-01 -8.54800438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.88, Y:-3.72, Z:-0.85 [[ 9.92400760e-01 1.22555450e-01 1.09951131e-02 4.78789022e+01] [-1.22548466e-01 9.92461666e-01 -1.30922343e-03 -3.71918364e+00] [-1.10726808e-02 -4.81599297e-05 9.99938695e-01 -8.54712959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:-3.72, Z:-0.86 [[ 9.92422097e-01 1.22383126e-01 1.09887132e-02 4.79104339e+01] [-1.22376117e-01 9.92482931e-01 -1.31055772e-03 -3.72198138e+00] [-1.10665005e-02 -4.41296137e-05 9.99938763e-01 -8.55312810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.94, Y:-3.73, Z:-0.86 [[ 9.92439722e-01 1.22256673e-01 1.08029248e-02 4.79437113e+01] [-1.22249871e-01 9.92498516e-01 -1.29022728e-03 -3.72502627e+00] [-1.08796258e-02 -4.01833701e-05 9.99940814e-01 -8.55434692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.98, Y:-3.73, Z:-0.86 [[ 9.92550311e-01 1.21323810e-01 1.11540651e-02 4.79755256e+01] [-1.21316474e-01 9.92612982e-01 -1.33448334e-03 -3.72664635e+00] [-1.12335744e-02 -2.86300003e-05 9.99936901e-01 -8.55890267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.01, Y:-3.73, Z:-0.86 [[ 9.92771558e-01 1.19464144e-01 1.15304561e-02 4.80077792e+01] [-1.19456153e-01 9.92838516e-01 -1.38175357e-03 -3.72964056e+00] [-1.16129509e-02 -5.61827910e-06 9.99932567e-01 -8.56439706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.04, Y:-3.73, Z:-0.86 [[ 9.92987989e-01 1.17636045e-01 1.16882082e-02 4.80405556e+01] [-1.17627683e-01 9.93056776e-01 -1.40268510e-03 -3.73374609e+00] [-1.17720607e-02 1.79926029e-05 9.99930707e-01 -8.57261252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.07, Y:-3.74, Z:-0.86 [[ 9.93273737e-01 1.15210210e-01 1.15710995e-02 4.80735360e+01] [-1.15201827e-01 9.93341132e-01 -1.39072132e-03 -3.73826041e+00] [-1.16542744e-02 4.83551665e-05 9.99932085e-01 -8.57937072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.755769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.11, Y:-3.74, Z:-0.86 [[ 9.93849053e-01 1.10186124e-01 1.10940212e-02 4.81052699e+01] [-1.10178081e-01 9.93910965e-01 -1.33546902e-03 -3.74463337e+00] [-1.11736195e-02 1.04936664e-04 9.99937568e-01 -8.58941805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:48.14, Y:-3.75, Z:-0.86 [[ 9.94134448e-01 1.07618351e-01 1.07233144e-02 4.81368739e+01] [-1.07610666e-01 9.94192272e-01 -1.29274520e-03 -3.75071405e+00] [-1.08001594e-02 1.31219526e-04 9.99941668e-01 -8.59069859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.815769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.17, Y:-3.76, Z:-0.86 [[ 9.94471858e-01 1.04387800e-01 1.13538655e-02 4.81686240e+01] [-1.04378950e-01 9.94536654e-01 -1.37081939e-03 -3.75910416e+00] [-1.14349322e-02 1.78136740e-04 9.99934603e-01 -8.58927357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.20, Y:-3.76, Z:-0.86 [[ 9.94470364e-01 1.04354241e-01 1.17850626e-02 4.82011459e+01] [-1.04344677e-01 9.94540174e-01 -1.42520902e-03 -3.76408862e+00] [-1.18694449e-02 1.87619585e-04 9.99929538e-01 -8.58202566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.875769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.23, Y:-3.77, Z:-0.86 [[ 9.94374553e-01 1.05228972e-01 1.20876798e-02 4.82332369e+01] [-1.05218946e-01 9.94448002e-01 -1.46416298e-03 -3.76825362e+00] [-1.21746414e-02 1.84073481e-04 9.99925869e-01 -8.57827937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:-3.77, Z:-0.86 [[ 9.94060591e-01 1.08068566e-01 1.28345861e-02 4.82650965e+01] [-1.08057469e-01 9.94143430e-01 -1.55704091e-03 -3.77256580e+00] [-1.29276867e-02 1.60920118e-04 9.99916421e-01 -8.59043468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.935769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.30, Y:-3.78, Z:-0.86 [[ 9.93933580e-01 1.09230808e-01 1.28323394e-02 4.82970248e+01] [-1.09219792e-01 9.94016403e-01 -1.55826966e-03 -3.77893015e+00] [-1.29257669e-02 1.47271103e-04 9.99916448e-01 -8.60582991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.33, Y:-3.78, Z:-0.86 [[ 9.93940940e-01 1.09205230e-01 1.24750055e-02 4.83292755e+01] [-1.09194790e-01 9.94019213e-01 -1.51696137e-03 -3.78457983e+00] [-1.25660553e-02 1.45564397e-04 9.99921033e-01 -8.61182753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.36, Y:-3.79, Z:-0.86 [[ 9.93999434e-01 1.08809071e-01 1.12121454e-02 4.83608823e+01] [-1.08800592e-01 9.94062658e-01 -1.36529926e-03 -3.79016340e+00] [-1.12941320e-02 1.37218638e-04 9.99936210e-01 -8.62043377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.39, Y:-3.80, Z:-0.86 [[ 9.94232407e-01 1.06912428e-01 8.46484865e-03 4.83918947e+01] [-1.06907518e-01 9.94268434e-01 -1.03172289e-03 -3.79705864e+00] [-8.52663580e-03 1.20816370e-04 9.99963640e-01 -8.63634052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.055769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.42, Y:-3.80, Z:-0.86 [[ 9.94368706e-01 1.05621431e-01 8.65963033e-03 4.84241409e+01] [-1.05616231e-01 9.94406403e-01 -1.05694275e-03 -3.80213304e+00] [-8.72282766e-03 1.36393281e-04 9.99961946e-01 -8.64083941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.46, Y:-3.81, Z:-0.86 [[ 9.94613934e-01 1.02985290e-01 1.17112115e-02 4.84560595e+01] [-1.02975559e-01 9.94682855e-01 -1.43254610e-03 -3.80710772e+00] [-1.17964725e-02 2.18861765e-04 9.99930395e-01 -8.64107050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.49, Y:-3.81, Z:-0.86 [[ 9.94641500e-01 1.02563822e-01 1.29980665e-02 4.84880557e+01] [-1.02551764e-01 9.94726394e-01 -1.59255680e-03 -3.81228103e+00] [-1.30928585e-02 2.51048432e-04 9.99914253e-01 -8.64256615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:-3.82, Z:-0.87 [[ 9.94724369e-01 1.01918236e-01 1.16663314e-02 4.85203388e+01] [-1.01908457e-01 9.94792751e-01 -1.43120997e-03 -3.81991332e+00] [-1.17514483e-02 2.34761594e-04 9.99930922e-01 -8.65616872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.175769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.55, Y:-3.83, Z:-0.87 [[ 9.94751315e-01 1.01843870e-01 9.88165537e-03 4.85517591e+01] [-1.01836833e-01 9.94800375e-01 -1.21403989e-03 -3.82600785e+00] [-9.95391699e-03 2.01351288e-04 9.99950438e-01 -8.67047125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.58, Y:-3.83, Z:-0.87 [[ 9.94783019e-01 1.01647086e-01 8.63805167e-03 4.85846679e+01] [-1.01641696e-01 9.94820505e-01 -1.06184854e-03 -3.83178948e+00] [-8.70124474e-03 1.78322679e-04 9.99962128e-01 -8.67719506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.235769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.62, Y:-3.84, Z:-0.87 [[ 9.94838527e-01 1.01156375e-01 7.98079560e-03 4.86158805e+01] [-1.01151747e-01 9.94870524e-01 -9.82413081e-04 -3.83791284e+00] [-8.03923565e-03 1.70070963e-04 9.99967670e-01 -8.68801911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:-3.84, Z:-0.87 [[ 9.94816186e-01 1.01390096e-01 7.79774832e-03 4.86487511e+01] [-1.01385675e-01 9.94846732e-01 -9.61123498e-04 -3.84359334e+00] [-7.85501284e-03 1.65561233e-04 9.99969135e-01 -8.68726807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.68, Y:-3.85, Z:-0.87 [[ 9.94701922e-01 1.02387235e-01 9.21632256e-03 4.86811175e+01] [-1.02381083e-01 9.94744600e-01 -1.13809954e-03 -3.85100782e+00] [-9.28441396e-03 1.88492724e-04 9.99956881e-01 -8.68450892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.71, Y:-3.86, Z:-0.87 [[ 9.94605946e-01 1.03221260e-01 1.02168053e-02 4.87131619e+01] [-1.03213721e-01 9.94658399e-01 -1.26385462e-03 -3.85679326e+00] [-1.02926878e-02 2.02522836e-04 9.99947008e-01 -8.68701948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.355769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:-3.86, Z:-0.87 [[ 9.94483968e-01 1.04336867e-01 1.07450097e-02 4.87457572e+01] [-1.04328569e-01 9.94541994e-01 -1.33140709e-03 -3.86324354e+00] [-1.08252782e-02 2.03051524e-04 9.99941384e-01 -8.68895262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.78, Y:-3.87, Z:-0.87 [[ 9.94254237e-01 1.06512416e-01 1.06591691e-02 4.87776195e+01] [-1.06504354e-01 9.94311356e-01 -1.32283761e-03 -3.87369507e+00] [-1.07394316e-02 1.79988975e-04 9.99942314e-01 -8.69190289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.81, Y:-3.88, Z:-0.87 [[ 9.94133946e-01 1.07658009e-01 1.03658831e-02 4.88091786e+01] [-1.07650423e-01 9.94187973e-01 -1.28859423e-03 -3.88116823e+00] [-1.04443638e-02 1.65143566e-04 9.99945443e-01 -8.69554927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.84, Y:-3.89, Z:-0.87 [[ 9.93926692e-01 1.09485852e-01 1.10715238e-02 4.88400157e+01] [-1.09477297e-01 9.93988342e-01 -1.37768141e-03 -3.89111104e+00] [-1.11558022e-02 1.57233828e-04 9.99937760e-01 -8.69305915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.87, Y:-3.90, Z:-0.87 [[ 9.93790821e-01 1.10705817e-01 1.11367071e-02 4.88728424e+01] [-1.10697215e-01 9.93853209e-01 -1.38783286e-03 -3.89829079e+00] [-1.12218933e-02 1.46413095e-04 9.99937022e-01 -8.69678541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.90, Y:-3.91, Z:-0.87 [[ 9.93466092e-01 1.13538107e-01 1.15854512e-02 4.89044166e+01] [-1.13528962e-01 9.93533635e-01 -1.44607098e-03 -3.90926723e+00] [-1.16747196e-02 1.21338235e-04 9.99931841e-01 -8.70080399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.535769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:-3.92, Z:-0.87 [[ 9.93241073e-01 1.15491503e-01 1.15707819e-02 4.89368396e+01] [-1.15482489e-01 9.93308463e-01 -1.44645657e-03 -3.91664033e+00] [-1.16604091e-02 1.00457385e-04 9.99932010e-01 -8.70622017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.97, Y:-3.93, Z:-0.87 [[ 9.92774360e-01 1.19515361e-01 1.07307093e-02 4.89677676e+01] [-1.19507822e-01 9.92832350e-01 -1.34334431e-03 -3.92557096e+00] [-1.08143456e-02 5.12340900e-05 9.99941522e-01 -8.71992308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.595769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.00, Y:-3.93, Z:-0.87 [[ 9.92491472e-01 1.21847247e-01 1.06735990e-02 4.89999485e+01] [-1.21839903e-01 9.92548864e-01 -1.33805923e-03 -3.93301702e+00] [-1.07571074e-02 2.75421115e-05 9.99942140e-01 -8.72357149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.03, Y:-3.94, Z:-0.87 [[ 9.92042833e-01 1.25363683e-01 1.16173927e-02 4.90312635e+01] [-1.25355195e-01 9.92110854e-01 -1.45883970e-03 -3.94222151e+00] [-1.17086269e-02 -9.06905054e-06 9.99931452e-01 -8.71529294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.06, Y:-3.95, Z:-0.87 [[ 9.91758988e-01 1.27576027e-01 1.17671942e-02 4.90639462e+01] [-1.27567449e-01 9.91828794e-01 -1.47977700e-03 -3.94769918e+00] [-1.18598261e-02 -3.35287924e-05 9.99929669e-01 -8.70844341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.10, Y:-3.95, Z:-0.87 [[ 9.90880287e-01 1.34170065e-01 1.24358339e-02 4.90965640e+01] [-1.34160972e-01 9.90958314e-01 -1.56637043e-03 -3.95260744e+00] [-1.25335530e-02 -1.16317982e-04 9.99921445e-01 -8.71022551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.13, Y:-3.96, Z:-0.87 [[ 9.90259259e-01 1.38653798e-01 1.27170671e-02 4.91284034e+01] [-1.38644626e-01 9.90340898e-01 -1.60428089e-03 -3.95627738e+00] [-1.28166713e-02 -1.74499010e-04 9.99917848e-01 -8.71338724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.16, Y:-3.96, Z:-0.87 [[ 9.89565282e-01 1.43481168e-01 1.31798184e-02 4.91616165e+01] [-1.43471712e-01 9.89653018e-01 -1.66508828e-03 -3.95933785e+00] [-1.32823559e-02 -2.43217561e-04 9.99911756e-01 -8.72420407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.775769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.19, Y:-3.96, Z:-0.87 [[ 9.88213616e-01 1.52597227e-01 1.21628675e-02 4.91937546e+01] [-1.52589837e-01 9.88288406e-01 -1.53872614e-03 -3.95819538e+00] [-1.22552263e-02 -3.35339846e-04 9.99924846e-01 -8.73508754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.23, Y:-3.96, Z:-0.87 [[ 9.87282101e-01 1.58550024e-01 1.16594521e-02 4.92270274e+01] [-1.58543633e-01 9.87350868e-01 -1.47624753e-03 -3.95642838e+00] [-1.17460292e-02 -3.91059128e-04 9.99930937e-01 -8.74049178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.835769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.26, Y:-3.96, Z:-0.87 [[ 9.87023069e-01 1.60123363e-01 1.20818070e-02 4.92600234e+01] [-1.60116591e-01 9.87096920e-01 -1.53200331e-03 -3.95802106e+00] [-1.21712240e-02 -4.22375146e-04 9.99925839e-01 -8.73722729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.29, Y:-3.96, Z:-0.87 [[ 9.87093884e-01 1.59613976e-01 1.30016749e-02 4.92936584e+01] [-1.59606056e-01 9.87179406e-01 -1.65119010e-03 -3.95740306e+00] [-1.30985387e-02 -4.45266389e-04 9.99914111e-01 -8.73939552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.33, Y:-3.96, Z:-0.87 [[ 9.87357816e-01 1.57964261e-01 1.31085853e-02 4.93262526e+01] [-1.57956033e-01 9.87444739e-01 -1.66718563e-03 -3.95925221e+00] [-1.32073593e-02 -4.24471370e-04 9.99912689e-01 -8.74572618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.36, Y:-3.96, Z:-0.87 [[ 9.87608157e-01 1.56403982e-01 1.29585137e-02 4.93581792e+01] [-1.56395775e-01 9.87693089e-01 -1.65055030e-03 -3.96089740e+00] [-1.30571870e-02 -3.96559842e-04 9.99914673e-01 -8.74975599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.955769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.39, Y:-3.96, Z:-0.88 [[ 9.88035014e-01 1.53629999e-01 1.35880147e-02 4.93917784e+01] [-1.53620678e-01 9.88128374e-01 -1.73329005e-03 -3.95944900e+00] [-1.36929882e-02 -3.74848772e-04 9.99906176e-01 -8.76103177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.42, Y:-3.96, Z:-0.88 [[ 9.88106321e-01 1.53198990e-01 1.32652879e-02 4.94233138e+01] [-1.53190035e-01 9.88195295e-01 -1.69458963e-03 -3.96117630e+00] [-1.33683045e-02 -3.57675181e-04 9.99910576e-01 -8.76497909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.015769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:49.46, Y:-3.96, Z:-0.88 [[ 9.88017131e-01 1.53885697e-01 1.18886734e-02 4.94567609e+01] [-1.53878532e-01 9.88088602e-01 -1.52060290e-03 -3.96310635e+00] [-1.19810617e-02 -3.27029901e-04 9.99928171e-01 -8.77559347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.49, Y:-3.97, Z:-0.88 [[ 9.87916070e-01 1.54569473e-01 1.14069112e-02 4.94892258e+01] [-1.54562898e-01 9.87981870e-01 -1.46103815e-03 -3.96637631e+00] [-1.14956533e-02 -3.19702182e-04 9.99933872e-01 -8.77797563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.52, Y:-3.97, Z:-0.88 [[ 9.87857135e-01 1.54886450e-01 1.21847477e-02 4.95215252e+01] [-1.54878942e-01 9.87932219e-01 -1.56313975e-03 -3.96766250e+00] [-1.22798140e-02 -3.43002084e-04 9.99924541e-01 -8.77880173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.55, Y:-3.97, Z:-0.88 [[ 9.87904212e-01 1.54614318e-01 1.18186451e-02 4.95540018e+01] [-1.54607211e-01 9.87974851e-01 -1.51818573e-03 -3.97108105e+00] [-1.19112574e-02 -3.27425681e-04 9.99929005e-01 -8.78518982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.135769231000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:49.59, Y:-3.98, Z:-0.88 [[ 9.88117887e-01 1.53412133e-01 9.36801483e-03 4.95861875e+01] [-1.53407601e-01 9.88162262e-01 -1.20468195e-03 -3.97514318e+00] [-9.44193156e-03 -2.46756899e-04 9.99955394e-01 -8.80036807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.62, Y:-3.98, Z:-0.88 [[ 9.88207287e-01 1.52838398e-01 9.31573127e-03 4.96190802e+01] [-1.52833877e-01 9.88251166e-01 -1.19950475e-03 -3.97945117e+00] [-9.38961267e-03 -2.38399994e-04 9.99955888e-01 -8.80719363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:-3.98, Z:-0.88 [[ 9.88271554e-01 1.52380413e-01 9.97727743e-03 4.96508104e+01] [-1.52375182e-01 9.88321885e-01 -1.28682354e-03 -3.98326756e+00] [-1.00568483e-02 -2.48558365e-04 9.99949398e-01 -8.80669054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.68, Y:-3.99, Z:-0.88 [[ 9.88261449e-01 1.52253450e-01 1.25775537e-02 4.96825002e+01] [-1.52245090e-01 9.88341435e-01 -1.62506686e-03 -3.98654772e+00] [-1.26783395e-02 -3.08879870e-04 9.99919579e-01 -8.79881730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.72, Y:-3.99, Z:-0.88 [[ 9.88149022e-01 1.52983976e-01 1.25464413e-02 4.97154250e+01] [-1.52975689e-01 9.88228619e-01 -1.62319784e-03 -3.99080706e+00] [-1.26470756e-02 -3.15339145e-04 9.99919973e-01 -8.80033737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.75, Y:-3.99, Z:-0.88 [[ 9.87872429e-01 1.54911415e-01 1.05127581e-02 4.97480888e+01] [-1.54905690e-01 9.87928324e-01 -1.36162324e-03 -3.99385622e+00] [-1.05967825e-02 -2.83375998e-04 9.99943812e-01 -8.81506380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.315769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.78, Y:-4.00, Z:-0.88 [[ 9.87859736e-01 1.54992353e-01 1.05124727e-02 4.97812893e+01] [-1.54986609e-01 9.87915629e-01 -1.36382308e-03 -3.99830178e+00] [-1.05968182e-02 -2.82026593e-04 9.99943812e-01 -8.81937625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.81, Y:-4.00, Z:-0.88 [[ 9.87692829e-01 1.56094727e-01 9.86466975e-03 4.98136410e+01] [-1.56089719e-01 9.87742052e-01 -1.28026535e-03 -4.00117879e+00] [-9.94359181e-03 -2.75264625e-04 9.99950523e-01 -8.82697874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.85, Y:-4.00, Z:-0.88 [[ 9.87588454e-01 1.56665127e-01 1.11840931e-02 4.98467689e+01] [-1.56658701e-01 9.87651729e-01 -1.45377185e-03 -4.00307052e+00] [-1.12737442e-02 -3.16357195e-04 9.99936399e-01 -8.82926502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.88, Y:-4.01, Z:-0.88 [[ 9.87709138e-01 1.55846063e-01 1.19441806e-02 4.98787680e+01] [-1.55838645e-01 9.87781301e-01 -1.55499107e-03 -4.00742449e+00] [-1.20405775e-02 -3.25486032e-04 9.99927457e-01 -8.83349704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.435769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.91, Y:-4.01, Z:-0.88 [[ 9.88002522e-01 1.53992094e-01 1.17239948e-02 4.99110978e+01] [-1.53984791e-01 9.88072036e-01 -1.52843784e-03 -4.01247238e+00] [-1.18195188e-02 -2.95216456e-04 9.99930103e-01 -8.84046925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.94, Y:-4.02, Z:-0.89 [[ 9.88806756e-01 1.48785080e-01 1.11444870e-02 4.99429731e+01] [-1.48778144e-01 9.88869532e-01 -1.45355505e-03 -4.01983671e+00] [-1.12367110e-02 -2.20771043e-04 9.99936842e-01 -8.85335237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.495769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.98, Y:-4.03, Z:-0.89 [[ 9.89626812e-01 1.43253386e-01 1.08277450e-02 4.99756040e+01] [-1.43246486e-01 9.89686033e-01 -1.41420529e-03 -4.02793227e+00] [-1.09186577e-02 -1.51500943e-04 9.99940378e-01 -8.86305141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.01, Y:-4.03, Z:-0.89 [[ 9.89955787e-01 1.40995418e-01 1.03842647e-02 5.00081284e+01] [-1.40988926e-01 9.90010241e-01 -1.35824376e-03 -4.03397544e+00] [-1.04720345e-02 -1.19465056e-04 9.99945160e-01 -8.86565736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.555769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:50.04, Y:-4.04, Z:-0.89 [[ 9.90380291e-01 1.38011687e-01 9.98268446e-03 5.00391778e+01] [-1.38005517e-01 9.90430597e-01 -1.30763023e-03 -4.04130435e+00] [-1.00676244e-02 -8.26143277e-05 9.99949317e-01 -8.87374438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:50.07, Y:-4.05, Z:-0.89 [[ 9.90461572e-01 1.37417879e-01 1.01094506e-02 5.00715608e+01] [-1.37411501e-01 9.90513160e-01 -1.32610322e-03 -4.04737088e+00] [-1.01957742e-02 -7.57005034e-05 9.99948019e-01 -8.87883035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.615769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:50.10, Y:-4.05, Z:-0.89 [[ 9.90370448e-01 1.38077718e-01 1.00458518e-02 5.01025314e+01] [-1.38071434e-01 9.90421394e-01 -1.31973895e-03 -4.05479825e+00] [-1.01318531e-02 -8.00147096e-05 9.99948668e-01 -8.88144356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:50.13, Y:-4.06, Z:-0.89 [[ 9.90163199e-01 1.39573818e-01 9.79734395e-03 5.01337570e+01] [-1.39567897e-01 9.90211665e-01 -1.28882782e-03 -4.06054602e+00] [-9.88133089e-03 -9.12448067e-05 9.99951174e-01 -8.88325316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.675769231000004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:50.17, Y:-4.07, Z:-0.89 [[ 9.89696799e-01 1.42858783e-01 9.57155184e-03 5.01659561e+01] [-1.42853270e-01 9.89743075e-01 -1.26073692e-03 -4.06747500e+00] [-9.65348449e-03 -1.19580188e-04 9.99953397e-01 -8.88430663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705769231000005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:50.20, Y:-4.07, Z:-0.89 [[ 9.89469302e-01 1.44417269e-01 9.70320744e-03 5.01982159e+01] [-1.44411660e-01 9.89516869e-01 -1.27996995e-03 -4.07243779e+00] [-9.78633721e-03 -1.34765319e-04 9.99952104e-01 -8.88478553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.735769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:50.23, Y:-4.08, Z:-0.89 [[ 9.89264717e-01 1.45772727e-01 1.02777001e-02 5.02306902e+01] [-1.45766484e-01 9.89318093e-01 -1.35786972e-03 -4.07600783e+00] [-1.03658551e-02 -1.54851608e-04 9.99946261e-01 -8.88322499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765769231 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:50.26, Y:-4.08, Z:-0.89 [[ 9.88829356e-01 1.48440326e-01 1.34897803e-02 5.02631153e+01] [-1.48429775e-01 9.88921338e-01 -1.78561509e-03 -4.07743348e+00] [-1.36053889e-02 -2.36616441e-04 9.99907414e-01 -8.87824360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.795769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:50.30, Y:-4.08, Z:-0.89 [[ 9.88524234e-01 1.50377229e-01 1.43710932e-02 5.02951629e+01] [-1.50365420e-01 9.88628652e-01 -1.90492232e-03 -4.08178740e+00] [-1.44941314e-02 -2.77853588e-04 9.99894916e-01 -8.88027106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:50.33, Y:-4.09, Z:-0.89 [[ 9.88464579e-01 1.50879049e-01 1.31639351e-02 5.03278659e+01] [-1.50869166e-01 9.88552196e-01 -1.74636338e-03 -4.08647270e+00] [-1.32767266e-02 -2.59813558e-04 9.99911827e-01 -8.88753682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.855769231000004 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:50.36, Y:-4.09, Z:-0.89 [[ 9.88361603e-01 1.51653033e-01 1.19456472e-02 5.03593134e+01] [-1.51644927e-01 9.88433760e-01 -1.58675932e-03 -4.08986990e+00] [-1.20481178e-02 -2.43204805e-04 9.99927389e-01 -8.90342960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885769231000005 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:50.39, Y:-4.09, Z:-0.89 [[ 9.88243596e-01 1.52382217e-01 1.24199222e-02 5.03921315e+01] [-1.52373483e-01 9.88321604e-01 -1.65201280e-03 -4.09355473e+00] [-1.25266148e-02 -2.59875734e-04 9.99921505e-01 -8.90299512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.915769231000006 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:50.42, Y:-4.10, Z:-0.89 [[ 9.88029525e-01 1.53692931e-01 1.32717663e-02 5.04249873e+01] [-1.53683041e-01 9.88118615e-01 -1.76792332e-03 -4.09737631e+00] [-1.33857966e-02 -2.92884971e-04 9.99910363e-01 -8.90464491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.945769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:50.46, Y:-4.10, Z:-0.89 [[ 9.87517829e-01 1.56968061e-01 1.30217477e-02 5.04577483e+01] [-1.56958795e-01 9.87603625e-01 -1.73696262e-03 -4.10160670e+00] [-1.31329729e-02 -3.28596274e-04 9.99913705e-01 -8.90359547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.975769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:50.49, Y:-4.11, Z:-0.89 [[ 9.87282195e-01 1.58505254e-01 1.22454770e-02 5.04899278e+01] [-1.58497151e-01 9.87358080e-01 -1.63555306e-03 -4.10509522e+00] [-1.23499144e-02 -3.26120807e-04 9.99923684e-01 -8.91292288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:50.52, Y:-4.11, Z:-0.89 [[ 9.87062583e-01 1.59950076e-01 1.11099193e-02 5.05233839e+01] [-1.59943486e-01 9.87125056e-01 -1.48490381e-03 -4.10585905e+00] [-1.12043902e-02 -3.11266227e-04 9.99937180e-01 -8.92562139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.035769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:50.56, Y:-4.11, Z:-0.89 [[ 9.87020493e-01 1.60212930e-01 1.10618267e-02 5.05565983e+01] [-1.60206391e-01 9.87082428e-01 -1.48047218e-03 -4.10875376e+00] [-1.11561256e-02 -3.10918957e-04 9.99937720e-01 -8.92988403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065769231000004 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:50.59, Y:-4.11, Z:-0.89 [[ 9.86913014e-01 1.60830397e-01 1.16741475e-02 5.05898438e+01] [-1.60823131e-01 9.86982002e-01 -1.56465704e-03 -4.10922271e+00] [-1.17738179e-02 -3.33292550e-04 9.99930631e-01 -8.92638628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.095769231000006 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:50.62, Y:-4.11, Z:-0.89 [[ 9.86912019e-01 1.60824805e-01 1.18342601e-02 5.06229015e+01] [-1.60817312e-01 9.86982912e-01 -1.58828364e-03 -4.11089222e+00] [-1.19356479e-02 -3.35657679e-04 9.99928711e-01 -8.92520967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.125769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:50.66, Y:-4.11, Z:-0.89 [[ 9.87229713e-01 1.58942217e-01 1.07175484e-02 5.06557040e+01] [-1.58935940e-01 9.87287847e-01 -1.44030221e-03 -4.10938330e+00] [-1.08102301e-02 -2.81494497e-04 9.99941528e-01 -8.94180864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.155769231 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:50.69, Y:-4.11, Z:-0.89 [[ 9.87455669e-01 1.57568334e-01 1.01746009e-02 5.06883281e+01] [-1.57562594e-01 9.87508054e-01 -1.36833151e-03 -4.11152400e+00] [-1.02631061e-02 -2.51969810e-04 9.99947301e-01 -8.94841229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:50.72, Y:-4.11, Z:-0.89 [[ 9.87952253e-01 1.54378532e-01 1.08450363e-02 5.07195637e+01] [-1.54371796e-01 9.88011749e-01 -1.46055132e-03 -4.11173223e+00] [-1.09405011e-02 -2.31212771e-04 9.99940124e-01 -8.94945370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.215769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:50.75, Y:-4.11, Z:-0.90 [[ 9.88183758e-01 1.52846408e-01 1.14383466e-02 5.07505029e+01] [-1.52838809e-01 9.88249930e-01 -1.54072235e-03 -4.11351961e+00] [-1.15394391e-02 -2.25706467e-04 9.99933393e-01 -8.95344654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245769231000004 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:50.78, Y:-4.11, Z:-0.90 [[ 9.88688278e-01 1.49587487e-01 1.09120631e-02 5.07833460e+01] [-1.49580374e-01 9.88748477e-01 -1.46975222e-03 -4.11374636e+00] [-1.10091423e-02 -1.79103678e-04 9.99939382e-01 -8.95698312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.275769231000005 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:50.82, Y:-4.12, Z:-0.90 [[ 9.88923227e-01 1.48083600e-01 1.01043645e-02 5.08160476e+01] [-1.48077404e-01 9.88974836e-01 -1.36268561e-03 -4.11741064e+00] [-1.01947536e-02 -1.48636616e-04 9.99948021e-01 -8.96459333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.305769231 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:50.85, Y:-4.12, Z:-0.90 [[ 9.89143501e-01 1.46687180e-01 8.83209499e-03 5.08477369e+01] [-1.46682378e-01 9.89182924e-01 -1.19253690e-03 -4.12159988e+00] [-8.91148743e-03 -1.15922570e-04 9.99960285e-01 -8.97222479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.335769231 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:50.88, Y:-4.12, Z:-0.90 [[ 9.89536080e-01 1.44060276e-01 8.06118881e-03 5.08799302e+01] [-1.44056178e-01 9.89568911e-01 -1.08976164e-03 -4.12492006e+00] [-8.13409319e-03 -8.29055911e-05 9.99966914e-01 -8.97953506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365769231 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:50.91, Y:-4.13, Z:-0.90 [[ 9.89875153e-01 1.41597023e-01 9.87238793e-03 5.09108094e+01] [-1.41590733e-01 9.89924380e-01 -1.33672654e-03 -4.12955158e+00] [-9.96219399e-03 -7.46462543e-05 9.99950373e-01 -8.98506448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.395769231 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:50.94, Y:-4.14, Z:-0.90 [[ 9.89963945e-01 1.40878297e-01 1.11666148e-02 5.09428626e+01] [-1.40870182e-01 9.90026919e-01 -1.51389856e-03 -4.13539430e+00] [-1.12685247e-02 -7.43380713e-05 9.99936505e-01 -8.98465928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425769231000004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:50.98, Y:-4.14, Z:-0.90 [[ 9.90023692e-01 1.40354618e-01 1.23963541e-02 5.09750133e+01] [-1.40344548e-01 9.90101296e-01 -1.68282441e-03 -4.14068960e+00] [-1.25098384e-02 -7.37246747e-05 9.99921746e-01 -8.98017114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.455769231000005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:51.01, Y:-4.14, Z:-0.90 [[ 9.90116575e-01 1.39502891e-01 1.44260877e-02 5.10070928e+01] [-1.39489117e-01 9.90221661e-01 -1.96154386e-03 -4.14379950e+00] [-1.45586656e-02 -7.01251454e-05 9.99894015e-01 -8.97772822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.485769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:51.04, Y:-4.15, Z:-0.90 [[ 9.90107142e-01 1.39522886e-01 1.48732018e-02 5.10400553e+01] [-1.39508206e-01 9.90218844e-01 -2.02512850e-03 -4.14738186e+00] [-1.50102764e-02 -6.98395054e-05 9.99887337e-01 -8.97560373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.515769231 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:51.07, Y:-4.15, Z:-0.90 [[ 9.90097179e-01 1.39638536e-01 1.44449195e-02 5.10728678e+01] [-1.39624661e-01 9.90202542e-01 -1.96953826e-03 -4.15095872e+00] [-1.45784194e-02 -6.68327139e-05 9.99893727e-01 -8.98318991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:51.10, Y:-4.16, Z:-0.90 [[ 9.90058503e-01 1.40034887e-01 1.32057372e-02 5.11042509e+01] [-1.40023295e-01 9.90146568e-01 -1.80293363e-03 -4.15540601e+00] [-1.33280890e-02 -6.41010683e-05 9.99911175e-01 -8.99102816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.575769231 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:51.14, Y:-4.16, Z:-0.90 [[ 9.90056876e-01 1.40319569e-01 9.88946827e-03 5.11368883e+01] [-1.40313070e-01 9.90106265e-01 -1.35136653e-03 -4.15780227e+00] [-9.98124766e-03 -4.96919350e-05 9.99950185e-01 -9.00566297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605769231000004 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:51.17, Y:-4.16, Z:-0.90 [[ 9.90088652e-01 1.40127530e-01 9.41997382e-03 5.11690950e+01] [-1.40121609e-01 9.90133462e-01 -1.28897540e-03 -4.16106387e+00] [-9.50765223e-03 -4.37419641e-05 9.99954800e-01 -9.01045321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.635769231000005 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:51.20, Y:-4.17, Z:-0.90 [[ 9.90403411e-01 1.37666369e-01 1.22087661e-02 5.12009947e+01] [-1.37656202e-01 9.90478657e-01 -1.67326556e-03 -4.16572621e+00] [-1.23228747e-02 -2.34044563e-05 9.99924070e-01 -9.00964956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.665769231000006 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:51.23, Y:-4.17, Z:-0.90 [[ 9.90731693e-01 1.35117347e-01 1.39289370e-02 5.12328600e+01] [-1.35103821e-01 9.90829603e-01 -1.91184445e-03 -4.17166638e+00] [-1.40595265e-02 1.22722715e-05 9.99901160e-01 -9.00981740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.695769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:51.26, Y:-4.18, Z:-0.90 [[ 9.91737969e-01 1.27439519e-01 1.46618749e-02 5.12648522e+01] [-1.27423651e-01 9.91846335e-01 -2.01519412e-03 -4.18037793e+00] [-1.47991423e-02 1.30274887e-04 9.99890478e-01 -9.01508339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:51.30, Y:-4.19, Z:-0.90 [[ 9.92257254e-01 1.23430685e-01 1.37988605e-02 5.12970999e+01] [-1.23416209e-01 9.92353180e-01 -1.89904914e-03 -4.18730476e+00] [-1.39277440e-02 1.81342241e-04 9.99902988e-01 -9.02951672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.755769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:51.33, Y:-4.20, Z:-0.90 [[ 9.92725868e-01 1.19763197e-01 1.23340302e-02 5.13284134e+01] [-1.19751322e-01 9.92802464e-01 -1.69954267e-03 -4.19528807e+00] [-1.24487982e-02 2.10163551e-04 9.99922489e-01 -9.04554853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:51.36, Y:-4.21, Z:-0.91 [[ 9.93473122e-01 1.13659964e-01 9.62125872e-03 5.13600028e+01] [-1.13652441e-01 9.93519684e-01 -1.32689561e-03 -4.20952411e+00] [-9.70972483e-03 2.24755588e-04 9.99952834e-01 -9.05410978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.815769231000004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:51.39, Y:-4.22, Z:-0.91 [[ 9.93672340e-01 1.11935216e-01 9.26219206e-03 5.13918956e+01] [-1.11928153e-01 9.93715479e-01 -1.27905773e-03 -4.21990229e+00] [-9.34715522e-03 2.34264231e-04 9.99956287e-01 -9.05394925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845769231000006 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:51.42, Y:-4.24, Z:-0.90 [[ 9.93773244e-01 1.11011203e-01 9.55258698e-03 5.14233782e+01] [-1.11003629e-01 9.93819123e-01 -1.32103506e-03 -4.23603883e+00] [-9.64019330e-03 2.52437479e-04 9.99953500e-01 -9.04932890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.875769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:51.45, Y:-4.25, Z:-0.91 [[ 9.93695432e-01 1.11670320e-01 9.95630196e-03 5.14539394e+01] [-1.11662105e-01 9.93745276e-01 -1.37893921e-03 -4.24612135e+00] [-1.00480146e-02 2.58503956e-04 9.99949484e-01 -9.05078844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:51.48, Y:-4.26, Z:-0.91 [[ 9.93285419e-01 1.15228787e-01 1.03151691e-02 5.14847027e+01] [-1.15220141e-01 9.93338952e-01 -1.43056613e-03 -4.26212916e+00] [-1.04113017e-02 2.32445236e-04 9.99945774e-01 -9.05728195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.935769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:51.52, Y:-4.27, Z:-0.91 [[ 9.92967050e-01 1.18078949e-01 8.59062159e-03 5.15159487e+01] [-1.18022675e-01 9.92987697e-01 -6.78837348e-03 -4.26922949e+00] [-9.33194555e-03 5.72674305e-03 9.99940058e-01 -9.05654076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:51.55, Y:-4.28, Z:-0.90 [[ 9.92484787e-01 1.21780922e-01 1.19730910e-02 5.15468019e+01] [-1.21836007e-01 9.92542258e-01 3.98156207e-03 -4.28296486e+00] [-1.13989205e-02 -5.41039338e-03 9.99920393e-01 -9.04702095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.995769231000004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:51.58, Y:-4.29, Z:-0.90 [[ 9.91403873e-01 1.30280198e-01 1.20594461e-02 5.15786279e+01] [-1.30269406e-01 9.91477212e-01 -1.67952601e-03 -4.29165186e+00] [-1.21754750e-02 9.41117230e-05 9.99925872e-01 -9.04943612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025769231000005 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:51.61, Y:-4.30, Z:-0.90 [[ 9.90578474e-01 1.36437200e-01 1.17973725e-02 5.16096113e+01] [-1.36427282e-01 9.90648722e-01 -1.64523888e-03 -4.30055532e+00] [-1.19115238e-02 2.02547562e-05 9.99929055e-01 -9.04915523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.055769231 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:51.64, Y:-4.31, Z:-0.91 [[ 9.90254708e-01 1.38785416e-01 1.15853627e-02 5.16414032e+01] [-1.38775988e-01 9.90322477e-01 -1.61769831e-03 -4.30690587e+00] [-1.16977580e-02 -5.83678989e-06 9.99931579e-01 -9.06526775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:51.67, Y:-4.31, Z:-0.91 [[ 9.89958710e-01 1.40910890e-01 1.12193706e-02 5.16735443e+01] [-1.40902163e-01 9.90022283e-01 -1.56848416e-03 -4.31299309e+00] [-1.13284433e-02 -2.80990308e-05 9.99935831e-01 -9.06928260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.115769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:51.71, Y:-4.32, Z:-0.91 [[ 9.89356888e-01 1.45048847e-01 1.15663376e-02 5.17062838e+01] [-1.45039830e-01 9.89424492e-01 -1.61911669e-03 -4.31878975e+00] [-1.16788687e-02 -7.56953888e-05 9.99931797e-01 -9.07755374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:51.74, Y:-4.32, Z:-0.91 [[ 9.88699455e-01 1.49377440e-01 1.26399430e-02 5.17388275e+01] [-1.49366992e-01 9.88780239e-01 -1.77195129e-03 -4.32244471e+00] [-1.27628154e-02 -1.36062994e-04 9.99918543e-01 -9.06500798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.175769231000004 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:51.77, Y:-4.33, Z:-0.91 [[ 9.88358498e-01 1.51565520e-01 1.32428409e-02 5.17704436e+01] [-1.51554212e-01 9.88447199e-01 -1.85913781e-03 -4.32565028e+00] [-1.33716302e-02 -1.69513662e-04 9.99910581e-01 -9.06970454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205769231000005 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:51.80, Y:-4.33, Z:-0.91 [[ 9.88346537e-01 1.51643523e-01 1.32425197e-02 5.18035908e+01] [-1.51632191e-01 9.88435235e-01 -1.86142266e-03 -4.33045291e+00] [-1.33716458e-02 -1.68261643e-04 9.99910581e-01 -9.07402531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.235769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:51.84, Y:-4.33, Z:-0.91 [[ 9.88094635e-01 1.53275312e-01 1.32540910e-02 5.18368343e+01] [-1.53264092e-01 9.88183507e-01 -1.86417071e-03 -4.33392068e+00] [-1.33832054e-02 -1.89399140e-04 9.99910423e-01 -9.07408799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:51.87, Y:-4.33, Z:-0.91 [[ 9.87758721e-01 1.55522473e-01 1.20611004e-02 5.18691233e+01] [-1.55513324e-01 9.87832335e-01 -1.69847232e-03 -4.33448056e+00] [-1.21784955e-02 -1.97980967e-04 9.99925820e-01 -9.09603475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.295769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:51.90, Y:-4.34, Z:-0.91 [[ 9.87628190e-01 1.56461375e-01 1.05069599e-02 5.19014764e+01] [-1.56454469e-01 9.87684061e-01 -1.48115836e-03 -4.33791478e+00] [-1.06093009e-02 -1.81027069e-04 9.99943703e-01 -9.10589299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:51.93, Y:-4.34, Z:-0.91 [[ 9.87628115e-01 1.56575945e-01 8.64175944e-03 5.19338332e+01] [-1.56571266e-01 9.87665911e-01 -1.21952841e-03 -4.34007925e+00] [-8.72612002e-03 -1.48610670e-04 9.99961916e-01 -9.11361089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.355769231000004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:51.97, Y:-4.34, Z:-0.91 [[ 9.87716971e-01 1.56007681e-01 8.76296648e-03 5.19669353e+01] [-1.56002833e-01 9.87755832e-01 -1.23824760e-03 -4.34321912e+00] [-8.84884738e-03 -1.44009426e-04 9.99960838e-01 -9.11421066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385769231000005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:52.00, Y:-4.35, Z:-0.91 [[ 9.87835678e-01 1.55220983e-01 9.33374185e-03 5.19987388e+01] [-1.55215430e-01 9.87879763e-01 -1.32089530e-03 -4.34561644e+00] [-9.42564535e-03 -1.43913245e-04 9.99955567e-01 -9.11381127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.415769231000006 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:52.03, Y:-4.34, Z:-0.91 [[ 9.88077007e-01 1.53625514e-01 1.01503763e-02 5.20322439e+01] [-1.53618841e-01 9.88129132e-01 -1.43846513e-03 -4.34432068e+00] [-1.02508674e-02 -1.37974724e-04 9.99947449e-01 -9.11762555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.445769231 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:52.06, Y:-4.35, Z:-0.91 [[ 9.88151741e-01 1.53155657e-01 9.97406835e-03 5.20639019e+01] [-1.53149172e-01 9.88202068e-01 -1.41530421e-03 -4.34600930e+00] [-1.00731568e-02 -1.28984992e-04 9.99949256e-01 -9.12380551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.475769231 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.10, Y:-4.35, Z:-0.91 [[ 9.88450694e-01 1.51138152e-01 1.10673031e-02 5.20978609e+01] [-1.51130017e-01 9.88512643e-01 -1.57254444e-03 -4.34511482e+00] [-1.11778405e-02 -1.18219054e-04 9.99937519e-01 -9.12615657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:52.13, Y:-4.35, Z:-0.91 [[ 9.88661486e-01 1.49698190e-01 1.17863259e-02 5.21298881e+01] [-1.49688832e-01 9.88731733e-01 -1.67712017e-03 -4.34682351e+00] [-1.19045763e-02 -1.06177243e-04 9.99929132e-01 -9.12855188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.535769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:52.16, Y:-4.35, Z:-0.91 [[ 9.89223451e-01 1.46022357e-01 1.06974627e-02 5.21631484e+01] [-1.46014416e-01 9.89281289e-01 -1.52385502e-03 -4.34715729e+00] [-1.08053166e-02 -5.45506502e-05 9.99941619e-01 -9.14024723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565769231000004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:52.20, Y:-4.35, Z:-0.91 [[ 9.89588308e-01 1.43599266e-01 9.70733891e-03 5.21951043e+01] [-1.43592594e-01 9.89635918e-01 -1.38446376e-03 -4.35025722e+00] [-9.80553923e-03 -2.38528213e-05 9.99951924e-01 -9.14745743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.595769231000006 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:52.23, Y:-4.35, Z:-0.91 [[ 9.90351565e-01 1.38272599e-01 9.19049806e-03 5.22276587e+01] [-1.38266376e-01 9.90394208e-01 -1.31218793e-03 -4.35355745e+00] [-9.28365568e-03 2.87905086e-05 9.99956906e-01 -9.14968808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.625769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:52.26, Y:-4.36, Z:-0.91 [[ 9.90713036e-01 1.35578571e-01 1.03020169e-02 5.22596750e+01] [-1.35570580e-01 9.90766596e-01 -1.47325861e-03 -4.35827560e+00] [-1.04066365e-02 6.29261032e-05 9.99945848e-01 -9.14771708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.655769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:52.29, Y:-4.36, Z:-0.91 [[ 9.91033506e-01 1.33097982e-01 1.17267521e-02 5.22925518e+01] [-1.33087425e-01 9.91102879e-01 -1.67950381e-03 -4.36318189e+00] [-1.18459563e-02 1.03761312e-04 9.99929829e-01 -9.14859638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:52.32, Y:-4.37, Z:-0.91 [[ 9.91490233e-01 1.29557001e-01 1.27318745e-02 5.23245236e+01] [-1.29544232e-01 9.91571963e-01 -1.82603641e-03 -4.36919343e+00] [-1.28611456e-02 1.61156369e-04 9.99917279e-01 -9.14897103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.715769231 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:52.36, Y:-4.37, Z:-0.92 [[ 9.91571665e-01 1.29045410e-01 1.15288669e-02 5.23567629e+01] [-1.29034884e-01 9.91638673e-01 -1.65542824e-03 -4.37466961e+00] [-1.16460957e-02 1.53849734e-04 9.99932170e-01 -9.15727798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745769231000004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:52.39, Y:-4.38, Z:-0.92 [[ 9.91437010e-01 1.30310772e-01 8.47102106e-03 5.23881403e+01] [-1.30305127e-01 9.91473193e-01 -1.21736717e-03 -4.37966725e+00] [-8.55742635e-03 1.03125398e-04 9.99963379e-01 -9.16802570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.775769231000005 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:52.42, Y:-4.38, Z:-0.92 [[ 9.91203545e-01 1.32094523e-01 8.15901619e-03 5.24211848e+01] [-1.32089336e-01 9.91237121e-01 -1.17381738e-03 -4.38442395e+00] [-8.24257457e-03 8.57729186e-05 9.99966026e-01 -9.17262776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.805769231 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.45, Y:-4.39, Z:-0.92 [[ 9.90910767e-01 1.34276085e-01 8.11076114e-03 5.24527269e+01] [-1.34271019e-01 9.90943958e-01 -1.16845793e-03 -4.38894693e+00] [-8.19420570e-03 6.87973831e-05 9.99966425e-01 -9.17503875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.835769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:52.49, Y:-4.39, Z:-0.92 [[ 9.90487753e-01 1.37324175e-01 8.72246684e-03 5.24853358e+01] [-1.37318419e-01 9.90526157e-01 -1.25825806e-03 -4.39446046e+00] [-8.81262082e-03 4.85338364e-05 9.99961167e-01 -9.18046598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:52.52, Y:-4.40, Z:-0.92 [[ 9.90455721e-01 1.37498233e-01 9.57604689e-03 5.25184281e+01] [-1.37491285e-01 9.90502011e-01 -1.38336958e-03 -4.39960473e+00] [-9.67530458e-03 5.35433268e-05 9.99953192e-01 -9.18257245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.895769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:52.55, Y:-4.41, Z:-0.92 [[ 9.90462268e-01 1.37376920e-01 1.05866386e-02 5.25505636e+01] [-1.37368395e-01 9.90518843e-01 -1.53164416e-03 -4.40647763e+00] [-1.06966776e-02 6.27661846e-05 9.99942787e-01 -9.18913947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925769231000004 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:52.58, Y:-4.41, Z:-0.92 [[ 9.90437758e-01 1.37555616e-01 1.05593309e-02 5.25815966e+01] [-1.37547124e-01 9.90494043e-01 -1.52976274e-03 -4.41265835e+00] [-1.06693818e-02 6.27291833e-05 9.99943079e-01 -9.19499377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.955769231000005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:52.61, Y:-4.42, Z:-0.92 [[ 9.90234306e-01 1.38995277e-01 1.07857035e-02 5.26139464e+01] [-1.38986480e-01 9.90293043e-01 -1.56453309e-03 -4.42040395e+00] [-1.08984699e-02 5.01873625e-05 9.99940609e-01 -9.20055638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.985769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:52.65, Y:-4.43, Z:-0.92 [[ 9.90034736e-01 1.40431361e-01 1.05002535e-02 5.26467646e+01] [-1.40423084e-01 9.90090416e-01 -1.52504151e-03 -4.42666175e+00] [-1.06103640e-02 3.53660924e-05 9.99943708e-01 -9.20107301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.015769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:52.68, Y:-4.43, Z:-0.92 [[ 9.89474058e-01 1.44428060e-01 9.03459222e-03 5.26782496e+01] [-1.44422086e-01 9.89515303e-01 -1.31362390e-03 -4.43481745e+00] [-9.12959141e-03 -4.99788593e-06 9.99958324e-01 -9.20348966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:52.71, Y:-4.44, Z:-0.92 [[ 9.89115516e-01 1.46884585e-01 8.68411649e-03 5.27108127e+01] [-1.46879148e-01 9.89153637e-01 -1.26409844e-03 -4.44195364e+00] [-8.77560199e-03 -2.51762547e-05 9.99961493e-01 -9.21363322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.075769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:52.74, Y:-4.45, Z:-0.92 [[ 9.88739263e-01 1.49369791e-01 9.12881052e-03 5.27432999e+01] [-1.49363871e-01 9.88781403e-01 -1.33069278e-03 -4.44926991e+00] [-9.22516338e-03 -4.78062807e-05 9.99957446e-01 -9.22282906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:52.78, Y:-4.46, Z:-0.92 [[ 9.88080074e-01 1.53533326e-01 1.11931298e-02 5.27755985e+01] [-1.53524662e-01 9.88143465e-01 -1.63428162e-03 -4.45733608e+00] [-1.13113347e-02 -1.03620368e-04 9.99936019e-01 -9.21156401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.81, Y:-4.46, Z:-0.92 [[ 9.87731615e-01 1.55661449e-01 1.24808151e-02 5.28082213e+01] [-1.55650814e-01 9.87810454e-01 -1.82492621e-03 -4.46337471e+00] [-1.26127503e-02 -1.40111726e-04 9.99920446e-01 -9.21112410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.165769231000006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:52.84, Y:-4.47, Z:-0.92 [[ 9.86740976e-01 1.61857736e-01 1.20133022e-02 5.28394330e+01] [-1.61848315e-01 9.86814081e-01 -1.75875830e-03 -4.46972708e+00] [-1.21395645e-02 -2.08893849e-04 9.99926291e-01 -9.20564408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.195769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:52.87, Y:-4.47, Z:-0.92 [[ 9.86045427e-01 1.66128533e-01 1.07576518e-02 5.28719881e+01] [-1.66121215e-01 9.86104080e-01 -1.57657659e-03 -4.47355197e+00] [-1.08700787e-02 -2.32498052e-04 9.99940892e-01 -9.20509376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:52.91, Y:-4.47, Z:-0.92 [[ 9.84270253e-01 1.76382431e-01 1.00651170e-02 5.29052244e+01] [-1.76376542e-01 9.84321662e-01 -1.47680970e-03 -4.47112937e+00] [-1.01677960e-02 -3.21670680e-04 9.99948255e-01 -9.22786973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.255769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:52.94, Y:-4.47, Z:-0.92 [[ 9.83382081e-01 1.81241313e-01 1.05484689e-02 5.29388139e+01] [-1.81235101e-01 9.83438578e-01 -1.54981461e-03 -4.47178090e+00] [-1.06546617e-02 -3.87692908e-04 9.99943162e-01 -9.23544457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:52.97, Y:-4.47, Z:-0.92 [[ 9.82264295e-01 1.87141489e-01 1.16153859e-02 5.29714895e+01] [-1.87134340e-01 9.82332845e-01 -1.70898693e-03 -4.46887705e+00] [-1.17299975e-02 -4.94960741e-04 9.99931079e-01 -9.23808179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.315769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:53.00, Y:-4.47, Z:-0.92 [[ 9.82141092e-01 1.87819168e-01 1.10830915e-02 5.30047319e+01] [-1.87812683e-01 9.82203508e-01 -1.63237265e-03 -4.46995098e+00] [-1.11924422e-02 -4.78324894e-04 9.99937248e-01 -9.24103735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345769231000006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:53.04, Y:-4.47, Z:-0.92 [[ 9.82216689e-01 1.87484904e-01 9.98931546e-03 5.30374824e+01] [-1.87479601e-01 9.82267392e-01 -1.47298044e-03 -4.47021931e+00] [-1.00883404e-02 -4.26006909e-04 9.99949021e-01 -9.24430921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.375769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:53.07, Y:-4.46, Z:-0.93 [[ 9.82417018e-01 1.86491535e-01 8.81532696e-03 5.30703681e+01] [-1.86487348e-01 9.82456500e-01 -1.30178170e-03 -4.46290021e+00] [-8.90344654e-03 -3.65054456e-04 9.99960297e-01 -9.25238282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:53.10, Y:-4.46, Z:-0.93 [[ 9.82538842e-01 1.85825506e-01 9.29003552e-03 5.31002846e+01] [-1.85820823e-01 9.82582688e-01 -1.37224568e-03 -4.46012929e+00] [-9.38322632e-03 -3.77997367e-04 9.99955905e-01 -9.25043739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.435769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:53.13, Y:-4.45, Z:-0.92 [[ 9.83011231e-01 1.83089941e-01 1.29226057e-02 5.31314320e+01] [-1.83080647e-01 9.83096045e-01 -1.90860300e-03 -4.45072329e+00] [-1.30536086e-02 -4.89700827e-04 9.99914678e-01 -9.24720958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:53.16, Y:-4.45, Z:-0.92 [[ 9.83388207e-01 1.80959128e-01 1.41925692e-02 5.31616427e+01] [-1.80947702e-01 9.83490486e-01 -2.09581019e-03 -4.44831728e+00] [-1.43375128e-02 -5.07117757e-04 9.99897084e-01 -9.24758347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.495769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:53.19, Y:-4.44, Z:-0.93 [[ 9.84441768e-01 1.75277950e-01 1.23306754e-02 5.31924335e+01] [-1.75268883e-01 9.84518920e-01 -1.82060724e-03 -4.44234161e+00] [-1.24588956e-02 -3.68901903e-04 9.99922317e-01 -9.26035454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525769231000005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:53.22, Y:-4.44, Z:-0.93 [[ 9.85128047e-01 1.71480984e-01 1.08168156e-02 5.32224548e+01] [-1.71473779e-01 9.85187390e-01 -1.59697811e-03 -4.44337359e+00] [-1.09304417e-02 -2.81572326e-04 9.99940221e-01 -9.27705655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.555769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:53.25, Y:-4.44, Z:-0.93 [[ 9.85826517e-01 1.67507935e-01 9.33648023e-03 5.32510852e+01] [-1.67502389e-01 9.85870706e-01 -1.37841487e-03 -4.44438079e+00] [-9.43545779e-03 -2.05004818e-04 9.99955464e-01 -9.27424918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:53.28, Y:-4.44, Z:-0.93 [[ 9.87102909e-01 1.59781904e-01 9.87875962e-03 5.32814310e+01] [-1.59775312e-01 9.87152331e-01 -1.45807390e-03 -4.44251562e+00] [-9.98481440e-03 -1.39112913e-04 9.99950141e-01 -9.25839539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.31, Y:-4.44, Z:-0.92 [[ 9.88015589e-01 1.53701718e-01 1.41766991e-02 5.33115391e+01] [-1.53687522e-01 9.88117285e-01 -2.09196462e-03 -4.44145210e+00] [-1.43297800e-02 -1.11888093e-04 9.99897317e-01 -9.24699418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:53.34, Y:-4.44, Z:-0.93 [[ 9.88417225e-01 1.51011930e-01 1.50594402e-02 5.33412703e+01] [-1.50995603e-01 9.88531937e-01 -2.22192277e-03 -4.44425760e+00] [-1.52222744e-02 -7.77225142e-05 9.99884131e-01 -9.25000711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.675769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.37, Y:-4.45, Z:-0.93 [[ 9.88803632e-01 1.48492532e-01 1.47426556e-02 5.33704728e+01] [-1.48476603e-01 9.88913528e-01 -2.17528628e-03 -4.44766976e+00] [-1.49022253e-02 -3.80084491e-05 9.99888955e-01 -9.26203676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705769231000005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:53.40, Y:-4.45, Z:-0.93 [[ 9.89413270e-01 1.44640498e-01 1.18535990e-02 5.34003787e+01] [-1.44629927e-01 9.89484273e-01 -1.74875894e-03 -4.45199457e+00] [-1.19818911e-02 1.58601455e-05 9.99928214e-01 -9.28574380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.735769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.43, Y:-4.46, Z:-0.93 [[ 9.89671428e-01 1.42926624e-01 1.10655146e-02 5.34296344e+01] [-1.42917305e-01 9.89733287e-01 -1.63251315e-03 -4.45688954e+00] [-1.11852377e-02 3.41980964e-05 9.99937443e-01 -9.29517772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:53.46, Y:-4.46, Z:-0.93 [[ 9.90160418e-01 1.39552197e-01 1.03697006e-02 5.34592997e+01] [-1.39543828e-01 9.90214714e-01 -1.52977224e-03 -4.46196045e+00] [-1.04817132e-02 6.76922000e-05 9.99945063e-01 -9.29153567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.795769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:53.49, Y:-4.47, Z:-0.93 [[ 9.90364578e-01 1.38109053e-01 1.01927550e-02 5.34890714e+01] [-1.38100895e-01 9.90417025e-01 -1.50337213e-03 -4.46671209e+00] [-1.03027074e-02 8.12579285e-05 9.99946922e-01 -9.29714206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:53.52, Y:-4.47, Z:-0.93 [[ 9.90487795e-01 1.37181156e-01 1.07358299e-02 5.35195053e+01] [-1.37172050e-01 9.90545971e-01 -1.58347253e-03 -4.47253073e+00] [-1.08515557e-02 9.57544200e-05 9.99941116e-01 -9.30472220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.855769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.55, Y:-4.48, Z:-0.93 [[ 9.90518690e-01 1.36893355e-01 1.15297171e-02 5.35491642e+01] [-1.36882833e-01 9.90585785e-01 -1.70056627e-03 -4.48187425e+00] [-1.16539700e-02 1.06222339e-04 9.99932085e-01 -9.30573873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885769231000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:53.58, Y:-4.49, Z:-0.93 [[ 9.90480576e-01 1.37168213e-01 1.15373659e-02 5.35785564e+01] [-1.37157696e-01 9.90547763e-01 -1.70167935e-03 -4.48897780e+00] [-1.16617283e-02 1.03041818e-04 9.99931994e-01 -9.31177862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.915769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.61, Y:-4.50, Z:-0.93 [[ 9.90428918e-01 1.37559393e-01 1.13124875e-02 5.36080149e+01] [-1.37549306e-01 9.90493515e-01 -1.66866672e-03 -4.49830776e+00] [-1.14344863e-02 9.66709703e-05 9.99934619e-01 -9.31924748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.64, Y:-4.51, Z:-0.93 [[ 9.90346384e-01 1.38170174e-01 1.10924841e-02 5.36381478e+01] [-1.38160514e-01 9.90408499e-01 -1.63617478e-03 -4.50573760e+00] [-1.12121611e-02 8.78364762e-05 9.99937138e-01 -9.32623048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.975769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.67, Y:-4.51, Z:-0.93 [[ 9.90214281e-01 1.39142569e-01 1.07248951e-02 5.36676217e+01] [-1.39133594e-01 9.90272356e-01 -1.58213791e-03 -4.51322383e+00] [-1.08407099e-02 7.44623531e-05 9.99941235e-01 -9.33235392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:53.70, Y:-4.52, Z:-0.93 [[ 9.89634232e-01 1.43298658e-01 9.46470001e-03 5.36967070e+01] [-1.43291852e-01 9.89679490e-01 -1.39686399e-03 -4.52231841e+00] [-9.56718822e-03 2.61700220e-05 9.99954233e-01 -9.33000138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.035769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:53.73, Y:-4.53, Z:-0.93 [[ 9.88831670e-01 1.48719130e-01 9.72361694e-03 5.37261279e+01] [-1.48712209e-01 9.88879477e-01 -1.43507669e-03 -4.52933998e+00] [-9.82890859e-03 -2.69712772e-05 9.99951695e-01 -9.32442893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:53.76, Y:-4.53, Z:-0.93 [[ 9.88458566e-01 1.51159040e-01 1.00303673e-02 5.37561475e+01] [-1.51151800e-01 9.88509455e-01 -1.48034896e-03 -4.53478412e+00] [-1.01388810e-02 -5.28444625e-05 9.99948599e-01 -9.32765247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.095769231000006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:53.79, Y:-4.54, Z:-0.93 [[ 9.88117261e-01 1.53377839e-01 9.97584078e-03 5.37862392e+01] [-1.53370791e-01 9.88167614e-01 -1.47226814e-03 -4.54017782e+00] [-1.00836161e-02 -7.52290377e-05 9.99949156e-01 -9.33400509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.125769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:53.82, Y:-4.54, Z:-0.93 [[ 9.88117632e-01 1.53375446e-01 9.97581760e-03 5.38169044e+01] [-1.53368397e-01 9.88167985e-01 -1.47242521e-03 -4.54470235e+00] [-1.00836174e-02 -7.50458388e-05 9.99949156e-01 -9.33800092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.155769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:53.85, Y:-4.55, Z:-0.94 [[ 9.87572227e-01 1.56877525e-01 9.51513433e-03 5.38464931e+01] [-1.56871274e-01 9.87618059e-01 -1.40439849e-03 -4.55052993e+00] [-9.61763706e-03 -1.05706302e-04 9.99953744e-01 -9.35540889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.88, Y:-4.56, Z:-0.94 [[ 9.87287512e-01 1.58693429e-01 8.93106942e-03 5.38764765e+01] [-1.58687997e-01 9.87327900e-01 -1.31819268e-03 -4.55574839e+00] [-9.02708253e-03 -1.15818347e-04 9.99959248e-01 -9.36177040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.215769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:53.91, Y:-4.56, Z:-0.94 [[ 9.87355461e-01 1.58269068e-01 8.94957523e-03 5.39052451e+01] [-1.58263595e-01 9.87396015e-01 -1.32096994e-03 -4.56067645e+00] [-9.04584359e-03 -1.12125062e-04 9.99959079e-01 -9.36378841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245769231000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.94, Y:-4.57, Z:-0.94 [[ 9.87571198e-01 1.56863873e-01 9.84144003e-03 5.39363575e+01] [-1.56857187e-01 9.87620227e-01 -1.45236817e-03 -4.56680301e+00] [-9.94742934e-03 -1.09383623e-04 9.99950517e-01 -9.37116875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.275769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:53.97, Y:-4.58, Z:-0.94 [[ 9.88014051e-01 1.53991968e-01 1.07101730e-02 5.39661793e+01] [-1.53983881e-01 9.88072096e-01 -1.58058962e-03 -4.57584539e+00] [-1.08258212e-02 -8.75492502e-05 9.99941395e-01 -9.36386294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.00, Y:-4.58, Z:-0.94 [[ 9.88147810e-01 1.53109224e-01 1.10213658e-02 5.39966987e+01] [-1.53100584e-01 9.88209269e-01 -1.62837709e-03 -4.58210872e+00] [-1.11407354e-02 -7.83002793e-05 9.99937937e-01 -9.37001990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.03, Y:-4.59, Z:-0.94 [[ 9.88052017e-01 1.53684035e-01 1.15943858e-02 5.40285488e+01] [-1.53674491e-01 9.88120038e-01 -1.71494326e-03 -4.58938684e+00] [-1.17202043e-02 -8.73081877e-05 9.99931312e-01 -9.37953178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.06, Y:-4.60, Z:-0.94 [[ 9.87806878e-01 1.55234461e-01 1.18251010e-02 5.40605940e+01] [-1.55224620e-01 9.87877650e-01 -1.75112020e-03 -4.59556245e+00] [-1.19535872e-02 -1.05778230e-04 9.99928548e-01 -9.38197537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.395769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.09, Y:-4.60, Z:-0.94 [[ 9.87365605e-01 1.58064525e-01 1.11699887e-02 5.40922285e+01] [-1.58055905e-01 9.87428777e-01 -1.65588496e-03 -4.60190289e+00] [-1.12913049e-02 -1.30518812e-04 9.99936243e-01 -9.38092697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.12, Y:-4.61, Z:-0.94 [[ 9.87162215e-01 1.59341418e-01 1.10033801e-02 5.41232969e+01] [-1.59333113e-01 9.87223527e-01 -1.63302853e-03 -4.60716556e+00] [-1.11230048e-02 -1.41138739e-04 9.99938128e-01 -9.38734384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.455769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.15, Y:-4.61, Z:-0.94 [[ 9.87042348e-01 1.60083545e-01 1.09846350e-02 5.41528594e+01] [-1.60075292e-01 9.87103458e-01 -1.63220359e-03 -4.61211564e+00] [-1.11042601e-02 -1.47314592e-04 9.99938335e-01 -9.38823042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.485769231000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.18, Y:-4.62, Z:-0.94 [[ 9.87021918e-01 1.60154936e-01 1.17528704e-02 5.41847368e+01] [-1.60145493e-01 9.87091876e-01 -1.74634881e-03 -4.61859270e+00] [-1.18808493e-02 -1.58484671e-04 9.99929408e-01 -9.39224768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:-4.62, Z:-0.94 [[ 9.87081642e-01 1.59747147e-01 1.22752071e-02 5.42158654e+01] [-1.59736788e-01 9.87157953e-01 -1.82611890e-03 -4.62474373e+00] [-1.24092856e-02 -1.58273714e-04 9.99922989e-01 -9.39693797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.25, Y:-4.63, Z:-0.94 [[ 9.87543033e-01 1.56868232e-01 1.22929182e-02 5.42474581e+01] [-1.56857592e-01 9.87619534e-01 -1.83097001e-03 -4.63279062e+00] [-1.24279472e-02 -1.20075875e-04 9.99922763e-01 -9.41554762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.28, Y:-4.64, Z:-0.94 [[ 9.87874237e-01 1.54814509e-01 1.17030023e-02 5.42791059e+01] [-1.54804698e-01 9.87943551e-01 -1.74509027e-03 -4.64068378e+00] [-1.18320710e-02 -8.77500226e-05 9.99929995e-01 -9.42949750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.31, Y:-4.65, Z:-0.94 [[ 9.88574940e-01 1.50358552e-01 1.05780274e-02 5.43105134e+01] [-1.50350264e-01 9.88631531e-01 -1.57897735e-03 -4.65341647e+00] [-1.06951841e-02 -2.94717667e-05 9.99942804e-01 -9.43313720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.34, Y:-4.66, Z:-0.94 [[ 9.88819776e-01 1.48724917e-01 1.07865265e-02 5.43424203e+01] [-1.48716179e-01 9.88878607e-01 -1.61218997e-03 -4.66244530e+00] [-1.09063381e-02 -9.96568027e-06 9.99940524e-01 -9.42866580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.665769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.37, Y:-4.67, Z:-0.94 [[ 9.88927389e-01 1.48005581e-01 1.08151365e-02 5.43747739e+01] [-1.47996731e-01 9.88986526e-01 -1.61851895e-03 -4.67108970e+00] [-1.09355741e-02 -7.12283786e-09 9.99940205e-01 -9.42302069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.41, Y:-4.68, Z:-0.94 [[ 9.88623868e-01 1.50068246e-01 1.01178027e-02 5.44051533e+01] [-1.50060590e-01 9.88675640e-01 -1.51603099e-03 -4.68172045e+00] [-1.02307332e-02 -1.94990178e-05 9.99947664e-01 -9.42477365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:-4.69, Z:-0.94 [[ 9.88207330e-01 1.52783637e-01 1.01701637e-02 5.44360287e+01] [-1.52776025e-01 9.88259661e-01 -1.52578791e-03 -4.68895091e+00] [-1.02838780e-02 -4.59623882e-05 9.99947118e-01 -9.43701931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.755769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.47, Y:-4.70, Z:-0.94 [[ 9.87099805e-01 1.59726772e-01 1.10151546e-02 5.44680100e+01] [-1.59718252e-01 9.87161254e-01 -1.65463792e-03 -4.69685414e+00] [-1.11380239e-02 -1.26028474e-04 9.99937962e-01 -9.43379437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.50, Y:-4.70, Z:-0.94 [[ 9.86471843e-01 1.63547639e-01 1.12014706e-02 5.44991675e+01] [-1.63539048e-01 9.86535423e-01 -1.68485646e-03 -4.70254067e+00] [-1.13262019e-02 -1.69814386e-04 9.99935842e-01 -9.43545128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.53, Y:-4.71, Z:-0.94 [[ 9.85270748e-01 1.70684457e-01 1.04100656e-02 5.45313473e+01] [-1.70677417e-01 9.85325714e-01 -1.56750208e-03 -4.70896192e+00] [-1.05248535e-02 -2.32349153e-04 9.99944585e-01 -9.43879576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.56, Y:-4.71, Z:-0.94 [[ 9.84624197e-01 1.74379902e-01 1.03363239e-02 5.45628339e+01] [-1.74373144e-01 9.84678414e-01 -1.55839531e-03 -4.71467867e+00] [-1.04497079e-02 -2.67943570e-04 9.99945364e-01 -9.44768313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.59, Y:-4.72, Z:-0.95 [[ 9.84057392e-01 1.77547966e-01 1.03812324e-02 5.45942055e+01] [-1.77541306e-01 9.84112102e-01 -1.56702283e-03 -4.71936649e+00] [-1.04945181e-02 -3.01057149e-04 9.99944886e-01 -9.45505325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.63, Y:-4.72, Z:-0.95 [[ 9.83020675e-01 1.83150492e-01 1.12360581e-02 5.46266240e+01] [-1.83143030e-01 9.83084811e-01 -1.69823957e-03 -4.72079703e+00] [-1.13570315e-02 -3.88401121e-04 9.99935431e-01 -9.45905122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.935769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.66, Y:-4.72, Z:-0.95 [[ 9.82590532e-01 1.85418423e-01 1.16557118e-02 5.46583702e+01] [-1.85410529e-01 9.82659567e-01 -1.76363609e-03 -4.72351883e+00] [-1.17806074e-02 -4.28159575e-04 9.99930515e-01 -9.45828637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.69, Y:-4.72, Z:-0.95 [[ 9.82238850e-01 1.87191991e-01 1.28841067e-02 5.46899145e+01] [-1.87182467e-01 9.82323223e-01 -1.95197642e-03 -4.72416790e+00] [-1.30217516e-02 -4.94371808e-04 9.99915091e-01 -9.46375564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.72, Y:-4.73, Z:-0.95 [[ 9.82243329e-01 1.87196356e-01 1.24726680e-02 5.47217390e+01] [-1.87187408e-01 9.82322400e-01 -1.89144376e-03 -4.72654279e+00] [-1.26062525e-02 -4.76868369e-04 9.99920424e-01 -9.46916549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.75, Y:-4.73, Z:-0.95 [[ 9.82298571e-01 1.86953503e-01 1.17432832e-02 5.47534388e+01] [-1.86945531e-01 9.82368663e-01 -1.78272728e-03 -4.72896981e+00] [-1.18695206e-02 -4.44183866e-04 9.99929456e-01 -9.47887837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.055769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:54.78, Y:-4.73, Z:-0.95 [[ 9.82613123e-01 1.85350536e-01 1.07994989e-02 5.47839192e+01] [-1.85343694e-01 9.82672390e-01 -1.63967611e-03 -4.72836668e+00] [-1.09162843e-02 -3.90451764e-04 9.99940339e-01 -9.48939697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.82, Y:-4.73, Z:-0.95 [[ 9.82812876e-01 1.84282336e-01 1.09028628e-02 5.48157054e+01] [-1.84275294e-01 9.82873275e-01 -1.65561960e-03 -4.73040168e+00] [-1.10212340e-02 -3.81963996e-04 9.99939191e-01 -9.49607345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:-4.73, Z:-0.95 [[ 9.83267279e-01 1.81829853e-01 1.11068643e-02 5.48461324e+01] [-1.81822386e-01 9.83329942e-01 -1.68687302e-03 -4.72900554e+00] [-1.12284361e-02 -3.60829534e-04 9.99936894e-01 -9.50174474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.88, Y:-4.73, Z:-0.95 [[ 9.83465760e-01 1.80764433e-01 1.09232786e-02 5.48763661e+01] [-1.80757144e-01 9.83526361e-01 -1.65913166e-03 -4.73051463e+00] [-1.10432445e-02 -3.42761467e-04 9.99938963e-01 -9.50239114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.175769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.91, Y:-4.73, Z:-0.95 [[ 9.83867294e-01 1.78546835e-01 1.12328104e-02 5.49072013e+01] [-1.78538982e-01 9.83931360e-01 -1.70614629e-03 -4.72878859e+00] [-1.13569414e-02 -3.26872995e-04 9.99935454e-01 -9.50122951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.94, Y:-4.73, Z:-0.95 [[ 9.84042678e-01 1.77536946e-01 1.18591874e-02 5.49373815e+01] [-1.77528120e-01 9.84114080e-01 -1.80128640e-03 -4.73129921e+00] [-1.19905882e-02 -3.32796551e-04 9.99928055e-01 -9.50912347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.235769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.97, Y:-4.73, Z:-0.95 [[ 9.84261962e-01 1.76315565e-01 1.18832346e-02 5.49670844e+01] [-1.76306614e-01 9.84333643e-01 -1.80494910e-03 -4.73404096e+00] [-1.20153083e-02 -3.18550119e-04 9.99927763e-01 -9.50232362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.00, Y:-4.73, Z:-0.95 [[ 9.84720499e-01 1.73741430e-01 1.18090657e-02 5.49982148e+01] [-1.73732407e-01 9.84791264e-01 -1.79353375e-03 -4.73363902e+00] [-1.19410759e-02 -2.85487964e-04 9.99928662e-01 -9.50161449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.03, Y:-4.74, Z:-0.95 [[ 9.84961882e-01 1.72378746e-01 1.16473013e-02 5.50285092e+01] [-1.72369873e-01 9.85030709e-01 -1.76896535e-03 -4.73504088e+00] [-1.17778815e-02 -2.65280419e-04 9.99930603e-01 -9.50756270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.06, Y:-4.73, Z:-0.95 [[ 9.85436599e-01 1.69578143e-01 1.25683133e-02 5.50593924e+01] [-1.69567584e-01 9.85516713e-01 -1.90884653e-03 -4.73326413e+00] [-1.27099815e-02 -2.50131287e-04 9.99919194e-01 -9.50893947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.355769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.09, Y:-4.73, Z:-0.95 [[ 9.85653727e-01 1.68285161e-01 1.29164827e-02 5.50901383e+01] [-1.68273898e-01 9.85738326e-01 -1.96172569e-03 -4.73450721e+00] [-1.30624014e-02 -2.39924653e-04 9.99914654e-01 -9.50388141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.12, Y:-4.74, Z:-0.95 [[ 9.85819118e-01 1.67290938e-01 1.32063810e-02 5.51204937e+01] [-1.67279074e-01 9.85907545e-01 -2.00575478e-03 -4.73607805e+00] [-1.33558153e-02 -2.31839780e-04 9.99910780e-01 -9.50600962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.415769231000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.15, Y:-4.74, Z:-0.95 [[ 9.86228494e-01 1.64994038e-01 1.14159844e-02 5.51502640e+01] [-1.64985020e-01 9.86294549e-01 -1.73381750e-03 -4.73642729e+00] [-1.15455927e-02 -1.73526189e-04 9.99933332e-01 -9.51583196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.18, Y:-4.74, Z:-0.95 [[ 9.86461416e-01 1.63625019e-01 1.09875977e-02 5.51788042e+01] [-1.63616577e-01 9.86522595e-01 -1.66896618e-03 -4.73893984e+00] [-1.11125981e-02 -1.51382388e-04 9.99938242e-01 -9.52626847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.475769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.21, Y:-4.74, Z:-0.95 [[ 9.87051375e-01 1.60057887e-01 1.05383547e-02 5.52088071e+01] [-1.60049922e-01 9.87107624e-01 -1.60034271e-03 -4.73847373e+00] [-1.06586377e-02 -1.07042380e-04 9.99943189e-01 -9.52064188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:-4.74, Z:-0.95 [[ 9.87329702e-01 1.58320374e-01 1.07106502e-02 5.52376526e+01] [-1.58312047e-01 9.87387792e-01 -1.62626967e-03 -4.74030673e+00] [-1.08330369e-02 -8.99606138e-05 9.99941317e-01 -9.52521676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.535769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.27, Y:-4.74, Z:-0.95 [[ 9.87710084e-01 1.55904216e-01 1.10754814e-02 5.52675619e+01] [-1.55895165e-01 9.87772176e-01 -1.68123037e-03 -4.74247336e+00] [-1.12021633e-02 -6.60458115e-05 9.99937252e-01 -9.53023901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.30, Y:-4.74, Z:-0.95 [[ 9.88401639e-01 1.51376161e-01 1.21431974e-02 5.52970513e+01] [-1.51364943e-01 9.88476230e-01 -1.84298956e-03 -4.74435106e+00] [-1.22822467e-02 -1.64404813e-05 9.99924570e-01 -9.52770129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.595769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.33, Y:-4.75, Z:-0.95 [[ 9.89018256e-01 1.47287203e-01 1.22216243e-02 5.53266910e+01] [-1.47275531e-01 9.89093766e-01 -1.85460012e-03 -4.74500572e+00] [-1.23614913e-02 3.42871698e-05 9.99923593e-01 -9.52855885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.36, Y:-4.75, Z:-0.95 [[ 9.89409913e-01 1.44685617e-01 1.15800000e-02 5.53565494e+01] [-1.44674963e-01 9.89477674e-01 -1.75697279e-03 -4.74809543e+00] [-1.17123601e-02 6.30302314e-05 9.99931406e-01 -9.53987025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.39, Y:-4.75, Z:-0.95 [[ 9.89846335e-01 1.41711636e-01 1.10473894e-02 5.53851975e+01] [-1.41701757e-01 9.89907977e-01 -1.67591141e-03 -4.75200003e+00] [-1.11733951e-02 9.34602756e-05 9.99937571e-01 -9.54591644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.42, Y:-4.76, Z:-0.96 [[ 9.90775637e-01 1.35112327e-01 1.04065143e-02 5.54151161e+01] [-1.35103200e-01 9.90830275e-01 -1.57839981e-03 -4.75806001e+00] [-1.05243507e-02 1.57886695e-04 9.99944605e-01 -9.56170654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:-4.76, Z:-0.96 [[ 9.91246138e-01 1.31633207e-01 1.01878480e-02 5.54448643e+01] [-1.31624276e-01 9.91298473e-01 -1.54523376e-03 -4.76355161e+00] [-1.03026022e-02 1.90738894e-04 9.99946909e-01 -9.56743233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:-4.77, Z:-0.96 [[ 9.91983256e-01 1.26009510e-01 9.53010251e-03 5.54746281e+01] [-1.26001435e-01 9.92029006e-01 -1.44543394e-03 -4.77006655e+00] [-9.63627655e-03 2.33039670e-04 9.99953543e-01 -9.56446908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.775769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.50, Y:-4.78, Z:-0.96 [[ 9.92183319e-01 1.24440072e-01 9.32357334e-03 5.55042177e+01] [-1.24432273e-01 9.92227096e-01 -1.41425238e-03 -4.77593343e+00] [-9.42709177e-03 2.43044201e-04 9.99955534e-01 -9.57225202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.53, Y:-4.78, Z:-0.96 [[ 9.92296348e-01 1.23539405e-01 9.27212100e-03 5.55328667e+01] [-1.23531652e-01 9.92339636e-01 -1.40648751e-03 -4.78179666e+00] [-9.37484981e-03 2.50251997e-04 9.99956024e-01 -9.57796824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:-4.79, Z:-0.96 [[ 9.92312668e-01 1.23388658e-01 9.52931998e-03 5.55622006e+01] [-1.23380463e-01 9.92358389e-01 -1.44535219e-03 -4.79013388e+00] [-9.63484069e-03 2.58509377e-04 9.99953550e-01 -9.58239917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.59, Y:-4.80, Z:-0.96 [[ 9.92315085e-01 1.23385872e-01 9.31119894e-03 5.55919656e+01] [-1.23378048e-01 9.92358737e-01 -1.41226885e-03 -4.79725945e+00] [-9.41430364e-03 2.52618141e-04 9.99955653e-01 -9.59468615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.895769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:55.62, Y:-4.81, Z:-0.96 [[ 9.92418773e-01 1.22625266e-01 8.24756608e-03 5.56227668e+01] [-1.22619107e-01 9.92453017e-01 -1.25020950e-03 -4.80935262e+00] [-8.33862911e-03 2.29422188e-04 9.99965207e-01 -9.61236704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.65, Y:-4.82, Z:-0.96 [[ 9.92534751e-01 1.21697305e-01 8.03329717e-03 5.56537921e+01] [-1.21691422e-01 9.92567233e-01 -1.21897133e-03 -4.81803671e+00] [-8.12193307e-03 2.32288056e-04 9.99966990e-01 -9.61075242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.955769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.68, Y:-4.83, Z:-0.96 [[ 9.92686941e-01 1.20409901e-01 8.60768199e-03 5.56848129e+01] [-1.20403084e-01 9.92724225e-01 -1.30771633e-03 -4.82656196e+00] [-8.70251643e-03 2.61761470e-04 9.99962098e-01 -9.60925026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.985769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.72, Y:-4.84, Z:-0.96 [[ 9.93084199e-01 1.16925748e-01 1.05897895e-02 5.57150634e+01] [-1.16915207e-01 9.93140594e-01 -1.61118531e-03 -4.83869102e+00] [-1.07055388e-02 3.61935251e-04 9.99942629e-01 -9.59920257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.75, Y:-4.84, Z:-0.96 [[ 9.93075060e-01 1.17003356e-01 1.05895916e-02 5.57481596e+01] [-1.16992806e-01 9.93131453e-01 -1.61248451e-03 -4.84387587e+00] [-1.07055226e-02 3.62412121e-04 9.99942629e-01 -9.60352183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.78, Y:-4.85, Z:-0.96 [[ 9.93263834e-01 1.15290370e-01 1.16227201e-02 5.57798869e+01] [-1.15277533e-01 9.93331745e-01 -1.77071058e-03 -4.85331507e+00] [-1.17493627e-02 4.18944293e-04 9.99930886e-01 -9.60893376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.81, Y:-4.87, Z:-0.96 [[ 9.93578393e-01 1.12563841e-01 1.14612047e-02 5.58108904e+01] [-1.12551153e-01 9.93644394e-01 -1.74818379e-03 -4.86704428e+00] [-1.15851441e-02 4.46985836e-04 9.99932790e-01 -9.61780330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.84, Y:-4.88, Z:-0.96 [[ 9.93608000e-01 1.12323234e-01 1.12531679e-02 5.58422201e+01] [-1.12310962e-01 9.93671623e-01 -1.71859023e-03 -4.87644140e+00] [-1.13749912e-02 4.43750890e-04 9.99935204e-01 -9.62525155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.87, Y:-4.89, Z:-0.96 [[ 9.93554560e-01 1.12835109e-01 1.08432008e-02 5.58731097e+01] [-1.12823725e-01 9.93613636e-01 -1.65785869e-03 -4.88596685e+00] [-1.09610168e-02 4.23802752e-04 9.99939836e-01 -9.63067030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.165769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.90, Y:-4.90, Z:-0.96 [[ 9.93219929e-01 1.15792295e-01 1.03110080e-02 5.59036321e+01] [-1.15782142e-01 9.93273379e-01 -1.57828746e-03 -4.89968460e+00] [-1.04244033e-02 3.73755975e-04 9.99945595e-01 -9.63871264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.94, Y:-4.91, Z:-0.96 [[ 9.92888473e-01 1.18611187e-01 1.01915007e-02 5.59358812e+01] [-1.18601406e-01 9.92940718e-01 -1.56093232e-03 -4.90863160e+00] [-1.03047001e-02 3.41105392e-04 9.99946847e-01 -9.64936707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.97, Y:-4.92, Z:-0.97 [[ 9.92114446e-01 1.24929015e-01 1.00830391e-02 5.59674369e+01] [-1.24919747e-01 9.92165644e-01 -1.54622840e-03 -4.92027571e+00] [-1.01972138e-02 2.74464827e-04 9.99947969e-01 -9.65341995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.255769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.00, Y:-4.93, Z:-0.97 [[ 9.91671805e-01 1.28359742e-01 1.05265026e-02 5.59987271e+01] [-1.28349811e-01 9.91727641e-01 -1.61638452e-03 -4.92806831e+00] [-1.06469022e-02 2.51848333e-04 9.99943288e-01 -9.65316927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.03, Y:-4.94, Z:-0.97 [[ 9.91247878e-01 1.31557770e-01 1.09634729e-02 5.60295766e+01] [-1.31547167e-01 9.91308479e-01 -1.68583450e-03 -4.93543520e+00] [-1.10899683e-02 2.28866072e-04 9.99938478e-01 -9.65525298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.315769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.06, Y:-4.95, Z:-0.97 [[ 9.90402805e-01 1.37810388e-01 1.05157542e-02 5.60617190e+01] [-1.37800975e-01 9.90458618e-01 -1.61805209e-03 -4.94520694e+00] [-1.06384038e-02 1.53442144e-04 9.99943399e-01 -9.67061640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.09, Y:-4.95, Z:-0.97 [[ 9.90013405e-01 1.40625211e-01 9.89986446e-03 5.60940266e+01] [-1.40616991e-01 9.90062895e-01 -1.52497941e-03 -4.95225573e+00] [-1.00159390e-02 1.17660900e-04 9.99949832e-01 -9.67196277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:-4.96, Z:-0.97 [[ 9.89399889e-01 1.44940220e-01 8.95505528e-03 5.61252090e+01] [-1.44933655e-01 9.89440411e-01 -1.38121046e-03 -4.95860189e+00] [-9.06068653e-03 6.86805744e-05 9.99958949e-01 -9.67046182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.16, Y:-4.96, Z:-0.97 [[ 9.89227952e-01 1.46116473e-01 8.83371898e-03 5.61577251e+01] [-1.46110125e-01 9.89267392e-01 -1.36326345e-03 -4.96344484e+00] [-8.93810539e-03 5.78825284e-05 9.99960053e-01 -9.67204112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.435769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.19, Y:-4.97, Z:-0.97 [[ 9.89115615e-01 1.46849201e-01 9.25266277e-03 5.61889555e+01] [-1.46842249e-01 9.89158890e-01 -1.43003849e-03 -4.96943491e+00] [-9.36235365e-03 5.57915888e-05 9.99956171e-01 -9.67899376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.22, Y:-4.98, Z:-0.97 [[ 9.89129131e-01 1.46727199e-01 9.73094431e-03 5.62207581e+01] [-1.46719493e-01 9.89176994e-01 -1.50498091e-03 -4.97644214e+00] [-9.84644787e-03 6.09012445e-05 9.99951521e-01 -9.68715332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.495769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.25, Y:-4.98, Z:-0.97 [[ 9.89256866e-01 1.45840548e-01 1.00691816e-02 5.62523125e+01] [-1.45832229e-01 9.89308106e-01 -1.55946064e-03 -4.98366478e+00] [-1.01889556e-02 7.42959446e-05 9.99948088e-01 -9.69764566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.28, Y:-4.99, Z:-0.97 [[ 9.89638407e-01 1.43240382e-01 9.90029459e-03 5.62833084e+01] [-1.43232198e-01 9.89687922e-01 -1.53444324e-03 -4.99317285e+00] [-1.00179962e-02 1.00503009e-04 9.99949814e-01 -9.69863120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.32, Y:-5.00, Z:-0.97 [[ 9.89842543e-01 1.41827287e-01 9.83674324e-03 5.63155001e+01] [-1.41819129e-01 9.89891412e-01 -1.52552589e-03 -5.00060175e+00] [-9.95366886e-03 1.14992069e-04 9.99950454e-01 -9.70121540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.585769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.35, Y:-5.01, Z:-0.97 [[ 9.90175309e-01 1.39423986e-01 1.06681276e-02 5.63471466e+01] [-1.39414228e-01 9.90232765e-01 -1.65665030e-03 -5.01183989e+00] [-1.07949063e-02 1.53085448e-04 9.99941722e-01 -9.69172297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.38, Y:-5.02, Z:-0.97 [[ 9.90274064e-01 1.38691589e-01 1.10417845e-02 5.63796197e+01] [-1.38681065e-01 9.90335607e-01 -1.71681359e-03 -5.02008693e+00] [-1.11731799e-02 1.68829537e-04 9.99937564e-01 -9.68969664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.41, Y:-5.03, Z:-0.97 [[ 9.90190616e-01 1.39202477e-01 1.20505325e-02 5.64105555e+01] [-1.39189950e-01 9.90263923e-01 -1.87612242e-03 -5.02952032e+00] [-1.21943685e-02 1.80405794e-04 9.99925630e-01 -9.69057431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.675769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.44, Y:-5.04, Z:-0.97 [[ 9.89932711e-01 1.40976669e-01 1.26018635e-02 5.64418742e+01] [-1.40963084e-01 9.90012904e-01 -1.96424545e-03 -5.03639936e+00] [-1.27529203e-02 1.68073268e-04 9.99918664e-01 -9.69637854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.47, Y:-5.04, Z:-0.97 [[ 9.89572996e-01 1.43447474e-01 1.29656213e-02 5.64746289e+01] [-1.43433276e-01 9.89657922e-01 -2.02324421e-03 -5.04356219e+00] [-1.31217591e-02 1.42446294e-04 9.99913896e-01 -9.69689662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.735769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.51, Y:-5.05, Z:-0.97 [[ 9.88668032e-01 1.49548372e-01 1.30693379e-02 5.65073540e+01] [-1.49534446e-01 9.88754409e-01 -2.04183276e-03 -5.04954694e+00] [-1.32277182e-02 6.43785753e-05 9.99912508e-01 -9.68779321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.54, Y:-5.05, Z:-0.97 [[ 9.88257350e-01 1.52289536e-01 1.24622157e-02 5.65388566e+01] [-1.52277064e-01 9.88335923e-01 -1.94915920e-03 -5.05408487e+00] [-1.26136920e-02 2.85612828e-05 9.99920444e-01 -9.69663939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.57, Y:-5.06, Z:-0.97 [[ 9.87540477e-01 1.56943798e-01 1.15086758e-02 5.65715063e+01] [-1.56933465e-01 9.87607535e-01 -1.80112845e-03 -5.06084052e+00] [-1.16487308e-02 -2.74091093e-05 9.99932151e-01 -9.71337107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.60, Y:-5.07, Z:-0.97 [[ 9.87276864e-01 1.58644883e-01 1.07793620e-02 5.66029173e+01] [-1.58635899e-01 9.87335708e-01 -1.68881086e-03 -5.06599062e+00] [-1.09107702e-02 -4.26698936e-05 9.99940475e-01 -9.71667922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.855769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.64, Y:-5.07, Z:-0.97 [[ 9.87027076e-01 1.60219725e-01 1.03532826e-02 5.66356186e+01] [-1.60211507e-01 9.87081373e-01 -1.62368117e-03 -5.07063714e+00] [-1.04796782e-02 -5.60977350e-05 9.99945085e-01 -9.72413962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.67, Y:-5.07, Z:-0.97 [[ 9.86672473e-01 1.62372433e-01 1.06124413e-02 5.66677289e+01] [-1.62363902e-01 9.86729541e-01 -1.66630455e-03 -5.07348039e+00] [-1.07421712e-02 -7.89805432e-05 9.99942298e-01 -9.72153461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.915769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.70, Y:-5.08, Z:-0.97 [[ 9.86134886e-01 1.65530090e-01 1.17378049e-02 5.67004280e+01] [-1.65519852e-01 9.86204732e-01 -1.84516940e-03 -5.07686270e+00] [-1.18813098e-02 -1.23253802e-04 9.99929407e-01 -9.71667002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.73, Y:-5.08, Z:-0.97 [[ 9.85682572e-01 1.68155951e-01 1.23871909e-02 5.67334093e+01] [-1.68144727e-01 9.85760392e-01 -1.94954296e-03 -5.08035805e+00] [-1.25386294e-02 -1.61210310e-04 9.99921375e-01 -9.71868300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.975769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:56.77, Y:-5.08, Z:-0.97 [[ 9.85172960e-01 1.71132035e-01 1.21682339e-02 5.67659918e+01] [-1.71121405e-01 9.85248085e-01 -1.91716911e-03 -5.08293680e+00] [-1.23168182e-02 -1.93502122e-04 9.99924126e-01 -9.72542769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.80, Y:-5.08, Z:-0.97 [[ 9.84191401e-01 1.76856952e-01 9.42891299e-03 5.67982076e+01] [-1.76850821e-01 9.84236545e-01 -1.48675388e-03 -5.08187482e+00] [-9.54322350e-03 -2.04260614e-04 9.99954442e-01 -9.74169643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.035769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:56.83, Y:-5.08, Z:-0.97 [[ 9.83730091e-01 1.79495781e-01 7.50820283e-03 5.68307955e+01] [-1.79491964e-01 9.83758726e-01 -1.18457330e-03 -5.08446283e+00] [-7.59888596e-03 -1.82361674e-04 9.99971111e-01 -9.74977637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.86, Y:-5.08, Z:-0.98 [[ 9.83096500e-01 1.82972555e-01 6.50512478e-03 5.68632193e+01] [-1.82969760e-01 9.83118005e-01 -1.02727782e-03 -5.08369659e+00] [-6.58326894e-03 -1.80327890e-04 9.99978314e-01 -9.75386180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.095769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.89, Y:-5.09, Z:-0.98 [[ 9.82812544e-01 1.84433431e-01 7.98823949e-03 5.68949695e+01] [-1.84429249e-01 9.82844981e-01 -1.26341452e-03 -5.08611726e+00] [-8.08421697e-03 -2.31565365e-04 9.99967295e-01 -9.75653748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.93, Y:-5.09, Z:-0.98 [[ 9.82629034e-01 1.85350162e-01 9.24655797e-03 5.69276552e+01] [-1.85344583e-01 9.82672500e-01 -1.46414346e-03 -5.08866505e+00] [-9.35771746e-03 -2.75089555e-04 9.99956178e-01 -9.75938672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.155769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.96, Y:-5.09, Z:-0.98 [[ 9.82586701e-01 1.85573413e-01 9.26736167e-03 5.69614163e+01] [-1.85567803e-01 9.82630364e-01 -1.46912836e-03 -5.08919902e+00] [-9.37902213e-03 -2.76177963e-04 9.99955978e-01 -9.76715722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.99, Y:-5.09, Z:-0.98 [[ 9.82630774e-01 1.85391214e-01 8.17682977e-03 5.69946783e+01] [-1.85386830e-01 9.82664765e-01 -1.29751025e-03 -5.09225795e+00] [-8.27562950e-03 -2.40903053e-04 9.99965727e-01 -9.78035919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.03, Y:-5.09, Z:-0.98 [[ 9.82811699e-01 1.84492556e-01 6.60763806e-03 5.70272281e+01] [-1.84489667e-01 9.82833893e-01 -1.04944398e-03 -5.09288904e+00] [-6.68782524e-03 -1.87635126e-04 9.99977619e-01 -9.79489667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:-5.10, Z:-0.98 [[ 9.82931936e-01 1.83855878e-01 6.46724029e-03 5.70577591e+01] [-1.83853084e-01 9.82953195e-01 -1.02912806e-03 -5.09599608e+00] [-6.54620576e-03 -1.77459233e-04 9.99978558e-01 -9.79209416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.275769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.09, Y:-5.10, Z:-0.98 [[ 9.83004680e-01 1.83447184e-01 6.99491838e-03 5.70900760e+01] [-1.83443910e-01 9.83029549e-01 -1.11229077e-03 -5.09993804e+00] [-7.08025807e-03 -1.89788148e-04 9.99974917e-01 -9.78865775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.12, Y:-5.10, Z:-0.98 [[ 9.83244113e-01 1.82072251e-01 8.98381694e-03 5.71210459e+01] [-1.82066774e-01 9.83285128e-01 -1.43072696e-03 -5.10148886e+00] [-9.09414927e-03 -2.28900700e-04 9.99958621e-01 -9.77786889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:-5.10, Z:-0.98 [[ 9.83425499e-01 1.81037900e-01 9.97835359e-03 5.71522344e+01] [-1.81031067e-01 9.83476090e-01 -1.59126569e-03 -5.10441962e+00] [-1.01015516e-02 -2.41500747e-04 9.99948949e-01 -9.78104100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:-5.11, Z:-0.98 [[ 9.83571483e-01 1.80159846e-01 1.13828162e-02 5.71834952e+01] [-1.80150893e-01 9.83637311e-01 -1.81554123e-03 -5.10576935e+00] [-1.15236504e-02 -2.64909921e-04 9.99933565e-01 -9.78587443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.22, Y:-5.11, Z:-0.98 [[ 9.83565120e-01 1.80180643e-01 1.16013316e-02 5.72151496e+01] [-1.80171341e-01 9.83633500e-01 -1.85066539e-03 -5.10918284e+00] [-1.17449125e-02 -2.69977550e-04 9.99930990e-01 -9.79110895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:-5.11, Z:-0.98 [[ 9.83531837e-01 1.80339844e-01 1.19442883e-02 5.72468234e+01] [-1.80329992e-01 9.83604322e-01 -1.90565470e-03 -5.11182179e+00] [-1.20921191e-02 -2.79641345e-04 9.99926849e-01 -9.78850818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.455769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.28, Y:-5.11, Z:-0.98 [[ 9.83580035e-01 1.80042530e-01 1.24499788e-02 5.72775434e+01] [-1.80031799e-01 9.83658785e-01 -1.98664640e-03 -5.11184757e+00] [-1.26042118e-02 -2.87366333e-04 9.99920522e-01 -9.78773952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.485769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.31, Y:-5.11, Z:-0.98 [[ 9.83670544e-01 1.79536283e-01 1.26088956e-02 5.73078859e+01] [-1.79525232e-01 9.83751311e-01 -2.01215705e-03 -5.11495356e+00] [-1.27652728e-02 -2.84315280e-04 9.99918480e-01 -9.79033940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.34, Y:-5.12, Z:-0.98 [[ 9.83926797e-01 1.78213640e-01 1.13117951e-02 5.73394087e+01] [-1.78204659e-01 9.83991789e-01 -1.80512835e-03 -5.11790184e+00] [-1.14524120e-02 -2.39700442e-04 9.99934390e-01 -9.80157294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.37, Y:-5.12, Z:-0.98 [[ 9.84141173e-01 1.77061996e-01 1.07332010e-02 5.73694641e+01] [-1.77053839e-01 9.84199677e-01 -1.71306566e-03 -5.12159593e+00] [-1.08669318e-02 -2.14455995e-04 9.99940930e-01 -9.81163260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.40, Y:-5.13, Z:-0.98 [[ 9.84388487e-01 1.75692041e-01 1.05647274e-02 5.74008511e+01] [-1.75684058e-01 9.84445158e-01 -1.68627562e-03 -5.12595900e+00] [-1.06966599e-02 -1.96103870e-04 9.99942770e-01 -9.82178058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.43, Y:-5.13, Z:-0.98 [[ 9.84673929e-01 1.74069195e-01 1.08244356e-02 5.74302130e+01] [-1.74060714e-01 9.84733407e-01 -1.72793727e-03 -5.13146317e+00] [-1.09599639e-02 -1.82654208e-04 9.99939921e-01 -9.82848495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.46, Y:-5.14, Z:-0.98 [[ 9.84267198e-01 1.76310176e-01 1.15241101e-02 5.74579064e+01] [-1.76300707e-01 9.84334635e-01 -1.84042248e-03 -5.13721607e+00] [-1.16680659e-02 -2.20241286e-04 9.99931902e-01 -9.81439123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.665769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.49, Y:-5.14, Z:-0.98 [[ 9.83783273e-01 1.78987917e-01 1.15670755e-02 5.74884897e+01] [-1.78978566e-01 9.83851240e-01 -1.84695097e-03 -5.14212147e+00] [-1.17108635e-02 -2.53259114e-04 9.99931393e-01 -9.81370084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.52, Y:-5.15, Z:-0.98 [[ 9.83326417e-01 1.81505618e-01 1.11744407e-02 5.75195126e+01] [-1.81497055e-01 9.83389870e-01 -1.78421949e-03 -5.14622506e+00] [-1.13126776e-02 -2.73657912e-04 9.99935972e-01 -9.82028960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:57.55, Y:-5.15, Z:-0.98 [[ 9.82752995e-01 1.84607379e-01 1.08012378e-02 5.75488101e+01] [-1.84599561e-01 9.82812305e-01 -1.72495681e-03 -5.14952005e+00] [-1.09340292e-02 -2.98697286e-04 9.99940177e-01 -9.83062041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.58, Y:-5.15, Z:-0.98 [[ 9.82767013e-01 1.84533148e-01 1.07942790e-02 5.75771412e+01] [-1.84525337e-01 9.82826245e-01 -1.72375489e-03 -5.15355930e+00] [-1.09269906e-02 -2.97768522e-04 9.99940254e-01 -9.84100365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.61, Y:-5.16, Z:-0.98 [[ 9.83138128e-01 1.82587518e-01 1.00607568e-02 5.76070077e+01] [-1.82580635e-01 9.83189571e-01 -1.60621917e-03 -5.15980387e+00] [-1.01849068e-02 -2.57764069e-04 9.99948099e-01 -9.84497830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.64, Y:-5.17, Z:-0.98 [[ 9.83391581e-01 1.81241103e-01 9.62605784e-03 5.76381860e+01] [-1.81234738e-01 9.83438665e-01 -1.53674150e-03 -5.16625758e+00] [-9.74515819e-03 -2.33357424e-04 9.99952488e-01 -9.84957746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.67, Y:-5.17, Z:-0.99 [[ 9.83564784e-01 1.80351961e-01 8.57241200e-03 5.76688347e+01] [-1.80346881e-01 9.83602120e-01 -1.36841190e-03 -5.17271419e+00] [-8.67863838e-03 -2.00086004e-04 9.99962320e-01 -9.85259222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.70, Y:-5.18, Z:-0.99 [[ 9.83723434e-01 1.79560519e-01 6.79887940e-03 5.76990888e+01] [-1.79557298e-01 9.83746917e-01 -1.08628302e-03 -5.17844091e+00] [-6.88343019e-03 -1.52186348e-04 9.99976297e-01 -9.85671843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.73, Y:-5.18, Z:-0.99 [[ 9.83348503e-01 1.81576019e-01 7.47473286e-03 5.77288584e+01] [-1.81572183e-01 9.83376894e-01 -1.19433017e-03 -5.18130807e+00] [-7.56734130e-03 -1.82760775e-04 9.99971351e-01 -9.86672632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.935769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.76, Y:-5.19, Z:-0.99 [[ 9.83350507e-01 1.81565165e-01 7.47474754e-03 5.77586510e+01] [-1.81561329e-01 9.83378898e-01 -1.19423824e-03 -5.18602751e+00] [-7.56734107e-03 -1.82770317e-04 9.99971351e-01 -9.87061453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.79, Y:-5.19, Z:-0.99 [[ 9.82939625e-01 1.83734716e-01 8.44086662e-03 5.77881671e+01] [-1.83729905e-01 9.82975841e-01 -1.34852963e-03 -5.19016586e+00] [-8.54493967e-03 -2.25316416e-04 9.99963466e-01 -9.87528351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.82, Y:-5.19, Z:-0.99 [[ 9.82445462e-01 1.86321934e-01 9.22230271e-03 5.78177224e+01] [-1.86316307e-01 9.82488709e-01 -1.47313687e-03 -5.19488542e+00] [-9.33528600e-03 -2.70988753e-04 9.99956389e-01 -9.87603366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.85, Y:-5.20, Z:-0.99 [[ 9.81809408e-01 1.89591937e-01 1.02559607e-02 5.78472221e+01] [-1.89585159e-01 9.81862915e-01 -1.63798394e-03 -5.20066050e+00] [-1.03804960e-02 -3.36189899e-04 9.99946065e-01 -9.87829507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.055769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:-5.21, Z:-0.99 [[ 9.81758421e-01 1.89846457e-01 1.04271822e-02 5.78777905e+01] [-1.89839468e-01 9.81813732e-01 -1.66503489e-03 -5.20575011e+00] [-1.05536517e-02 -3.44828703e-04 9.99944249e-01 -9.87325864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.91, Y:-5.21, Z:-0.99 [[ 9.82255261e-01 1.87261119e-01 1.03863372e-02 5.79074889e+01] [-1.87254041e-01 9.82310121e-01 -1.65851267e-03 -5.21015454e+00] [-1.05131791e-02 -3.15800821e-04 9.99944685e-01 -9.88453773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.94, Y:-5.22, Z:-0.99 [[ 9.82619445e-01 1.85368894e-01 9.86908735e-03 5.79369918e+01] [-1.85362407e-01 9.82668965e-01 -1.57595164e-03 -5.21528837e+00] [-9.99017826e-03 -2.80797056e-04 9.99950057e-01 -9.90079994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.97, Y:-5.22, Z:-0.99 [[ 9.83090274e-01 1.82911602e-01 8.76694456e-03 5.79682393e+01] [-1.82906388e-01 9.83129337e-01 -1.39972191e-03 -5.22118129e+00] [-8.87506578e-03 -2.27477169e-04 9.99960590e-01 -9.89891402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.175769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.00, Y:-5.23, Z:-0.99 [[ 9.83100605e-01 1.82865998e-01 8.55725202e-03 5.79976605e+01] [-1.82861025e-01 9.83137822e-01 -1.36659680e-03 -5.22512591e+00] [-8.66286220e-03 -2.21285737e-04 9.99962452e-01 -9.89471825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.03, Y:-5.23, Z:-0.99 [[ 9.82926387e-01 1.83784353e-01 8.88986828e-03 5.80280490e+01] [-1.83779025e-01 9.82966558e-01 -1.41955474e-03 -5.22859053e+00] [-8.99933518e-03 -2.38453511e-04 9.99959477e-01 -9.89538430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.235769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.06, Y:-5.23, Z:-0.99 [[ 9.82218570e-01 1.87438850e-01 1.06469684e-02 5.80574681e+01] [-1.87431422e-01 9.82276220e-01 -1.70020679e-03 -5.22920464e+00] [-1.07769487e-02 -3.25601744e-04 9.99941874e-01 -9.88966794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.09, Y:-5.23, Z:-0.99 [[ 9.81851904e-01 1.89301984e-01 1.14715949e-02 5.80867817e+01] [-1.89293492e-01 9.81918846e-01 -1.83143152e-03 -5.23127967e+00] [-1.16108688e-02 -3.73303736e-04 9.99932522e-01 -9.89575181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.12, Y:-5.23, Z:-0.99 [[ 9.81387323e-01 1.91727830e-01 1.09253059e-02 5.81155048e+01] [-1.91720281e-01 9.81448059e-01 -1.74399290e-03 -5.23059309e+00] [-1.10569922e-02 -3.83070198e-04 9.99938796e-01 -9.91631895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.14, Y:-5.23, Z:-0.99 [[ 9.81428258e-01 1.91562608e-01 1.01163582e-02 5.81447114e+01] [-1.91556130e-01 9.81480332e-01 -1.61456318e-03 -5.23294923e+00] [-1.02382966e-02 -3.53272507e-04 9.99947525e-01 -9.92704988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.355769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.17, Y:-5.24, Z:-0.99 [[ 9.81690095e-01 1.90254424e-01 9.37074207e-03 5.81735010e+01] [-1.90248809e-01 9.81734768e-01 -1.49517633e-03 -5.23531139e+00] [-9.48404720e-03 -3.14972727e-04 9.99954976e-01 -9.92935052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.20, Y:-5.24, Z:-0.99 [[ 9.82602349e-01 1.85468748e-01 9.69362257e-03 5.82030228e+01] [-1.85462512e-01 9.82650124e-01 -1.54623362e-03 -5.23636850e+00] [-9.81221743e-03 -2.78470804e-04 9.99951820e-01 -9.92321706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.415769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:-5.24, Z:-0.99 [[ 9.83182759e-01 1.82312573e-01 1.06671128e-02 5.82330426e+01] [-1.82304842e-01 9.83240587e-01 -1.70090491e-03 -5.23928367e+00] [-1.07984346e-02 -2.72365937e-04 9.99941658e-01 -9.92659745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.26, Y:-5.24, Z:-0.99 [[ 9.84394738e-01 1.75580621e-01 1.17662395e-02 5.82631729e+01] [-1.75570737e-01 9.84465031e-01 -1.87585509e-03 -5.24151324e+00] [-1.19128151e-02 -2.19225471e-04 9.99929016e-01 -9.93735385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.29, Y:-5.25, Z:-0.99 [[ 9.84889490e-01 1.72842085e-01 1.08768197e-02 5.82916775e+01] [-1.72833474e-01 9.84949534e-01 -1.73382181e-03 -5.24581415e+00] [-1.10127959e-02 -1.72255657e-04 9.99939342e-01 -9.94936706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:-5.25, Z:-1.00 [[ 9.85300574e-01 1.70554617e-01 9.69022405e-03 5.83206350e+01] [-1.70547674e-01 9.85348215e-01 -1.54447314e-03 -5.25049113e+00] [-9.81166199e-03 -1.30874908e-04 9.99951856e-01 -9.96529524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.535769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.35, Y:-5.26, Z:-1.00 [[ 9.85838674e-01 1.67518226e-01 7.73000953e-03 5.83499773e+01] [-1.67513716e-01 9.85868976e-01 -1.23186266e-03 -5.25661014e+00] [-7.82713602e-03 -8.04647733e-05 9.99969364e-01 -9.97033645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.38, Y:-5.26, Z:-1.00 [[ 9.86003198e-01 1.66539721e-01 7.88759073e-03 5.83787711e+01] [-1.66534994e-01 9.86034744e-01 -1.25694118e-03 -5.26236327e+00] [-7.98676914e-03 -7.42118514e-05 9.99968102e-01 -9.97245915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.595769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.41, Y:-5.27, Z:-1.00 [[ 9.86105600e-01 1.65924806e-01 8.04385053e-03 5.84079338e+01] [-1.65919873e-01 9.86138405e-01 -1.28146099e-03 -5.26946229e+00] [-8.14497609e-03 -7.09787940e-05 9.99966827e-01 -9.96398441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.44, Y:-5.28, Z:-1.00 [[ 9.86115411e-01 1.65854594e-01 8.28556465e-03 5.84376564e+01] [-1.65849355e-01 9.86150216e-01 -1.32013011e-03 -5.27536051e+00] [-8.38976101e-03 -7.23549063e-05 9.99964803e-01 -9.96977618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.47, Y:-5.28, Z:-1.00 [[ 9.86127996e-01 1.65778837e-01 8.30380134e-03 5.84679555e+01] [-1.65773573e-01 9.86162954e-01 -1.32303575e-03 -5.28088357e+00] [-8.40823258e-03 -7.18682321e-05 9.99964648e-01 -9.97410685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.50, Y:-5.29, Z:-1.00 [[ 9.85915071e-01 1.66955076e-01 9.87295059e-03 5.84968511e+01] [-1.66947693e-01 9.85964499e-01 -1.57308101e-03 -5.28602174e+00] [-9.99701264e-03 -9.73420507e-05 9.99950024e-01 -9.97882154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.52, Y:-5.29, Z:-1.00 [[ 9.85451308e-01 1.69658600e-01 1.00836148e-02 5.85247099e+01] [-1.69651041e-01 9.85502888e-01 -1.60658215e-03 -5.29057411e+00] [-1.02100020e-02 -1.27487268e-04 9.99947868e-01 -9.97161186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.56, Y:-5.29, Z:-1.00 [[ 9.85075006e-01 1.71868315e-01 9.40823261e-03 5.85551493e+01] [-1.71861839e-01 9.85119923e-01 -1.49856276e-03 -5.29442831e+00] [-9.52579284e-03 -1.40719439e-04 9.99954619e-01 -9.96962449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.775769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.58, Y:-5.30, Z:-1.00 [[ 9.84660382e-01 1.74255431e-01 8.88692915e-03 5.85848230e+01] [-1.74249749e-01 9.84700473e-01 -1.41562179e-03 -5.29711460e+00] [-8.99764312e-03 -1.54638482e-04 9.99959508e-01 -9.97252387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.805769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.61, Y:-5.30, Z:-1.00 [[ 9.83865075e-01 1.78669061e-01 9.32100469e-03 5.86143856e+01] [-1.78663010e-01 9.83909206e-01 -1.48456580e-03 -5.29679159e+00] [-9.43626830e-03 -2.04706313e-04 9.99955456e-01 -9.97102696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.64, Y:-5.30, Z:-1.00 [[ 9.83510971e-01 1.80559872e-01 1.02128206e-02 5.86434310e+01] [-1.80552714e-01 9.83563965e-01 -1.62622283e-03 -5.29881934e+00] [-1.03385929e-02 -2.44544476e-04 9.99946525e-01 -9.97297895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.67, Y:-5.30, Z:-1.00 [[ 9.82953195e-01 1.83568311e-01 1.02806373e-02 5.86715375e+01] [-1.83561227e-01 9.83006916e-01 -1.63656231e-03 -5.29732410e+00] [-1.04063585e-02 -2.78462247e-04 9.99945814e-01 -9.97262384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.70, Y:-5.30, Z:-1.00 [[ 9.82702709e-01 1.84943192e-01 9.56044224e-03 5.86995257e+01] [-1.84937136e-01 9.82749175e-01 -1.52133804e-03 -5.29779955e+00] [-9.67687784e-03 -2.73057790e-04 9.99953141e-01 -9.97591501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.73, Y:-5.30, Z:-1.00 [[ 9.82396966e-01 1.86575654e-01 9.25884740e-03 5.87290064e+01] [-1.86570052e-01 9.82440556e-01 -1.47278815e-03 -5.29744789e+00] [-9.37105361e-03 -2.80561031e-04 9.99956051e-01 -9.97509267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.955769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.76, Y:-5.29, Z:-1.00 [[ 9.81562480e-01 1.90822076e-01 1.10468539e-02 5.87583820e+01] [-1.90814376e-01 9.81624566e-01 -1.75661302e-03 -5.29114699e+00] [-1.11790637e-02 -3.83673108e-04 9.99937439e-01 -9.97292997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.985769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.79, Y:-5.29, Z:-1.00 [[ 9.81194623e-01 1.92630084e-01 1.22785024e-02 5.87872062e+01] [-1.92620725e-01 9.81271343e-01 -1.95148140e-03 -5.29010530e+00] [-1.24244566e-02 -4.50310978e-04 9.99922712e-01 -9.97259599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.82, Y:-5.28, Z:-1.00 [[ 9.80645170e-01 1.95373489e-01 1.28160136e-02 5.88155790e+01] [-1.95363539e-01 9.80728781e-01 -2.03594329e-03 -5.28282162e+00] [-1.29668027e-02 -5.07243820e-04 9.99915799e-01 -9.95970629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:-5.28, Z:-1.00 [[ 9.80534430e-01 1.95951006e-01 1.24673543e-02 5.88444361e+01] [-1.95941650e-01 9.80613559e-01 -1.97953819e-03 -5.28129139e+00] [-1.26135491e-02 -5.01868609e-04 9.99920320e-01 -9.96295433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.87, Y:-5.27, Z:-1.00 [[ 9.80455610e-01 1.96379092e-01 1.19183987e-02 5.88736027e+01] [-1.96370583e-01 9.80527927e-01 -1.89157140e-03 -5.27413838e+00] [-1.20577878e-02 -4.85821104e-04 9.99927184e-01 -9.97391905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.90, Y:-5.27, Z:-1.00 [[ 9.80473417e-01 1.96268692e-01 1.22669643e-02 5.89010026e+01] [-1.96259680e-01 9.80550025e-01 -1.94598851e-03 -5.27258359e+00] [-1.24103088e-02 -4.99520488e-04 9.99922864e-01 -9.97889135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.93, Y:-5.27, Z:-1.00 [[ 9.80520018e-01 1.96007697e-01 1.27073367e-02 5.89300019e+01] [-1.95998019e-01 9.80602222e-01 -2.01474785e-03 -5.27154522e+00] [-1.28557487e-02 -5.15112221e-04 9.99917229e-01 -9.98401911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.165769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.96, Y:-5.27, Z:-1.00 [[ 9.80615132e-01 1.95499981e-01 1.31802674e-02 5.89589192e+01] [-1.95489537e-01 9.80703563e-01 -2.08876099e-03 -5.26548295e+00] [-1.33342879e-02 -5.28333733e-04 9.99910955e-01 -9.98196321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.99, Y:-5.26, Z:-1.00 [[ 9.80714305e-01 1.95118396e-01 1.13253736e-02 5.89871958e+01] [-1.95110667e-01 9.80779592e-01 -1.79414144e-03 -5.26105777e+00] [-1.14577653e-02 -4.50161017e-04 9.99934256e-01 -9.99316136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.01, Y:-5.26, Z:-1.00 [[ 9.80805511e-01 1.94659950e-01 1.13160311e-02 5.90149226e+01] [-1.94652214e-01 9.80870687e-01 -1.79171324e-03 -5.26168489e+00] [-1.14483380e-02 -4.45368272e-04 9.99934366e-01 -1.00038753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.04, Y:-5.26, Z:-1.00 [[ 9.81006944e-01 1.93631906e-01 1.14917939e-02 5.90420606e+01] [-1.93623866e-01 9.81074151e-01 -1.81877376e-03 -5.26259394e+00] [-1.16264746e-02 -4.40855872e-04 9.99932313e-01 -1.00081190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.07, Y:-5.26, Z:-1.00 [[ 9.81851050e-01 1.89235282e-01 1.25906628e-02 5.90703644e+01] [-1.89225292e-01 9.81931681e-01 -1.99089204e-03 -5.26083590e+00] [-1.27399177e-02 -4.27712407e-04 9.99918752e-01 -1.00090860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.315769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.10, Y:-5.26, Z:-1.00 [[ 9.82433599e-01 1.86172079e-01 1.28133089e-02 5.90978509e+01] [-1.86161484e-01 9.82517074e-01 -2.02514153e-03 -5.26213367e+00] [-1.29663196e-02 -3.95777523e-04 9.99915855e-01 -1.00142056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.13, Y:-5.26, Z:-1.00 [[ 9.83561602e-01 1.80113832e-01 1.28678897e-02 5.91257850e+01] [-1.80102643e-01 9.83645722e-01 -2.03266790e-03 -5.26220925e+00] [-1.30235563e-02 -3.18286858e-04 9.99915139e-01 -1.00278311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.15, Y:-5.26, Z:-1.00 [[ 9.84125839e-01 1.77046923e-01 1.22767755e-02 5.91535663e+01] [-1.77036510e-01 9.84202376e-01 -1.93845172e-03 -5.26492813e+00] [-1.24260285e-02 -2.65757063e-04 9.99922759e-01 -1.00376380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.18, Y:-5.27, Z:-1.00 [[ 9.85199371e-01 1.71074789e-01 1.07524849e-02 5.91811448e+01] [-1.71066452e-01 9.85258031e-01 -1.69721679e-03 -5.26567256e+00] [-1.08843231e-02 -1.67292527e-04 9.99940750e-01 -1.00350776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.435769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.21, Y:-5.27, Z:-1.00 [[ 9.85692316e-01 1.68229996e-01 1.04559545e-02 5.92087469e+01] [-1.68221968e-01 9.85747762e-01 -1.64894582e-03 -5.26770911e+00] [-1.05843359e-02 -1.33568005e-04 9.99943975e-01 -1.00362536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.24, Y:-5.27, Z:-1.00 [[ 9.86101246e-01 1.65819577e-01 1.04019780e-02 5.92355453e+01] [-1.65811504e-01 9.86156101e-01 -1.63970302e-03 -5.27005449e+00] [-1.05298689e-02 -1.07854424e-04 9.99944554e-01 -1.00383376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.495769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.26, Y:-5.27, Z:-1.00 [[ 9.86891835e-01 1.60898581e-01 1.24961252e-02 5.92629646e+01] [-1.60886553e-01 9.86970943e-01 -1.96853120e-03 -5.27134832e+00] [-1.26500464e-02 -6.77311429e-05 9.99919983e-01 -1.00471157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.29, Y:-5.27, Z:-1.00 [[ 9.87238274e-01 1.58685533e-01 1.33974331e-02 5.92907158e+01] [-1.58671519e-01 9.87329175e-01 -2.10932756e-03 -5.27445879e+00] [-1.35623963e-02 -4.33821556e-05 9.99908026e-01 -1.00437132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.555769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.32, Y:-5.28, Z:-1.01 [[ 9.87799036e-01 1.55201875e-01 1.28624388e-02 5.93187162e+01] [-1.55188674e-01 9.87882775e-01 -2.02421439e-03 -5.27612038e+00] [-1.30207436e-02 3.41220328e-06 9.99915227e-01 -1.00533533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.35, Y:-5.28, Z:-1.01 [[ 9.88069936e-01 1.53566500e-01 1.16246381e-02 5.93468874e+01] [-1.53555613e-01 9.88138315e-01 -1.82865649e-03 -5.27900763e+00] [-1.17675707e-02 2.18120628e-05 9.99930760e-01 -1.00607088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.37, Y:-5.28, Z:-1.01 [[ 9.88606313e-01 1.50186796e-01 1.00739309e-02 5.93749113e+01] [-1.50178451e-01 9.88657637e-01 -1.58409892e-03 -5.28084814e+00] [-1.01975794e-02 5.31628623e-05 9.99948002e-01 -1.00629819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.40, Y:-5.28, Z:-1.01 [[ 9.88876581e-01 1.48402892e-01 9.98444273e-03 5.94016185e+01] [-1.48394611e-01 9.88926983e-01 -1.56933245e-03 -5.28389640e+00] [-1.01067783e-02 7.02386177e-05 9.99948923e-01 -1.00662701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.675769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:-5.29, Z:-1.01 [[ 9.89193300e-01 1.46213722e-01 1.08702900e-02 5.94296851e+01] [-1.46203786e-01 9.89253020e-01 -1.70751629e-03 -5.28748502e+00] [-1.10031295e-02 9.97861336e-05 9.99939459e-01 -1.00681634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:-5.29, Z:-1.01 [[ 9.89792177e-01 1.41926752e-01 1.29708657e-02 5.94571381e+01] [-1.41912250e-01 9.89877147e-01 -2.03636827e-03 -5.29264072e+00] [-1.31285787e-02 1.74856654e-04 9.99913801e-01 -1.00688309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.735769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.48, Y:-5.30, Z:-1.01 [[ 9.90086444e-01 1.39803755e-01 1.35552254e-02 5.94832969e+01] [-1.39787732e-01 9.90179209e-01 -2.12707815e-03 -5.29798460e+00] [-1.37194758e-02 2.11137026e-04 9.99905861e-01 -1.00753303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.51, Y:-5.30, Z:-1.01 [[ 9.90324463e-01 1.38161598e-01 1.29934571e-02 5.95108910e+01] [-1.38146748e-01 9.90409674e-01 -2.03788164e-03 -5.30393666e+00] [-1.31504026e-02 2.23160200e-04 9.99913505e-01 -1.00850721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.54, Y:-5.31, Z:-1.01 [[ 9.90756170e-01 1.35274498e-01 1.01499308e-02 5.95373594e+01] [-1.35265290e-01 9.90808139e-01 -1.59140982e-03 -5.30984912e+00] [-1.02719112e-02 2.03765761e-04 9.99947222e-01 -1.00979135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:-5.31, Z:-1.01 [[ 9.90763905e-01 1.35217828e-01 1.01500694e-02 5.95655244e+01] [-1.35208626e-01 9.90815875e-01 -1.59052532e-03 -5.31413416e+00] [-1.02719172e-02 2.03458143e-04 9.99947222e-01 -1.01015866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.855769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.59, Y:-5.32, Z:-1.01 [[ 9.90923212e-01 1.34125821e-01 9.02506584e-03 5.95931706e+01] [-1.34118504e-01 9.90964292e-01 -1.41383274e-03 -5.32051436e+00] [-9.13314945e-03 1.90571355e-04 9.99958274e-01 -1.01072004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.62, Y:-5.33, Z:-1.01 [[ 9.90928914e-01 1.34084021e-01 9.02011727e-03 5.96210690e+01] [-1.34076717e-01 9.90969949e-01 -1.41242876e-03 -5.32601878e+00] [-9.12804928e-03 1.90228793e-04 9.99958320e-01 -1.01058033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.915769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:-5.33, Z:-1.01 [[ 9.90915326e-01 1.34196676e-01 8.83565952e-03 5.96485695e+01] [-1.34189677e-01 9.90954700e-01 -1.38294068e-03 -5.33200926e+00] [-8.94132438e-03 1.84722818e-04 9.99960008e-01 -1.01070224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.67, Y:-5.34, Z:-1.01 [[ 9.90926123e-01 1.34154747e-01 8.24149439e-03 5.96744154e+01] [-1.34148661e-01 9.90960380e-01 -1.28946513e-03 -5.34069836e+00] [-8.33998227e-03 1.72179244e-04 9.99965207e-01 -1.01139427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.70, Y:-5.35, Z:-1.01 [[ 9.91007279e-01 1.33523818e-01 8.71571324e-03 5.97013606e+01] [-1.33516994e-01 9.91045587e-01 -1.36282265e-03 -5.34710429e+00] [-8.81963843e-03 1.86871338e-04 9.99961089e-01 -1.01200283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.73, Y:-5.36, Z:-1.01 [[ 9.91334065e-01 1.30980790e-01 1.00401391e-02 5.97281244e+01] [-1.30971612e-01 9.91384877e-01 -1.56903661e-03 -5.35592661e+00] [-1.01591557e-02 2.40466238e-04 9.99948366e-01 -1.01209523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:-5.36, Z:-1.01 [[ 9.91552852e-01 1.29296819e-01 1.02603424e-02 5.97556144e+01] [-1.29287151e-01 9.91605901e-01 -1.60282868e-03 -5.36273167e+00] [-1.03814568e-02 2.62758910e-04 9.99946077e-01 -1.01191318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.78, Y:-5.37, Z:-1.01 [[ 9.91997065e-01 1.25792497e-01 1.08659950e-02 5.97818884e+01] [-1.25781451e-01 9.92056524e-01 -1.69678441e-03 -5.37226639e+00] [-1.09931239e-02 3.16464547e-04 9.99939524e-01 -1.01078968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.095769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.81, Y:-5.38, Z:-1.01 [[ 9.92185866e-01 1.24276279e-01 1.10730684e-02 5.98098772e+01] [-1.24264722e-01 9.92247596e-01 -1.72839860e-03 -5.37914709e+00] [-1.12020244e-02 3.38900905e-04 9.99937198e-01 -1.01086949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.84, Y:-5.39, Z:-1.01 [[ 9.92309478e-01 1.23259494e-01 1.13577137e-02 5.98363901e+01] [-1.23247274e-01 9.92374409e-01 -1.77232307e-03 -5.38806303e+00] [-1.14895601e-02 3.58885724e-04 9.99933928e-01 -1.01131093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.86, Y:-5.39, Z:-1.01 [[ 9.92258111e-01 1.23654257e-01 1.15527301e-02 5.98642497e+01] [-1.23641649e-01 9.92325297e-01 -1.80202043e-03 -5.39448339e+00] [-1.16868938e-02 3.59670789e-04 9.99931641e-01 -1.01190714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.89, Y:-5.40, Z:-1.01 [[ 9.92122813e-01 1.24730004e-01 1.16081970e-02 5.98916190e+01] [-1.24717354e-01 9.92190660e-01 -1.81016098e-03 -5.40100926e+00] [-1.17433260e-02 3.48158384e-04 9.99930984e-01 -1.01253820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.92, Y:-5.41, Z:-1.01 [[ 9.91783664e-01 1.27324858e-01 1.23912789e-02 5.99196373e+01] [-1.27310656e-01 9.91861012e-01 -1.93146055e-03 -5.41037257e+00] [-1.25363494e-02 3.38049175e-04 9.99921360e-01 -1.01237348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:-5.42, Z:-1.01 [[ 9.91613502e-01 1.28612368e-01 1.27091378e-02 5.99479672e+01] [-1.28597542e-01 9.91694888e-01 -1.98042023e-03 -5.41728137e+00] [-1.28582935e-02 3.29447556e-04 9.99917274e-01 -1.01235905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.275769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.98, Y:-5.43, Z:-1.01 [[ 9.91118817e-01 1.32454978e-01 1.17970024e-02 5.99752417e+01] [-1.32442481e-01 9.91188989e-01 -1.83780351e-03 -5.42614804e+00] [-1.19364851e-02 2.59057365e-04 9.99928724e-01 -1.01321389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.305769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.00, Y:-5.43, Z:-1.01 [[ 9.90812727e-01 1.34772256e-01 1.12507309e-02 6.00036012e+01] [-1.34761046e-01 9.90876577e-01 -1.75208790e-03 -5.43269201e+00] [-1.13842185e-02 2.19830730e-04 9.99935174e-01 -1.01348569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:-5.44, Z:-1.01 [[ 9.90111287e-01 1.39873949e-01 1.07199401e-02 6.00317790e+01] [-1.39864074e-01 9.90169306e-01 -1.66903874e-03 -5.44070501e+00] [-1.08480107e-02 1.53199600e-04 9.99941147e-01 -1.01371723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.06, Y:-5.45, Z:-1.01 [[ 9.89697501e-01 1.42757140e-01 1.09203953e-02 6.00594282e+01] [-1.42747078e-01 9.89757740e-01 -1.69935286e-03 -5.44612925e+00] [-1.10511405e-02 1.22990752e-04 9.99938927e-01 -1.01406778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:-5.45, Z:-1.01 [[ 9.88861026e-01 1.48434319e-01 1.10056601e-02 6.00877030e+01] [-1.48424459e-01 9.88922267e-01 -1.71187918e-03 -5.45296106e+00] [-1.11378439e-02 5.93014622e-05 9.99937971e-01 -1.01482287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:-5.46, Z:-1.02 [[ 9.88492550e-01 1.50906529e-01 1.04737255e-02 6.01153321e+01] [-1.50897743e-01 9.88548036e-01 -1.62867768e-03 -5.45826410e+00] [-1.05995589e-02 2.94742093e-05 9.99943823e-01 -1.01533125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.455769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:60.14, Y:-5.46, Z:-1.02 [[ 9.87774125e-01 1.55567936e-01 1.00446227e-02 6.01426887e+01] [-1.55560102e-01 9.87825195e-01 -1.56138293e-03 -5.46295141e+00] [-1.01652325e-02 -2.02488783e-05 9.99948332e-01 -1.01555151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.485769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.17, Y:-5.47, Z:-1.02 [[ 9.87394197e-01 1.57957377e-01 1.01077247e-02 6.01690065e+01] [-1.57949576e-01 9.87445930e-01 -1.57051241e-03 -5.46702313e+00] [-1.02289056e-02 -4.57959885e-05 9.99947682e-01 -1.01539629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.20, Y:-5.47, Z:-1.02 [[ 9.86619660e-01 1.62695485e-01 1.05748054e-02 6.01957597e+01] [-1.62687228e-01 9.86676324e-01 -1.64217168e-03 -5.47110181e+00] [-1.07010840e-02 -1.00186907e-04 9.99942737e-01 -1.01569101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.22, Y:-5.47, Z:-1.02 [[ 9.86330729e-01 1.64455396e-01 1.03012444e-02 6.02232053e+01] [-1.64447665e-01 9.86384514e-01 -1.59891074e-03 -5.47450834e+00] [-1.04239375e-02 -1.16960798e-04 9.99945662e-01 -1.01600560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.25, Y:-5.48, Z:-1.02 [[ 9.86069587e-01 1.66025423e-01 1.01157092e-02 6.02500232e+01] [-1.66018058e-01 9.86121464e-01 -1.56941294e-03 -5.47735314e+00] [-1.02358804e-02 -1.31840027e-04 9.99947603e-01 -1.01687565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.28, Y:-5.48, Z:-1.02 [[ 9.85750030e-01 1.67961291e-01 9.26736963e-03 6.02779591e+01] [-1.67955201e-01 9.85793581e-01 -1.43704988e-03 -5.47985411e+00] [-9.37708225e-03 -1.39930971e-04 9.99956024e-01 -1.01719726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.30, Y:-5.48, Z:-1.02 [[ 9.85718543e-01 1.68176279e-01 8.70021682e-03 6.03047185e+01] [-1.68170926e-01 9.85756928e-01 -1.34856707e-03 -5.48207557e+00] [-8.80309599e-03 -1.33815946e-04 9.99961243e-01 -1.01789356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.665769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.33, Y:-5.48, Z:-1.02 [[ 9.85870235e-01 1.67288500e-01 8.62769639e-03 6.03320760e+01] [-1.67283208e-01 9.85907978e-01 -1.33657786e-03 -5.48469396e+00] [-8.72970882e-03 -1.25576397e-04 9.99961887e-01 -1.01858825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.36, Y:-5.49, Z:-1.02 [[ 9.86070325e-01 1.66101574e-01 8.69379138e-03 6.03595794e+01] [-1.66096161e-01 9.86108642e-01 -1.34606808e-03 -5.48748983e+00] [-8.79660684e-03 -1.16687585e-04 9.99961302e-01 -1.01890393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.39, Y:-5.49, Z:-1.02 [[ 9.86635764e-01 1.62677876e-01 9.26165239e-03 6.03860560e+01] [-1.62671588e-01 9.86679229e-01 -1.43329655e-03 -5.49089349e+00] [-9.37144567e-03 -9.24660740e-05 9.99956083e-01 -1.01984575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.755769231 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:60.41, Y:-5.49, Z:-1.02 [[ 9.87044808e-01 1.60141047e-01 9.86875031e-03 6.04141949e+01] [-1.60133790e-01 9.87094139e-01 -1.52631829e-03 -5.49493304e+00] [-9.98581180e-03 -7.37758446e-05 9.99950138e-01 -1.02029584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:60.44, Y:-5.50, Z:-1.02 [[ 9.87871602e-01 1.54944457e-01 1.00951706e-02 6.04422211e+01] [-1.54936600e-01 9.87923183e-01 -1.56052517e-03 -5.49837312e+00] [-1.02150478e-02 -2.25129137e-05 9.99947825e-01 -1.02058908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.815769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:60.47, Y:-5.50, Z:-1.02 [[ 9.88235967e-01 1.52609423e-01 1.00018500e-02 6.04703775e+01] [-1.52601597e-01 9.88286580e-01 -1.54544648e-03 -5.50279867e+00] [-1.01205438e-02 9.67510316e-07 9.99948786e-01 -1.02160236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845769231000006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:60.50, Y:-5.51, Z:-1.02 [[ 9.88505356e-01 1.50888498e-01 9.47742424e-03 6.04987681e+01] [-1.50881397e-01 9.88550788e-01 -1.46399322e-03 -5.50740719e+00] [-9.58981494e-03 1.71981277e-05 9.99954017e-01 -1.02253128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.875769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:60.53, Y:-5.51, Z:-1.02 [[ 9.88699532e-01 1.49663296e-01 8.61010064e-03 6.05264556e+01] [-1.49657392e-01 9.88737021e-01 -1.32970466e-03 -5.51266582e+00] [-8.71213324e-03 2.61131701e-05 9.99962048e-01 -1.02270668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:60.55, Y:-5.52, Z:-1.02 [[ 9.88701488e-01 1.49639811e-01 8.79173442e-03 6.05544720e+01] [-1.49633659e-01 9.88740576e-01 -1.35716424e-03 -5.51709271e+00] [-8.89583035e-03 2.62909083e-05 9.99960431e-01 -1.02273463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.935769231 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:60.58, Y:-5.52, Z:-1.02 [[ 9.88681759e-01 1.49765085e-01 8.87687230e-03 6.05827221e+01] [-1.49758822e-01 9.88721608e-01 -1.36987283e-03 -5.52252834e+00] [-8.98191458e-03 2.49783431e-05 9.99959661e-01 -1.02193629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:60.61, Y:-5.53, Z:-1.02 [[ 9.88588628e-01 1.50363179e-01 9.13447170e-03 6.06104504e+01] [-1.50356577e-01 9.88630828e-01 -1.40921270e-03 -5.52779654e+00] [-9.24251402e-03 1.97037600e-05 9.99957287e-01 -1.02195626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.995769231000004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:60.64, Y:-5.53, Z:-1.02 [[ 9.88320551e-01 1.51986064e-01 1.10781584e-02 6.06373156e+01] [-1.51976463e-01 9.88382637e-01 -1.70828836e-03 -5.53260978e+00] [-1.12090955e-02 4.71715488e-06 9.99937176e-01 -1.02285931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025769231000005 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:60.67, Y:-5.54, Z:-1.02 [[ 9.88171953e-01 1.52909907e-01 1.16082435e-02 6.06653715e+01] [-1.52899441e-01 9.88240133e-01 -1.78898826e-03 -5.53658348e+00] [-1.17452861e-02 -7.06592260e-06 9.99931022e-01 -1.02267914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.055769231000006 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:60.69, Y:-5.54, Z:-1.02 [[ 9.88047641e-01 1.53717312e-01 1.15259670e-02 6.06935797e+01] [-1.53707056e-01 9.88114866e-01 -1.77577988e-03 -5.54037269e+00] [-1.16619474e-02 -1.70673351e-05 9.99931997e-01 -1.02307139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.085769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:60.72, Y:-5.54, Z:-1.02 [[ 9.87803972e-01 1.55340426e-01 1.06143997e-02 6.07214515e+01] [-1.55331826e-01 9.87860998e-01 -1.63493598e-03 -5.54393897e+00] [-1.07395231e-02 -3.37578296e-05 9.99942329e-01 -1.02337230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.115769231 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:60.75, Y:-5.55, Z:-1.02 [[ 9.87741999e-01 1.55751764e-01 1.03503831e-02 6.07484761e+01] [-1.55743615e-01 9.87796227e-01 -1.59364768e-03 -5.54750842e+00] [-1.04722828e-02 -3.78933450e-05 9.99945163e-01 -1.02363853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.145769231 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:60.78, Y:-5.55, Z:-1.02 [[ 9.87648982e-01 1.56327504e-01 1.05451233e-02 6.07758566e+01] [-1.56319092e-01 9.87705275e-01 -1.62242450e-03 -5.55167733e+00] [-1.06691035e-02 -4.60181861e-05 9.99943082e-01 -1.02474100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.175769231000004 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:60.80, Y:-5.56, Z:-1.02 [[ 9.87720917e-01 1.55889032e-01 1.02956243e-02 6.08036358e+01] [-1.55880996e-01 9.87774573e-01 -1.58334577e-03 -5.55626320e+00] [-1.04165822e-02 -4.09884446e-05 9.99945745e-01 -1.02495117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205769231000005 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:60.83, Y:-5.56, Z:-1.03 [[ 9.88023719e-01 1.54015208e-01 9.40461689e-03 6.08312723e+01] [-1.54008424e-01 9.88068477e-01 -1.44568176e-03 -5.56145914e+00] [-9.51506247e-03 -2.00223579e-05 9.99954731e-01 -1.02532101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.235769231000006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:60.86, Y:-5.57, Z:-1.03 [[ 9.88170089e-01 1.53064684e-01 9.54347469e-03 6.08586155e+01] [-1.53057660e-01 9.88216172e-01 -1.46647548e-03 -5.56569587e+00] [-9.65548163e-03 -1.15746944e-05 9.99953385e-01 -1.02548073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.265769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:60.89, Y:-5.57, Z:-1.02 [[ 9.88348267e-01 1.51869535e-01 1.01659524e-02 6.08863008e+01] [-1.51861509e-01 9.88400549e-01 -1.56134164e-03 -5.56999360e+00] [-1.02851531e-02 -6.67562094e-07 9.99947106e-01 -1.02467398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.295769231 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:60.91, Y:-5.57, Z:-1.03 [[ 9.88312608e-01 1.52092893e-01 1.02927561e-02 6.09138348e+01] [-1.52084685e-01 9.88366203e-01 -1.58018147e-03 -5.57397053e+00] [-1.04133467e-02 -3.65730135e-06 9.99945780e-01 -1.02503090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325769231 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:60.94, Y:-5.58, Z:-1.03 [[ 9.88206801e-01 1.52785102e-01 1.01995461e-02 6.09422760e+01] [-1.52777085e-01 9.88259436e-01 -1.56513264e-03 -5.57744411e+00] [-1.03189266e-02 -1.15822146e-05 9.99946758e-01 -1.02533816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.355769231000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:60.97, Y:-5.58, Z:-1.02 [[ 9.87407221e-01 1.57832826e-01 1.07600437e-02 6.09693452e+01] [-1.57824209e-01 9.87465845e-01 -1.65067816e-03 -5.57792780e+00] [-1.08857069e-02 -6.83038530e-05 9.99940747e-01 -1.02493724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385769231000005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:61.00, Y:-5.58, Z:-1.02 [[ 9.86827820e-01 1.61425585e-01 1.06129514e-02 6.09971705e+01] [-1.61417419e-01 9.86884881e-01 -1.62725021e-03 -5.57928013e+00] [-1.07364411e-02 -1.07299453e-04 9.99942357e-01 -1.02478156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.415769231000006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:61.02, Y:-5.58, Z:-1.03 [[ 9.85724575e-01 1.68140876e-01 8.70098547e-03 6.10248043e+01] [-1.68135652e-01 9.85762965e-01 -1.33368886e-03 -5.57565288e+00] [-8.80135685e-03 -1.48295973e-04 9.99961256e-01 -1.02558443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.445769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:61.05, Y:-5.58, Z:-1.03 [[ 9.85288905e-01 1.70712054e-01 7.94789796e-03 6.10530443e+01] [-1.70707784e-01 9.85320948e-01 -1.21764247e-03 -5.57531022e+00] [-8.03909659e-03 -1.57038427e-04 9.99967674e-01 -1.02652450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.475769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:61.08, Y:-5.57, Z:-1.03 [[ 9.84793045e-01 1.73515989e-01 8.65217361e-03 6.10806500e+01] [-1.73511042e-01 9.84831033e-01 -1.32490003e-03 -5.57117202e+00] [-8.75082042e-03 -1.96495326e-04 9.99961692e-01 -1.02709311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:61.11, Y:-5.57, Z:-1.03 [[ 9.84799160e-01 1.73384062e-01 1.04202794e-02 6.11089604e+01] [-1.73376890e-01 9.84854259e-01 -1.59456796e-03 -5.57228984e+00] [-1.05389292e-02 -2.36306437e-04 9.99944436e-01 -1.02731999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.535769231 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:61.14, Y:-5.57, Z:-1.03 [[ 9.85236744e-01 1.70748305e-01 1.23925531e-02 6.11374393e+01] [-1.70737966e-01 9.85314648e-01 -1.89531975e-03 -5.56951191e+00] [-1.25341867e-02 -2.48540662e-04 9.99921413e-01 -1.02627909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565769231000004 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:61.17, Y:-5.57, Z:-1.03 [[ 9.85541705e-01 1.68982243e-01 1.23510518e-02 6.11652585e+01] [-1.68971846e-01 9.85619070e-01 -1.88808883e-03 -5.56996034e+00] [-1.24924857e-02 -2.26189734e-04 9.99921940e-01 -1.02731331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.595769231000006 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:61.19, Y:-5.57, Z:-1.03 [[ 9.85886495e-01 1.67016751e-01 1.15422414e-02 6.11926989e+01] [-1.67007545e-01 9.85954040e-01 -1.76368830e-03 -5.57061138e+00] [-1.16746850e-02 -1.88844924e-04 9.99931831e-01 -1.02790080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62576923100001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:61.22, Y:-5.57, Z:-1.03 [[ 9.86497656e-01 1.63461616e-01 1.01328207e-02 6.12202801e+01] [-1.63454341e-01 9.86549686e-01 -1.54760568e-03 -5.56955015e+00] [-1.02495052e-02 -1.29544154e-04 9.99947464e-01 -1.03019307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.655769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:61.25, Y:-5.57, Z:-1.03 [[ 9.86636413e-01 1.62674794e-01 9.24664702e-03 6.12483780e+01] [-1.62668708e-01 9.86679735e-01 -1.41152943e-03 -5.57121255e+00] [-9.35309948e-03 -1.11473794e-04 9.99956253e-01 -1.03043765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.28, Y:-5.57, Z:-1.03 [[ 9.86414826e-01 1.64064061e-01 8.29309074e-03 6.12773983e+01] [-1.64059219e-01 9.86449680e-01 -1.26552241e-03 -5.56979687e+00] [-8.38834345e-03 -1.12227923e-04 9.99964811e-01 -1.02942678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.715769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:61.30, Y:-5.57, Z:-1.03 [[ 9.86207694e-01 1.65311115e-01 8.16208180e-03 6.13047331e+01] [-1.65306471e-01 9.86241462e-01 -1.24500996e-03 -5.57058235e+00] [-8.25559747e-03 -1.21406533e-04 9.99965915e-01 -1.02975009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745769231000004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:61.33, Y:-5.57, Z:-1.03 [[ 9.86234431e-01 1.65151525e-01 8.16212820e-03 6.13329099e+01] [-1.65146879e-01 9.86268198e-01 -1.24470590e-03 -5.57466169e+00] [-8.25561255e-03 -1.20378178e-04 9.99965915e-01 -1.03011716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.775769231000005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:61.36, Y:-5.57, Z:-1.03 [[ 9.85881918e-01 1.67190650e-01 9.17223706e-03 6.13614404e+01] [-1.67184890e-01 9.85924572e-01 -1.39662218e-03 -5.57235951e+00] [-9.27663607e-03 -1.56554896e-04 9.99956959e-01 -1.03061802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.805769231000006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:61.39, Y:-5.57, Z:-1.03 [[ 9.85685269e-01 1.68277748e-01 1.03513293e-02 6.13893250e+01] [-1.68270481e-01 9.85739602e-01 -1.57533014e-03 -5.57313260e+00] [-1.04688082e-02 -1.89043440e-04 9.99945183e-01 -1.03031998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.835769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:61.42, Y:-5.57, Z:-1.03 [[ 9.85523353e-01 1.69171539e-01 1.11674206e-02 6.14169245e+01] [-1.69163147e-01 9.85586599e-01 -1.69867685e-03 -5.57281433e+00] [-1.12938278e-02 -2.15030308e-04 9.99936200e-01 -1.03037930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:61.45, Y:-5.57, Z:-1.03 [[ 9.85332538e-01 1.70329629e-01 1.03733679e-02 6.14458938e+01] [-1.70322458e-01 9.85387118e-01 -1.57734418e-03 -5.56799931e+00] [-1.04904516e-02 -2.12608977e-04 9.99944951e-01 -1.03144052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.895769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:61.47, Y:-5.56, Z:-1.03 [[ 9.85635759e-01 1.68608819e-01 9.65487727e-03 6.14747360e+01] [-1.68602540e-01 9.85683029e-01 -1.46652581e-03 -5.56446774e+00] [-9.76391785e-03 -1.82376556e-04 9.99952315e-01 -1.03325379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925769231000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:61.50, Y:-5.57, Z:-1.03 [[ 9.85959314e-01 1.66689558e-01 9.94096327e-03 6.15019118e+01] [-1.66682826e-01 9.86009413e-01 -1.50767137e-03 -5.56502594e+00] [-1.00531964e-02 -1.70485228e-04 9.99949451e-01 -1.03324145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.955769231000005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:61.53, Y:-5.57, Z:-1.03 [[ 9.86427328e-01 1.63860182e-01 1.05340764e-02 6.15301799e+01] [-1.63852470e-01 9.86483562e-01 -1.59691158e-03 -5.56607048e+00] [-1.06533635e-02 -1.50797224e-04 9.99943240e-01 -1.03389733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.985769231000006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:61.56, Y:-5.57, Z:-1.03 [[ 9.86999587e-01 1.60320766e-01 1.13607913e-02 6.15571987e+01] [-1.60311590e-01 9.87064961e-01 -1.71970248e-03 -5.56771665e+00] [-1.14895430e-02 -1.23920885e-04 9.99933985e-01 -1.03424047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:61.59, Y:-5.57, Z:-1.03 [[ 9.88419644e-01 1.51186688e-01 1.30073916e-02 6.15855577e+01] [-1.51173884e-01 9.88505228e-01 -1.96771083e-03 -5.56926175e+00] [-1.31553663e-02 -2.14538767e-05 9.99913464e-01 -1.03450358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04576923100001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:61.61, Y:-5.57, Z:-1.03 [[ 9.89933383e-01 1.40914520e-01 1.32286095e-02 6.16125656e+01] [-1.40900371e-01 9.90021760e-01 -2.00016037e-03 -5.57328933e+00] [-1.33784629e-02 1.16109524e-04 9.99910498e-01 -1.03433093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:61.64, Y:-5.58, Z:-1.04 [[ 9.90529766e-01 1.36649460e-01 1.33307267e-02 6.16404644e+01] [-1.36634730e-01 9.90619450e-01 -2.01386600e-03 -5.57879490e+00] [-1.34808709e-02 1.73353978e-04 9.99909114e-01 -1.03505912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.105769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:61.67, Y:-5.58, Z:-1.04 [[ 9.91006279e-01 1.33178897e-01 1.30359459e-02 6.16664426e+01] [-1.33164523e-01 9.91091991e-01 -1.96842073e-03 -5.58476732e+00] [-1.31819736e-02 2.14791793e-04 9.99913091e-01 -1.03509977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.135769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.69, Y:-5.59, Z:-1.04 [[ 9.91371947e-01 1.30422100e-01 1.31048805e-02 6.16935857e+01] [-1.30407347e-01 9.91458528e-01 -1.97774711e-03 -5.59145752e+00] [-1.32508874e-02 2.51710315e-04 9.99912171e-01 -1.03540785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.165769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:61.72, Y:-5.60, Z:-1.04 [[ 9.91967042e-01 1.25866600e-01 1.26089538e-02 6.17192815e+01] [-1.25852586e-01 9.92047130e-01 -1.90202805e-03 -5.60254100e+00] [-1.27480783e-02 2.99879695e-04 9.99918695e-01 -1.03642802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.195769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:61.75, Y:-5.61, Z:-1.04 [[ 9.92024674e-01 1.25603075e-01 1.05315375e-02 6.17461045e+01] [-1.25593291e-01 9.92080543e-01 -1.58791027e-03 -5.61366830e+00] [-1.06475798e-02 2.52555714e-04 9.99943281e-01 -1.03582622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.225769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:61.77, Y:-5.62, Z:-1.04 [[ 9.91801935e-01 1.27463677e-01 9.05163455e-03 6.17734396e+01] [-1.27456532e-01 9.91843219e-01 -1.36429131e-03 -5.62036830e+00] [-9.15169994e-03 1.99416819e-04 9.99958102e-01 -1.03563057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.255769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:61.80, Y:-5.63, Z:-1.04 [[ 9.91451429e-01 1.30258427e-01 7.53702300e-03 6.18002346e+01] [-1.30253556e-01 9.91480066e-01 -1.13567573e-03 -5.62622690e+00] [-7.62073939e-03 1.44243281e-04 9.99970951e-01 -1.03612698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.285769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:61.83, Y:-5.63, Z:-1.04 [[ 9.90546496e-01 1.37056362e-01 5.76135463e-03 6.18274780e+01] [-1.37053633e-01 9.90563248e-01 -8.67726376e-04 -5.63142919e+00] [-5.82591358e-03 6.99087385e-05 9.99983027e-01 -1.03701148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.315769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:61.85, Y:-5.64, Z:-1.04 [[ 9.90020514e-01 1.40769579e-01 6.58085292e-03 6.18546929e+01] [-1.40766103e-01 9.90042384e-01 -9.90796452e-04 -5.63514277e+00] [-6.65479732e-03 5.45477954e-05 9.99977855e-01 -1.03762290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.345769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:61.88, Y:-5.64, Z:-1.04 [[ 9.88936791e-01 1.48070273e-01 8.90044612e-03 6.18829816e+01] [-1.48064220e-01 9.88976842e-01 -1.33885829e-03 -5.63828362e+00] [-9.00058021e-03 6.20860532e-06 9.99959494e-01 -1.03704687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.375769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:61.91, Y:-5.64, Z:-1.04 [[ 9.88404492e-01 1.51545626e-01 9.51224492e-03 6.19097069e+01] [-1.51538880e-01 9.88450263e-01 -1.43017128e-03 -5.64199048e+00] [-9.61911720e-03 -2.78872167e-05 9.99953735e-01 -1.03715605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:61.94, Y:-5.65, Z:-1.04 [[ 9.87908785e-01 1.54733414e-01 9.68523299e-03 6.19372278e+01] [-1.54726582e-01 9.87956258e-01 -1.45530609e-03 -5.64556533e+00] [-9.79377102e-03 -6.08533307e-05 9.99952038e-01 -1.03812051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:61.96, Y:-5.65, Z:-1.04 [[ 9.87221443e-01 1.59072145e-01 9.48022941e-03 6.19638760e+01] [-1.59065806e-01 9.87266956e-01 -1.42386847e-03 -5.64698244e+00] [-9.58601504e-03 -1.02306844e-04 9.99954048e-01 -1.03920538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:61.99, Y:-5.65, Z:-1.04 [[ 9.87044677e-01 1.60131327e-01 1.00381340e-02 6.19922215e+01] [-1.60124283e-01 9.87095712e-01 -1.50670968e-03 -5.64972211e+00] [-1.01498705e-02 -1.20159248e-04 9.99948482e-01 -1.03968806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.495769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.02, Y:-5.65, Z:-1.04 [[ 9.86865270e-01 1.61167432e-01 1.10452201e-02 6.20201946e+01] [-1.61158979e-01 9.86927068e-01 -1.65699792e-03 -5.65237190e+00] [-1.11678808e-02 -1.44802693e-04 9.99937627e-01 -1.03919064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.525769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:62.05, Y:-5.66, Z:-1.04 [[ 9.86926146e-01 1.60829920e-01 1.05127703e-02 6.20469821e+01] [-1.60822250e-01 9.86982127e-01 -1.57641662e-03 -5.65629229e+00] [-1.06294513e-02 -1.34880601e-04 9.99943497e-01 -1.03974547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.555769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:62.07, Y:-5.66, Z:-1.04 [[ 9.87047932e-01 1.60145729e-01 9.47230764e-03 6.20731722e+01] [-1.60139478e-01 9.87093376e-01 -1.41968685e-03 -5.66071344e+00] [-9.57740890e-03 -1.15591434e-04 9.99954129e-01 -1.04106580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.585769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:62.10, Y:-5.67, Z:-1.04 [[ 9.87298505e-01 1.58665541e-01 8.17970610e-03 6.20999543e+01] [-1.58660834e-01 9.87332385e-01 -1.22542150e-03 -5.66651192e+00] [-8.27052089e-03 -8.79421737e-05 9.99965795e-01 -1.04273135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.615769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.13, Y:-5.67, Z:-1.04 [[ 9.87426769e-01 1.57842797e-01 8.60387114e-03 6.21274347e+01] [-1.57837564e-01 9.87464250e-01 -1.28816819e-03 -5.67186035e+00] [-8.69934323e-03 -8.60423030e-05 9.99962156e-01 -1.04268436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.645769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.15, Y:-5.68, Z:-1.04 [[ 9.87681108e-01 1.56203571e-01 9.29909563e-03 6.21547309e+01] [-1.56197392e-01 9.87724880e-01 -1.39150192e-03 -5.67863063e+00] [-9.40230568e-03 -7.81343319e-05 9.99955794e-01 -1.04162588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.675769231 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:62.18, Y:-5.68, Z:-1.04 [[ 9.87798942e-01 1.55472503e-01 9.03059206e-03 6.21822536e+01] [-1.55466651e-01 9.87840218e-01 -1.35069718e-03 -5.68432213e+00] [-9.13077830e-03 -6.97386614e-05 9.99958311e-01 -1.04129432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.705769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:62.21, Y:-5.69, Z:-1.04 [[ 9.87862376e-01 1.55123690e-01 8.03531652e-03 6.22085886e+01] [-1.55119049e-01 9.87895054e-01 -1.20140289e-03 -5.69252919e+00] [-8.12441549e-03 -5.96099428e-05 9.99966995e-01 -1.04243516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.735769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.24, Y:-5.70, Z:-1.04 [[ 9.87806654e-01 1.55499701e-01 7.60635541e-03 6.22354832e+01] [-1.55495558e-01 9.87835938e-01 -1.13660569e-03 -5.69860011e+00] [-7.69057307e-03 -6.00078142e-05 9.99970425e-01 -1.04301654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76576923100001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.26, Y:-5.70, Z:-1.04 [[ 9.87674174e-01 1.56314697e-01 8.08965309e-03 6.22615481e+01] [-1.56310043e-01 9.87707300e-01 -1.20824653e-03 -5.70435793e+00] [-8.17907610e-03 -7.11401292e-05 9.99966548e-01 -1.04300491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:62.29, Y:-5.71, Z:-1.04 [[ 9.87228359e-01 1.58987031e-01 1.01632611e-02 6.22885795e+01] [-1.58979838e-01 9.87280664e-01 -1.51696708e-03 -5.70933918e+00] [-1.02751692e-02 -1.18160674e-04 9.99947202e-01 -1.04152640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:62.32, Y:-5.71, Z:-1.04 [[ 9.87053464e-01 1.60008576e-01 1.10776800e-02 6.23150491e+01] [-1.60000112e-01 9.87115614e-01 -1.65181841e-03 -5.71255067e+00] [-1.11992560e-02 -1.41996960e-04 9.99937276e-01 -1.04120477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.855769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:62.34, Y:-5.72, Z:-1.04 [[ 9.86747369e-01 1.61900301e-01 1.08592215e-02 6.23426520e+01] [-1.61892292e-01 9.86807107e-01 -1.61837321e-03 -5.71661596e+00] [-1.09779720e-02 -1.61098758e-04 9.99939727e-01 -1.04232127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.885769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:62.37, Y:-5.72, Z:-1.04 [[ 9.86682152e-01 1.62337662e-01 1.02378533e-02 6.23700875e+01] [-1.62330573e-01 9.86735253e-01 -1.52511257e-03 -5.72003643e+00] [-1.03496340e-02 -1.57115252e-04 9.99946429e-01 -1.04349071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.915769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:62.40, Y:-5.72, Z:-1.04 [[ 9.86646635e-01 1.62614132e-01 9.22287260e-03 6.23978250e+01] [-1.62608397e-01 9.86689730e-01 -1.37337755e-03 -5.72191370e+00] [-9.32344428e-03 -1.44678191e-04 9.99956525e-01 -1.04457121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.945769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:62.42, Y:-5.72, Z:-1.04 [[ 9.86681163e-01 1.62403197e-01 9.24579712e-03 6.24247965e+01] [-1.62397430e-01 9.86724471e-01 -1.37616034e-03 -5.72465389e+00] [-9.34654710e-03 -1.43662210e-04 9.99956310e-01 -1.04458618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.975769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:62.45, Y:-5.72, Z:-1.04 [[ 9.86556259e-01 1.63142221e-01 9.55841515e-03 6.24524762e+01] [-1.63136100e-01 9.86602550e-01 -1.42184360e-03 -5.72467707e+00] [-9.66231949e-03 -1.56593864e-04 9.99953306e-01 -1.04401519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.005769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:62.48, Y:-5.72, Z:-1.04 [[ 9.86409781e-01 1.64062149e-01 8.90815177e-03 6.24809241e+01] [-1.64056872e-01 9.86449992e-01 -1.32484266e-03 -5.72481226e+00] [-9.00480278e-03 -1.54605765e-04 9.99959444e-01 -1.04429653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.035769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.51, Y:-5.72, Z:-1.05 [[ 9.86153670e-01 1.65648832e-01 7.83597724e-03 6.25081466e+01] [-1.65644811e-01 9.86184791e-01 -1.16397026e-03 -5.72375876e+00] [-7.92053189e-03 -1.50135427e-04 9.99968621e-01 -1.04517629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.065769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:62.54, Y:-5.72, Z:-1.05 [[ 9.85523644e-01 1.69361319e-01 7.73893708e-03 6.25372878e+01] [-1.69357516e-01 9.85554013e-01 -1.14890550e-03 -5.71746687e+00] [-7.82172064e-03 -1.78373633e-04 9.99969394e-01 -1.04619973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.095769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.57, Y:-5.72, Z:-1.05 [[ 9.85254685e-01 1.70890600e-01 8.34312913e-03 6.25659667e+01] [-1.70886248e-01 9.85289988e-01 -1.23701664e-03 -5.71625266e+00] [-8.43179612e-03 -2.06949590e-04 9.99964430e-01 -1.04664862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.125769231 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:62.59, Y:-5.71, Z:-1.05 [[ 9.84982194e-01 1.72467781e-01 8.05865369e-03 6.25947118e+01] [-1.72463790e-01 9.85015136e-01 -1.19281260e-03 -5.70841900e+00] [-8.14361760e-03 -2.14926789e-04 9.99966817e-01 -1.04674289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15576923100001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:62.62, Y:-5.71, Z:-1.05 [[ 9.85093225e-01 1.71863441e-01 7.36852911e-03 6.26218276e+01] [-1.71860091e-01 9.85120765e-01 -1.09011841e-03 -5.70680115e+00] [-7.44624253e-03 -1.92487829e-04 9.99972258e-01 -1.04764446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18576923100001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:62.65, Y:-5.71, Z:-1.05 [[ 9.85421564e-01 1.69986345e-01 6.99885576e-03 6.26496762e+01] [-1.69983276e-01 9.85446403e-01 -1.03544294e-03 -5.70617287e+00] [-7.07300840e-03 -1.69340625e-04 9.99974972e-01 -1.04810169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21576923100001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:62.68, Y:-5.70, Z:-1.05 [[ 9.86503981e-01 1.63514614e-01 8.53622093e-03 6.26778129e+01] [-1.63509828e-01 9.86540900e-01 -1.26040176e-03 -5.70298161e+00] [-8.62742518e-03 -1.52364656e-04 9.99962771e-01 -1.04792995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.245769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:62.71, Y:-5.70, Z:-1.05 [[ 9.87120930e-01 1.59673185e-01 9.83580707e-03 6.27061736e+01] [-1.59666644e-01 9.87169922e-01 -1.45168719e-03 -5.70425977e+00] [-9.94140842e-03 -1.37459505e-04 9.99950574e-01 -1.04778543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.275769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.73, Y:-5.70, Z:-1.05 [[ 9.88305253e-01 1.52070305e-01 1.12849270e-02 6.27342051e+01] [-1.52061228e-01 9.88369676e-01 -1.66307158e-03 -5.70407635e+00] [-1.14065834e-02 -7.23774773e-05 9.99934940e-01 -1.04750958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.305769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.76, Y:-5.71, Z:-1.05 [[ 9.88809300e-01 1.48720695e-01 1.17610444e-02 6.27607782e+01] [-1.48710627e-01 9.88879241e-01 -1.73085868e-03 -5.70674279e+00] [-1.18876671e-02 -3.75031232e-05 9.99929338e-01 -1.04805048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.79, Y:-5.71, Z:-1.05 [[ 9.89639161e-01 1.43165481e-01 1.08616976e-02 6.27877979e+01] [-1.43156574e-01 9.89698765e-01 -1.59715308e-03 -5.71068810e+00] [-1.09784659e-02 2.56818228e-05 9.99939734e-01 -1.04881616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.365769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.82, Y:-5.72, Z:-1.05 [[ 9.89998097e-01 1.40675804e-01 1.06811500e-02 6.28150701e+01] [-1.40667055e-01 9.90055713e-01 -1.56973309e-03 -5.71556232e+00] [-1.07957571e-02 5.15468541e-05 9.99941723e-01 -1.04931540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.395769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:62.84, Y:-5.72, Z:-1.05 [[ 9.90266069e-01 1.38804701e-01 1.03134658e-02 6.28418456e+01] [-1.38796450e-01 9.90319772e-01 -1.51504357e-03 -5.72032368e+00] [-1.04239243e-02 6.88238002e-05 9.99945667e-01 -1.04874482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.425769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:62.87, Y:-5.73, Z:-1.05 [[ 9.90405689e-01 1.37805743e-01 1.03028725e-02 6.28688529e+01] [-1.37797463e-01 9.90459273e-01 -1.51265590e-03 -5.72504052e+00] [-1.04130283e-02 7.84333192e-05 9.99945780e-01 -1.04888847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.455769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:62.90, Y:-5.73, Z:-1.05 [[ 9.90458982e-01 1.37410870e-01 1.04526329e-02 6.28950370e+01] [-1.37402335e-01 9.90514132e-01 -1.53381003e-03 -5.73170827e+00] [-1.05642428e-02 8.29597546e-05 9.99944193e-01 -1.04889384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.485769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:62.92, Y:-5.74, Z:-1.05 [[ 9.90549200e-01 1.36527547e-01 1.31343825e-02 6.29216127e+01] [-1.36514008e-01 9.90636268e-01 -1.92610754e-03 -5.74075920e+00] [-1.32743624e-02 1.14877089e-04 9.99911885e-01 -1.04879678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.95, Y:-5.75, Z:-1.05 [[ 9.90676146e-01 1.35494807e-01 1.42102482e-02 6.29489736e+01] [-1.35478867e-01 9.90778047e-01 -2.08285829e-03 -5.74722101e+00] [-1.43614185e-02 1.38249689e-04 9.99896860e-01 -1.04886394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.98, Y:-5.75, Z:-1.05 [[ 9.90849787e-01 1.34176173e-01 1.46100640e-02 6.29767125e+01] [-1.34159196e-01 9.90957481e-01 -2.14044287e-03 -5.75367122e+00] [-1.47651487e-02 1.60782925e-04 9.99890976e-01 -1.04990552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:63.00, Y:-5.76, Z:-1.05 [[ 9.91115136e-01 1.32438599e-01 1.22802527e-02 6.30027299e+01] [-1.32426480e-01 9.91191199e-01 -1.79842724e-03 -5.76231854e+00] [-1.24102596e-02 1.56217815e-04 9.99922978e-01 -1.05065929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.605769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:63.03, Y:-5.77, Z:-1.05 [[ 9.91122397e-01 1.32384239e-01 1.22803921e-02 6.30309344e+01] [-1.32372127e-01 9.91198461e-01 -1.79747448e-03 -5.76631540e+00] [-1.24102631e-02 1.55935581e-04 9.99922978e-01 -1.05102662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.635769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:63.06, Y:-5.77, Z:-1.05 [[ 9.91110414e-01 1.32624323e-01 1.05326275e-02 6.30569881e+01] [-1.32615432e-01 9.91166369e-01 -1.54121575e-03 -5.77291989e+00] [-1.06439889e-02 1.30726030e-04 9.99943343e-01 -1.05171607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.665769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:63.08, Y:-5.78, Z:-1.05 [[ 9.90956992e-01 1.33869405e-01 9.12257351e-03 6.30844974e+01] [-1.33862794e-01 9.90998977e-01 -1.33426650e-03 -5.78030018e+00] [-9.21907848e-03 1.01027537e-04 9.99957498e-01 -1.05248827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.695769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:63.11, Y:-5.79, Z:-1.05 [[ 9.90560012e-01 1.36821738e-01 8.40684136e-03 6.31105808e+01] [-1.36816233e-01 9.90595683e-01 -1.22913411e-03 -5.78902955e+00] [-8.49595302e-03 6.73387308e-05 9.99963906e-01 -1.05263168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.725769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:63.14, Y:-5.79, Z:-1.05 [[ 9.90298901e-01 1.38709706e-01 8.22822227e-03 6.31366522e+01] [-1.38704503e-01 9.90333083e-01 -1.20240074e-03 -5.79414630e+00] [-8.31546538e-03 4.94446441e-05 9.99965425e-01 -1.05304928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.755769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:63.16, Y:-5.80, Z:-1.05 [[ 9.89658318e-01 1.43229958e-01 7.84806033e-03 6.31624128e+01] [-1.43225369e-01 9.89689436e-01 -1.14649976e-03 -5.80149186e+00] [-7.93135551e-03 1.06016872e-05 9.99968546e-01 -1.05359796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.785769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:63.19, Y:-5.81, Z:-1.05 [[ 9.89368510e-01 1.45215781e-01 7.89486972e-03 6.31895756e+01] [-1.45211211e-01 9.89400009e-01 -1.15210836e-03 -5.80680104e+00] [-7.97848848e-03 -6.56385986e-06 9.99968171e-01 -1.05405678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.815769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:63.22, Y:-5.81, Z:-1.05 [[ 9.88825871e-01 1.48816997e-01 8.76914212e-03 6.32159144e+01] [-1.48811505e-01 9.88864753e-01 -1.27906456e-03 -5.81319469e+00] [-8.86184211e-03 -4.01771077e-05 9.99960732e-01 -1.05321250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.845769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:63.24, Y:-5.82, Z:-1.05 [[ 9.88591033e-01 1.50360750e-01 8.91152039e-03 6.32434357e+01] [-1.50355148e-01 9.88631196e-01 -1.29908861e-03 -5.81780605e+00] [-9.00553900e-03 -5.56256171e-05 9.99959448e-01 -1.05333872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.875769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:63.27, Y:-5.82, Z:-1.05 [[ 9.88403991e-01 1.51591958e-01 8.79931928e-03 6.32701317e+01] [-1.51586550e-01 9.88443157e-01 -1.28220894e-03 -5.82278667e+00] [-8.89199949e-03 -6.65180141e-05 9.99960463e-01 -1.05368675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:63.30, Y:-5.83, Z:-1.05 [[ 9.88191898e-01 1.52986316e-01 8.48291629e-03 6.32976626e+01] [-1.52981346e-01 9.88228304e-01 -1.23546378e-03 -5.82976671e+00] [-8.57206703e-03 -7.68526583e-05 9.99963256e-01 -1.05485897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93576923100001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:63.33, Y:-5.84, Z:-1.06 [[ 9.88155284e-01 1.53206437e-01 8.77053283e-03 6.33256616e+01] [-1.53201140e-01 9.88194202e-01 -1.27671161e-03 -5.83508268e+00] [-8.86259013e-03 -8.20662996e-05 9.99960723e-01 -1.05504883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.35, Y:-5.84, Z:-1.05 [[ 9.88078054e-01 1.53618208e-01 1.01589859e-02 6.33523673e+01] [-1.53611130e-01 9.88130273e-01 -1.47800489e-03 -5.84032937e+00] [-1.02654500e-02 -1.00149106e-04 9.99947304e-01 -1.05486414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.995769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:63.38, Y:-5.84, Z:-1.05 [[ 9.88046244e-01 1.53783112e-01 1.07412318e-02 6.33802573e+01] [-1.53775220e-01 9.88104621e-01 -1.56174864e-03 -5.84434061e+00] [-1.08536314e-02 -1.08655415e-04 9.99941092e-01 -1.05484834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.025769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:63.41, Y:-5.85, Z:-1.06 [[ 9.87969234e-01 1.54315529e-01 1.01739710e-02 6.34068219e+01] [-1.54308483e-01 9.88021612e-01 -1.47868998e-03 -5.84882096e+00] [-1.02802881e-02 -1.09029833e-04 9.99947150e-01 -1.05537412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.055769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.43, Y:-5.85, Z:-1.06 [[ 9.87991140e-01 1.54199143e-01 9.80471643e-03 6.34339410e+01] [-1.54192600e-01 9.88039783e-01 -1.42429810e-03 -5.85371417e+00] [-9.90707545e-03 -1.04620812e-04 9.99950918e-01 -1.05576022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.46, Y:-5.86, Z:-1.06 [[ 9.88060292e-01 1.53732073e-01 1.01641022e-02 6.34619506e+01] [-1.53725024e-01 9.88112564e-01 -1.47582920e-03 -5.85871747e+00] [-1.02701594e-02 -1.04268626e-04 9.99947255e-01 -1.05613366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.115769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.49, Y:-5.86, Z:-1.06 [[ 9.88330910e-01 1.51860309e-01 1.18515443e-02 6.34898581e+01] [-1.51850601e-01 9.88401961e-01 -1.71995664e-03 -5.86460416e+00] [-1.19752828e-02 -9.97778165e-05 9.99928289e-01 -1.05633793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.52, Y:-5.87, Z:-1.06 [[ 9.88904798e-01 1.48119452e-01 1.13105759e-02 6.35167915e+01] [-1.48110373e-01 9.88969476e-01 -1.64076933e-03 -5.87147694e+00] [-1.14288442e-02 -5.26489585e-05 9.99934687e-01 -1.05694813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.54, Y:-5.88, Z:-1.06 [[ 9.89184518e-01 1.46249434e-01 1.11845011e-02 6.35437164e+01] [-1.46240445e-01 9.89247746e-01 -1.62175308e-03 -5.87712566e+00] [-1.13014230e-02 -3.14133775e-05 9.99936136e-01 -1.05752123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.205769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.57, Y:-5.88, Z:-1.06 [[ 9.89427910e-01 1.44590141e-01 1.12295024e-02 6.35713161e+01] [-1.44580983e-01 9.89491633e-01 -1.62737981e-03 -5.88235721e+00] [-1.13468017e-02 -1.33974850e-05 9.99935623e-01 -1.05751595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.60, Y:-5.89, Z:-1.06 [[ 9.89825019e-01 1.41908751e-01 1.04085587e-02 6.35990040e+01] [-1.41900742e-01 9.89879743e-01 -1.50778499e-03 -5.88935161e+00] [-1.05171893e-02 1.54611025e-05 9.99944693e-01 -1.05800176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.63, Y:-5.90, Z:-1.06 [[ 9.90016000e-01 1.40624371e-01 9.64915076e-03 6.36251569e+01] [-1.40617432e-01 9.90063021e-01 -1.39723315e-03 -5.89539686e+00] [-9.74975239e-03 2.64443761e-05 9.99952470e-01 -1.05870670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:63.65, Y:-5.91, Z:-1.06 [[ 9.90392277e-01 1.37987039e-01 9.09473805e-03 6.36520654e+01] [-1.37980769e-01 9.90434034e-01 -1.31626777e-03 -5.90517026e+00] [-9.18936598e-03 4.87224798e-05 9.99957776e-01 -1.06012851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.68, Y:-5.91, Z:-1.06 [[ 9.90580946e-01 1.36616261e-01 9.24054089e-03 6.36795791e+01] [-1.36609734e-01 9.90624042e-01 -1.33678149e-03 -5.91229416e+00] [-9.33652806e-03 6.18424412e-05 9.99956412e-01 -1.05990392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.71, Y:-5.92, Z:-1.06 [[ 9.90721357e-01 1.35581411e-01 9.42727686e-03 6.37062884e+01] [-1.35574578e-01 9.90766206e-01 -1.36312290e-03 -5.91930918e+00] [-9.52504146e-03 7.23758854e-05 9.99954633e-01 -1.06007684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.73, Y:-5.93, Z:-1.06 [[ 9.90861829e-01 1.34552245e-01 9.40904343e-03 6.37331909e+01] [-1.34545400e-01 9.90906498e-01 -1.35965173e-03 -5.92651023e+00] [-9.50642646e-03 8.12834959e-05 9.99954810e-01 -1.05966485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.76, Y:-5.94, Z:-1.06 [[ 9.90941850e-01 1.33974890e-01 9.21838179e-03 6.37600284e+01] [-1.33968301e-01 9.90984723e-01 -1.33138543e-03 -5.93797324e+00] [-9.31364774e-03 8.43545932e-05 9.99956623e-01 -1.05982959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.79, Y:-5.95, Z:-1.06 [[ 9.90868305e-01 1.34480158e-01 9.75132711e-03 6.37851919e+01] [-1.34472816e-01 9.90916283e-01 -1.40774133e-03 -5.94906783e+00] [-9.85206209e-03 8.35978499e-05 9.99951464e-01 -1.06083260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.475769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.81, Y:-5.96, Z:-1.06 [[ 9.90692570e-01 1.35741000e-01 1.01298107e-02 6.38129035e+01] [-1.35733150e-01 9.90744354e-01 -1.46158990e-03 -5.95632560e+00] [-1.02344504e-02 7.30351353e-05 9.99947624e-01 -1.06079126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.505769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.84, Y:-5.96, Z:-1.06 [[ 9.90488030e-01 1.37210301e-01 1.03342412e-02 6.38412313e+01] [-1.37202221e-01 9.90541937e-01 -1.49027071e-03 -5.96328269e+00] [-1.04409798e-02 5.82144571e-05 9.99945490e-01 -1.06119318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.535769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.87, Y:-5.97, Z:-1.06 [[ 9.90147696e-01 1.39627600e-01 1.05675966e-02 6.38681065e+01] [-1.39619293e-01 9.90204086e-01 -1.52342955e-03 -5.97320938e+00] [-1.06767901e-02 3.29798984e-05 9.99943001e-01 -1.06127225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.565769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:63.90, Y:-5.98, Z:-1.06 [[ 9.90097910e-01 1.39987103e-01 1.04757081e-02 6.38951871e+01] [-1.39978966e-01 9.90153327e-01 -1.50958273e-03 -5.98016041e+00] [-1.05838793e-02 2.82559267e-05 9.99943989e-01 -1.06196201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.595769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.92, Y:-5.99, Z:-1.06 [[ 9.89982303e-01 1.40896377e-01 9.12420194e-03 6.39224183e+01] [-1.40890248e-01 9.90024348e-01 -1.31426283e-03 -5.99055826e+00] [-9.21835696e-03 1.55858683e-05 9.99957510e-01 -1.06218457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.95, Y:-6.00, Z:-1.06 [[ 9.89878929e-01 1.41638757e-01 8.84132460e-03 6.39498523e+01] [-1.41633035e-01 9.89918412e-01 -1.27316418e-03 -5.99816272e+00] [-8.93251940e-03 8.05475924e-06 9.99960104e-01 -1.06260674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.98, Y:-6.01, Z:-1.06 [[ 9.89737338e-01 1.42640753e-01 8.58003249e-03 6.39783651e+01] [-1.42635406e-01 9.89774528e-01 -1.23500860e-03 -6.00558159e+00] [-8.66846016e-03 -1.48229680e-06 9.99962428e-01 -1.06278589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.01, Y:-6.01, Z:-1.06 [[ 9.89213460e-01 1.46148718e-01 9.86322421e-03 6.40055874e+01] [-1.46141832e-01 9.89262630e-01 -1.41919276e-03 -6.01348856e+00] [-9.96473232e-03 -3.75450762e-05 9.99950350e-01 -1.06317939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:-6.02, Z:-1.06 [[ 9.88831701e-01 1.48666182e-01 1.04992544e-02 6.40344041e+01] [-1.48658528e-01 9.88887436e-01 -1.51002565e-03 -6.01836256e+00] [-1.06070705e-02 -6.76424719e-05 9.99943741e-01 -1.06307813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.06, Y:-6.02, Z:-1.06 [[ 9.88037133e-01 1.53893065e-01 9.97740800e-03 6.40618687e+01] [-1.53886423e-01 9.88087502e-01 -1.43455711e-03 -6.02386965e+00] [-1.00793205e-02 -1.17991938e-04 9.99949195e-01 -1.06290327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.09, Y:-6.03, Z:-1.06 [[ 9.87715574e-01 1.56007540e-01 8.92145771e-03 6.40892619e+01] [-1.56002320e-01 9.87755856e-01 -1.28231673e-03 -6.02871905e+00] [-9.01227318e-03 -1.25203899e-04 9.99959381e-01 -1.06388401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.12, Y:-6.03, Z:-1.07 [[ 9.87428105e-01 1.57875406e-01 7.81620676e-03 6.41171211e+01] [-1.57871461e-01 9.87459032e-01 -1.12303593e-03 -6.03369579e+00] [-7.89548371e-03 -1.25038745e-04 9.99968822e-01 -1.06512873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.835769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.14, Y:-6.04, Z:-1.07 [[ 9.86934464e-01 1.60978302e-01 6.80805775e-03 6.41444486e+01] [-1.60975386e-01 9.86957937e-01 -9.77816493e-04 -6.03822927e+00] [-6.87667387e-03 -1.30888926e-04 9.99976347e-01 -1.06526458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.17, Y:-6.04, Z:-1.07 [[ 9.86746423e-01 1.62113711e-01 7.11631183e-03 6.41722206e+01] [-1.62110558e-01 9.86772073e-01 -1.02153170e-03 -6.04052294e+00] [-7.18778207e-03 -1.45636535e-04 9.99974157e-01 -1.06567562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.20, Y:-6.04, Z:-1.07 [[ 9.86442656e-01 1.63943978e-01 7.29778114e-03 6.42001565e+01] [-1.63940716e-01 9.86469637e-01 -1.04709617e-03 -6.03864235e+00] [-7.37070463e-03 -1.63503133e-04 9.99972823e-01 -1.06541405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.23, Y:-6.04, Z:-1.07 [[ 9.86337970e-01 1.64545453e-01 7.88690861e-03 6.42287098e+01] [-1.64541668e-01 9.86369485e-01 -1.13082296e-03 -6.04003459e+00] [-7.96547776e-03 -1.82351470e-04 9.99968258e-01 -1.06559948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.26, Y:-6.04, Z:-1.07 [[ 9.86248000e-01 1.64982105e-01 9.78710729e-03 6.42561364e+01] [-1.64976307e-01 9.86296533e-01 -1.40239531e-03 -6.03992115e+00] [-9.88436012e-03 -2.31531250e-04 9.99951122e-01 -1.06530623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.28, Y:-6.04, Z:-1.07 [[ 9.86318061e-01 1.64559892e-01 9.83486006e-03 6.42829934e+01] [-1.64554024e-01 9.86367066e-01 -1.40842219e-03 -6.04158923e+00] [-9.93255187e-03 -2.29213552e-04 9.99950645e-01 -1.06601932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.31, Y:-6.04, Z:-1.07 [[ 9.86617144e-01 1.62828303e-01 8.57643549e-03 6.43115297e+01] [-1.62823781e-01 9.86654402e-01 -1.22759295e-03 -6.04103162e+00] [-8.66186470e-03 -1.85283406e-04 9.99962468e-01 -1.06706729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.34, Y:-6.04, Z:-1.07 [[ 9.86832854e-01 1.61517972e-01 8.53593219e-03 6.43396560e+01] [-1.61513448e-01 9.86869756e-01 -1.22121253e-03 -6.04254919e+00] [-8.62110109e-03 -1.73535192e-04 9.99962823e-01 -1.06776073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.37, Y:-6.04, Z:-1.07 [[ 9.87062053e-01 1.60110105e-01 8.55907714e-03 6.43681254e+01] [-1.60105509e-01 9.87099148e-01 -1.22393169e-03 -6.04445799e+00] [-8.64462159e-03 -1.62258875e-04 9.99962621e-01 -1.06838466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.105769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.40, Y:-6.05, Z:-1.07 [[ 9.87691764e-01 1.56170283e-01 8.70762508e-03 6.43954772e+01] [-1.56165378e-01 9.87730138e-01 -1.24460158e-03 -6.04503079e+00] [-8.79515350e-03 -1.30546837e-04 9.99961313e-01 -1.06811734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.42, Y:-6.05, Z:-1.07 [[ 9.88114916e-01 1.53435216e-01 9.30312024e-03 6.44236997e+01] [-1.53429504e-01 9.88158703e-01 -1.32885911e-03 -6.04785756e+00] [-9.39685301e-03 -1.14307616e-04 9.99955842e-01 -1.06818822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.45, Y:-6.05, Z:-1.07 [[ 9.89099731e-01 1.46805732e-01 1.13929202e-02 6.44501127e+01] [-1.46796736e-01 9.89165342e-01 -1.62640099e-03 -6.05112032e+00] [-1.15082468e-02 -6.37707230e-05 9.99933776e-01 -1.06721500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.48, Y:-6.06, Z:-1.07 [[ 9.89708153e-01 1.42563435e-01 1.23870306e-02 6.44773318e+01] [-1.42552483e-01 9.89785667e-01 -1.76723677e-03 -6.05640097e+00] [-1.25124487e-02 -1.67533291e-05 9.99921716e-01 -1.06718518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.51, Y:-6.06, Z:-1.07 [[ 9.90362100e-01 1.37877399e-01 1.31428445e-02 6.45059649e+01] [-1.37864669e-01 9.90449302e-01 -1.87412758e-03 -6.06259907e+00] [-1.32757210e-02 4.41310179e-05 9.99911873e-01 -1.06820242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.255769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.53, Y:-6.07, Z:-1.07 [[ 9.91649738e-01 1.28385731e-01 1.21614455e-02 6.45326996e+01] [-1.28374122e-01 9.91724296e-01 -1.73365457e-03 -6.07189454e+00] [-1.22833775e-02 1.57963207e-04 9.99924544e-01 -1.06870250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.56, Y:-6.08, Z:-1.07 [[ 9.92229722e-01 1.23881642e-01 1.15549814e-02 6.45603963e+01] [-1.23870866e-01 9.92296981e-01 -1.64646950e-03 -6.07862883e+00] [-1.16699405e-02 2.02350435e-04 9.99931883e-01 -1.06870404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.315769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.59, Y:-6.09, Z:-1.07 [[ 9.93090981e-01 1.16763297e-01 1.16891627e-02 6.45873238e+01] [-1.16751782e-01 9.93159730e-01 -1.66506939e-03 -6.09055814e+00] [-1.18036247e-02 2.88834822e-04 9.99930293e-01 -1.06901910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.345769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.62, Y:-6.10, Z:-1.07 [[ 9.93373343e-01 1.14293546e-01 1.20990281e-02 6.46150566e+01] [-1.14281033e-01 9.93446967e-01 -1.72290379e-03 -6.09858777e+00] [-1.22166595e-02 3.28797283e-04 9.99925320e-01 -1.06860437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.375769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.64, Y:-6.11, Z:-1.07 [[ 9.93534335e-01 1.12829108e-01 1.26141873e-02 6.46441807e+01] [-1.12815395e-01 9.93614343e-01 -1.79568797e-03 -6.10669210e+00] [-1.27362433e-02 3.61003126e-04 9.99918826e-01 -1.06895121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.67, Y:-6.12, Z:-1.07 [[ 9.93574289e-01 1.12703914e-01 1.03903408e-02 6.46725828e+01] [-1.12694605e-01 9.93628572e-01 -1.47893688e-03 -6.11696171e+00] [-1.04908214e-02 2.98498314e-04 9.99944925e-01 -1.07019087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.70, Y:-6.12, Z:-1.07 [[ 9.93515006e-01 1.13483053e-01 7.03766957e-03 6.47019930e+01] [-1.13442772e-01 9.93527121e-01 -5.88191049e-03 -6.12211873e+00] [-7.65961275e-03 5.04539359e-03 9.99957936e-01 -1.07106438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.73, Y:-6.14, Z:-1.07 [[ 9.93404686e-01 1.14318280e-01 8.85775515e-03 6.47287104e+01] [-1.14354021e-01 9.93433402e-01 3.63778418e-03 -6.13682061e+00] [-8.38372460e-03 -4.62671177e-03 9.99954152e-01 -1.07171301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.76, Y:-6.14, Z:-1.07 [[ 9.93345187e-01 1.14805580e-01 9.22058504e-03 6.47584259e+01] [-1.14798336e-01 9.93387950e-01 -1.31281326e-03 -6.14186620e+00] [-9.31033636e-03 2.45568913e-04 9.99956628e-01 -1.07118646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.79, Y:-6.15, Z:-1.07 [[ 9.93346503e-01 1.14794184e-01 9.22062095e-03 6.47882936e+01] [-1.14786943e-01 9.93389267e-01 -1.31256102e-03 -6.14607842e+00] [-9.31034025e-03 2.45421011e-04 9.99956628e-01 -1.07157485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.82, Y:-6.15, Z:-1.07 [[ 9.93237850e-01 1.15652633e-01 1.01509289e-02 6.48163073e+01] [-1.15643902e-01 9.93289686e-01 -1.44491740e-03 -6.15289650e+00] [-1.02499215e-02 2.61253635e-04 9.99947434e-01 -1.07152904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.85, Y:-6.16, Z:-1.07 [[ 9.92982694e-01 1.17844123e-01 9.90613733e-03 6.48451313e+01] [-1.17835921e-01 9.93032078e-01 -1.40963833e-03 -6.16392322e+00] [-1.00032297e-02 2.32447649e-04 9.99949939e-01 -1.07251482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.615769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.87, Y:-6.17, Z:-1.07 [[ 9.92843599e-01 1.19057042e-01 9.32789207e-03 6.48733887e+01] [-1.19049822e-01 9.92887394e-01 -1.32739575e-03 -6.17215431e+00] [-9.41958226e-03 2.07412480e-04 9.99955613e-01 -1.07366027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.645769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.90, Y:-6.18, Z:-1.07 [[ 9.92512017e-01 1.21902840e-01 7.71967069e-03 6.49015283e+01] [-1.21897982e-01 9.92542027e-01 -1.09851746e-03 -6.18236051e+00] [-7.79600999e-03 1.49279495e-04 9.99969600e-01 -1.07472628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.675769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.93, Y:-6.19, Z:-1.07 [[ 9.92225260e-01 1.24227625e-01 7.51864493e-03 6.49300925e+01] [-1.24223084e-01 9.92253738e-01 -1.06977434e-03 -6.18966743e+00] [-7.59329906e-03 1.27467864e-04 9.99971162e-01 -1.07459026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.96, Y:-6.20, Z:-1.07 [[ 9.91555719e-01 1.29447478e-01 7.78495943e-03 6.49571889e+01] [-1.29442772e-01 9.91586276e-01 -1.10747021e-03 -6.20031123e+00] [-7.86281816e-03 9.04116877e-05 9.99969083e-01 -1.07366656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.735769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.99, Y:-6.21, Z:-1.07 [[ 9.91151826e-01 1.32524129e-01 7.44395048e-03 6.49864869e+01] [-1.32519915e-01 9.91179777e-01 -1.05867005e-03 -6.20766330e+00] [-7.51859251e-03 6.28310634e-05 9.99971733e-01 -1.07441174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.02, Y:-6.21, Z:-1.07 [[ 9.90700396e-01 1.35881583e-01 6.99432518e-03 6.50166526e+01] [-1.35877947e-01 9.90725085e-01 -9.94724856e-04 -6.21433781e+00] [-7.06461820e-03 3.50997641e-05 9.99975045e-01 -1.07470325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.04, Y:-6.22, Z:-1.07 [[ 9.89655885e-01 1.43188227e-01 8.85221717e-03 6.50447731e+01] [-1.43182693e-01 9.89695474e-01 -1.25909150e-03 -6.22272708e+00] [-8.94128635e-03 -2.14169772e-05 9.99960026e-01 -1.07484057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.08, Y:-6.23, Z:-1.07 [[ 9.89128887e-01 1.46673371e-01 1.05340922e-02 6.50750774e+01] [-1.46665737e-01 9.89184977e-01 -1.49776942e-03 -6.22868432e+00] [-1.06398487e-02 -6.35034088e-05 9.99943393e-01 -1.07413505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.11, Y:-6.23, Z:-1.07 [[ 9.88214361e-01 1.52540489e-01 1.27974774e-02 6.51056011e+01] [-1.52529713e-01 9.88297210e-01 -1.81958443e-03 -6.23343977e+00] [-1.29252715e-02 -1.53856088e-04 9.99916453e-01 -1.07373605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.14, Y:-6.24, Z:-1.07 [[ 9.87864821e-01 1.54829722e-01 1.22822309e-02 6.51351207e+01] [-1.54819974e-01 9.87941155e-01 -1.74633069e-03 -6.23598923e+00] [-1.24045053e-02 -1.76396011e-04 9.99923046e-01 -1.07451292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.16, Y:-6.24, Z:-1.08 [[ 9.87577807e-01 1.56698442e-01 1.16478818e-02 6.51644099e+01] [-1.56689806e-01 9.87646476e-01 -1.65601683e-03 -6.23792180e+00] [-1.17634847e-02 -1.89658882e-04 9.99930790e-01 -1.07586807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.19, Y:-6.24, Z:-1.08 [[ 9.87436487e-01 1.57602281e-01 1.14326660e-02 6.51943674e+01] [-1.57594025e-01 9.87502649e-01 -1.62516147e-03 -6.23869371e+00] [-1.15459171e-02 -1.96976121e-04 9.99933324e-01 -1.07723807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.22, Y:-6.24, Z:-1.08 [[ 9.87562076e-01 1.56797498e-01 1.16486186e-02 6.52235658e+01] [-1.56788874e-01 9.87630755e-01 -1.65558607e-03 -6.24116905e+00] [-1.17641257e-02 -1.91379776e-04 9.99930782e-01 -1.07694108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.25, Y:-6.24, Z:-1.08 [[ 9.87950972e-01 1.54382984e-01 1.08982031e-02 6.52533209e+01] [-1.54375291e-01 9.88011068e-01 -1.54869301e-03 -6.24015473e+00] [-1.10066371e-02 -1.52380509e-04 9.99939414e-01 -1.07659976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.28, Y:-6.24, Z:-1.08 [[ 9.88120351e-01 1.53317792e-01 1.05748183e-02 6.52829571e+01] [-1.53310490e-01 9.88176925e-01 -1.50249592e-03 -6.24168049e+00] [-1.06801508e-02 -1.36583781e-04 9.99942956e-01 -1.07740263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.065769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.31, Y:-6.24, Z:-1.08 [[ 9.88442033e-01 1.51248566e-01 1.03062235e-02 6.53124102e+01] [-1.51241521e-01 9.88495756e-01 -1.46411584e-03 -6.24046121e+00] [-1.04091036e-02 -1.11535277e-04 9.99945818e-01 -1.07765268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:-6.24, Z:-1.08 [[ 9.88698752e-01 1.49532055e-01 1.07210824e-02 6.53422141e+01] [-1.49524334e-01 9.88756874e-01 -1.52261067e-03 -6.24249877e+00] [-1.08282230e-02 -9.76594337e-05 9.99941368e-01 -1.07826334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.37, Y:-6.25, Z:-1.08 [[ 9.89075178e-01 1.47017567e-01 1.07762306e-02 6.53711501e+01] [-1.47009621e-01 9.89133879e-01 -1.53020166e-03 -6.24515389e+00] [-1.08841013e-02 -7.07250923e-05 9.99940764e-01 -1.07851551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.40, Y:-6.25, Z:-1.08 [[ 9.89972719e-01 1.40969561e-01 9.03315171e-03 6.54007491e+01] [-1.40963728e-01 9.90013931e-01 -1.28238815e-03 -6.24973701e+00] [-9.12372372e-03 -3.81745550e-06 9.99958378e-01 -1.07916896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.43, Y:-6.25, Z:-1.08 [[ 9.90477076e-01 1.37420508e-01 8.41224111e-03 6.54295445e+01] [-1.37415323e-01 9.90512798e-01 -1.19406001e-03 -6.25474376e+00] [-8.49652082e-03 2.67182411e-05 9.99963904e-01 -1.07998536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.46, Y:-6.26, Z:-1.08 [[ 9.91373554e-01 1.30800696e-01 8.34596193e-03 6.54593397e+01] [-1.30795360e-01 9.91408680e-01 -1.18434887e-03 -6.26065410e+00] [-8.42917276e-03 8.25190551e-05 9.99964470e-01 -1.08121173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.49, Y:-6.27, Z:-1.08 [[ 9.91674629e-01 1.28472456e-01 8.73263531e-03 6.54880709e+01] [-1.28466523e-01 9.91713072e-01 -1.23926885e-03 -6.26572325e+00] [-8.81948050e-03 1.07100174e-04 9.99961102e-01 -1.08107074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.275769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:65.52, Y:-6.27, Z:-1.08 [[ 9.91827880e-01 1.27248162e-01 9.23909466e-03 6.55174130e+01] [-1.27241469e-01 9.91870904e-01 -1.31102124e-03 -6.27122480e+00] [-9.33081422e-03 1.24711440e-04 9.99956459e-01 -1.08083471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.55, Y:-6.28, Z:-1.08 [[ 9.91798896e-01 1.27414988e-01 1.00185686e-02 6.55462156e+01] [-1.27407129e-01 9.91849486e-01 -1.42143310e-03 -6.27622098e+00] [-1.01180240e-02 1.33338715e-04 9.99948803e-01 -1.08038495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:-6.28, Z:-1.08 [[ 9.91731068e-01 1.27955769e-01 9.83917361e-03 6.55763918e+01] [-1.27948214e-01 9.91779867e-01 -1.39611416e-03 -6.28029721e+00] [-9.93693516e-03 1.25665097e-04 9.99950620e-01 -1.08062793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.61, Y:-6.28, Z:-1.08 [[ 9.91798538e-01 1.27493715e-01 9.00066876e-03 6.56054877e+01] [-1.27487373e-01 9.91839371e-01 -1.27718006e-03 -6.28452574e+00] [-9.09005008e-03 1.19233695e-04 9.99958678e-01 -1.08210297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.395769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.63, Y:-6.29, Z:-1.08 [[ 9.91896660e-01 1.26714404e-01 9.19109758e-03 6.56346937e+01] [-1.26707759e-01 9.91939234e-01 -1.30408973e-03 -6.28962591e+00] [-9.28225724e-03 1.28938868e-04 9.99956911e-01 -1.08271274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.66, Y:-6.29, Z:-1.08 [[ 9.92036818e-01 1.25580312e-01 9.61960111e-03 6.56646829e+01] [-1.25572981e-01 9.92083446e-01 -1.36473158e-03 -6.29486919e+00] [-9.71483043e-03 1.45901993e-04 9.99952799e-01 -1.08279059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.455769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:65.70, Y:-6.30, Z:-1.08 [[ 9.92346535e-01 1.23096438e-01 9.77860674e-03 6.56950433e+01] [-1.23088742e-01 9.92394698e-01 -1.38728969e-03 -6.29774769e+00] [-9.87500791e-03 1.73035716e-04 9.99951226e-01 -1.08284621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.72, Y:-6.30, Z:-1.08 [[ 9.92443634e-01 1.22362396e-01 9.11466620e-03 6.57246182e+01] [-1.22355678e-01 9.92485474e-01 -1.29313987e-03 -6.30057732e+00] [-9.20440550e-03 1.68137267e-04 9.99957624e-01 -1.08321044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.75, Y:-6.30, Z:-1.08 [[ 9.92522822e-01 1.21720791e-01 9.08282098e-03 6.57544479e+01] [-1.21714095e-01 9.92564365e-01 -1.28847030e-03 -6.30388901e+00] [-9.17211806e-03 1.73328845e-04 9.99957920e-01 -1.08401392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.78, Y:-6.31, Z:-1.08 [[ 9.92576328e-01 1.21198834e-01 1.01525745e-02 6.57843452e+01] [-1.21190440e-01 9.92628230e-01 -1.44022334e-03 -6.30809465e+00] [-1.02522854e-02 1.99136620e-04 9.99947424e-01 -1.08368984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:-6.31, Z:-1.08 [[ 9.92840664e-01 1.18879320e-01 1.16242389e-02 6.58139306e+01] [-1.18868157e-01 9.92908678e-01 -1.64897723e-03 -6.31324867e+00] [-1.17378369e-02 2.55419795e-04 9.99931077e-01 -1.08339736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.605769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.84, Y:-6.32, Z:-1.08 [[ 9.93011867e-01 1.17455305e-01 1.14753627e-02 6.58449230e+01] [-1.17444330e-01 9.93078133e-01 -1.62797783e-03 -6.31978337e+00] [-1.15871464e-02 2.68885024e-04 9.99932831e-01 -1.08380230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.635769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.87, Y:-6.33, Z:-1.09 [[ 9.93358984e-01 1.14609852e-01 1.01248092e-02 6.58745925e+01] [-1.14601162e-01 9.93410545e-01 -1.43624340e-03 -6.33013825e+00] [-1.02226999e-02 2.66390384e-04 9.99947711e-01 -1.08535258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.90, Y:-6.34, Z:-1.09 [[ 9.93496622e-01 1.13448471e-01 9.69051997e-03 6.59049679e+01] [-1.13440437e-01 9.93543845e-01 -1.37644368e-03 -6.33705469e+00] [-9.78411191e-03 2.68195327e-04 9.99952098e-01 -1.08571246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:-6.34, Z:-1.09 [[ 9.93567768e-01 1.12802100e-01 9.93861800e-03 6.59367395e+01] [-1.12793619e-01 9.93617435e-01 -1.41150412e-03 -6.34395732e+00] [-1.00344048e-02 2.81412302e-04 9.99949614e-01 -1.08625340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.725769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.97, Y:-6.35, Z:-1.09 [[ 9.93561635e-01 1.12751911e-01 1.10581932e-02 6.59672022e+01] [-1.12741386e-01 9.93623121e-01 -1.57257905e-03 -6.35408180e+00] [-1.11649877e-02 3.15738186e-04 9.99937620e-01 -1.08585968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:-6.36, Z:-1.09 [[ 9.93501457e-01 1.13265448e-01 1.12157751e-02 6.59996981e+01] [-1.13254631e-01 9.93564713e-01 -1.59700681e-03 -6.36217514e+00] [-1.13244840e-02 3.16390131e-04 9.99935826e-01 -1.08629365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.03, Y:-6.37, Z:-1.09 [[ 9.93299696e-01 1.15182126e-01 9.42296239e-03 6.60312630e+01] [-1.15174563e-01 9.93344359e-01 -1.34310585e-03 -6.37299687e+00] [-9.51494833e-03 2.48821053e-04 9.99954701e-01 -1.08803089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.815769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.06, Y:-6.38, Z:-1.09 [[ 9.93126000e-01 1.16761970e-01 8.20915046e-03 6.60626736e+01] [-1.16756274e-01 9.93159907e-01 -1.17141282e-03 -6.38056078e+00] [-8.28977557e-03 2.04890707e-04 9.99965618e-01 -1.09000089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.09, Y:-6.39, Z:-1.09 [[ 9.92901994e-01 1.18727658e-01 7.02658703e-03 6.60948712e+01] [-1.18723528e-01 9.92926844e-01 -1.00352550e-03 -6.38848187e+00] [-7.09603311e-03 1.62181269e-04 9.99974810e-01 -1.09108102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.875769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.12, Y:-6.40, Z:-1.09 [[ 9.92465784e-01 1.22352979e-01 6.43552394e-03 6.61248130e+01] [-1.22349583e-01 9.92486641e-01 -9.20362429e-04 -6.39807811e+00] [-6.49978062e-03 1.26044550e-04 9.99978868e-01 -1.09065929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.16, Y:-6.41, Z:-1.09 [[ 9.92207764e-01 1.24416232e-01 6.65996860e-03 6.61566292e+01] [-1.24412634e-01 9.92230108e-01 -9.53513891e-04 -6.40513331e+00] [-6.72685397e-03 1.17499653e-04 9.99977368e-01 -1.09078051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.19, Y:-6.41, Z:-1.09 [[ 9.91760334e-01 1.27879812e-01 7.62847162e-03 6.61868587e+01] [-1.27875181e-01 9.91789666e-01 -1.09377392e-03 -6.41468030e+00] [-7.70571092e-03 1.09269393e-04 9.99970305e-01 -1.09114035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.22, Y:-6.42, Z:-1.09 [[ 9.91529984e-01 1.29567878e-01 8.96972844e-03 6.62183752e+01] [-1.29561529e-01 9.91570548e-01 -1.28772694e-03 -6.42184810e+00] [-9.06096660e-03 1.14688144e-04 9.99958942e-01 -1.09209359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.25, Y:-6.43, Z:-1.09 [[ 9.91096175e-01 1.32726623e-01 1.05837082e-02 6.62482970e+01] [-1.32717942e-01 9.91152679e-01 -1.52152524e-03 -6.42958834e+00] [-1.06920177e-02 1.03329871e-04 9.99942833e-01 -1.09135342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.28, Y:-6.44, Z:-1.09 [[ 9.90734970e-01 1.35370247e-01 1.09139843e-02 6.62812984e+01] [-1.35361158e-01 9.90795080e-01 -1.57062747e-03 -6.43535267e+00] [-1.10261381e-02 7.87460149e-05 9.99939207e-01 -1.09121369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.31, Y:-6.44, Z:-1.09 [[ 9.90301851e-01 1.38502664e-01 1.09204353e-02 6.63129294e+01] [-1.38493733e-01 9.90362060e-01 -1.57356347e-03 -6.44064919e+00] [-1.10331275e-02 4.58909641e-05 9.99939132e-01 -1.09157971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.34, Y:-6.44, Z:-1.09 [[ 9.89514528e-01 1.44074844e-01 1.01704808e-02 6.63437831e+01] [-1.44067374e-01 9.89566794e-01 -1.46713966e-03 -6.44456403e+00] [-1.02757480e-02 -1.34784523e-05 9.99947203e-01 -1.09252889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:-6.45, Z:-1.09 [[ 9.89180427e-01 1.46391564e-01 9.57039556e-03 6.63750521e+01] [-1.46385042e-01 9.89226723e-01 -1.38225401e-03 -6.44826127e+00] [-9.66964136e-03 -3.36641465e-05 9.99953247e-01 -1.09320685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.41, Y:-6.45, Z:-1.09 [[ 9.88642842e-01 1.49979210e-01 9.56912393e-03 6.64060833e+01] [-1.49972856e-01 9.88689148e-01 -1.38228508e-03 -6.45090943e+00] [-9.66820301e-03 -6.85225868e-05 9.99953259e-01 -1.09334631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.44, Y:-6.45, Z:-1.09 [[ 9.88424639e-01 1.51377664e-01 1.00765136e-02 6.64371841e+01] [-1.51370688e-01 9.88475996e-01 -1.45582124e-03 -6.45393058e+00] [-1.01807707e-02 -8.63192102e-05 9.99948171e-01 -1.09315185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.47, Y:-6.46, Z:-1.09 [[ 9.88246788e-01 1.52500505e-01 1.05774527e-02 6.64687533e+01] [-1.52492880e-01 9.88303387e-01 -1.52846293e-03 -6.45637284e+00] [-1.06868237e-02 -1.02487641e-04 9.99942889e-01 -1.09346439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.50, Y:-6.46, Z:-1.09 [[ 9.87904315e-01 1.54684252e-01 1.08556986e-02 6.65004388e+01] [-1.54676349e-01 9.87963949e-01 -1.56893555e-03 -6.45571822e+00] [-1.09677284e-02 -1.29161621e-04 9.99939844e-01 -1.09385228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.53, Y:-6.46, Z:-1.09 [[ 9.87710520e-01 1.55907977e-01 1.09832479e-02 6.65316714e+01] [-1.55899960e-01 9.87771574e-01 -1.58763549e-03 -6.45766981e+00] [-1.10964651e-02 -1.44163621e-04 9.99938422e-01 -1.09447796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:66.56, Y:-6.45, Z:-1.09 [[ 9.87386806e-01 1.57951851e-01 1.08861635e-02 6.65627582e+01] [-1.57944096e-01 9.87446801e-01 -1.57390035e-03 -6.45478584e+00] [-1.09981078e-02 -1.65356815e-04 9.99939505e-01 -1.09120952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.59, Y:-6.45, Z:-1.10 [[ 9.87251925e-01 1.58786528e-01 1.09761059e-02 6.65937302e+01] [-1.58778696e-01 9.87312923e-01 -1.58690404e-03 -6.45458079e+00] [-1.10888301e-02 -1.76097709e-04 9.99938502e-01 -1.09536677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.62, Y:-6.45, Z:-1.10 [[ 9.87160103e-01 1.59380017e-01 1.06273672e-02 6.66240755e+01] [-1.59372709e-01 9.87217291e-01 -1.53653356e-03 -6.45426026e+00] [-1.07364134e-02 -1.76907674e-04 9.99942347e-01 -1.09565400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.66, Y:-6.45, Z:-1.10 [[ 9.87001752e-01 1.60391126e-01 1.01107577e-02 6.66551433e+01] [-1.60384566e-01 9.87053522e-01 -1.46162155e-03 -6.45007055e+00] [-1.02142902e-02 -1.78986463e-04 9.99947817e-01 -1.09525292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.69, Y:-6.45, Z:-1.10 [[ 9.87003670e-01 1.60379324e-01 1.01107973e-02 6.66850023e+01] [-1.60372767e-01 9.87055439e-01 -1.46134792e-03 -6.45434697e+00] [-1.02142875e-02 -1.79140770e-04 9.99947817e-01 -1.09564130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.71, Y:-6.45, Z:-1.10 [[ 9.87066217e-01 1.59964160e-01 1.05712146e-02 6.67138812e+01] [-1.59956968e-01 9.87122806e-01 -1.52781012e-03 -6.45397226e+00] [-1.06794819e-02 -1.82889681e-04 9.99942956e-01 -1.09626842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.475769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.74, Y:-6.45, Z:-1.10 [[ 9.87349707e-01 1.58092055e-01 1.21431938e-02 6.67437960e+01] [-1.58082430e-01 9.87424360e-01 -1.75449690e-03 -6.44978101e+00] [-1.22678574e-02 -1.87323586e-04 9.99924729e-01 -1.09685246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.505769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.77, Y:-6.45, Z:-1.10 [[ 9.87698625e-01 1.55897406e-01 1.21418444e-02 6.67721335e+01] [-1.55887625e-01 9.87773240e-01 -1.75370792e-03 -6.45063454e+00] [-1.22667875e-02 -1.60628390e-04 9.99924747e-01 -1.09728055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.535769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.80, Y:-6.45, Z:-1.10 [[ 9.88206316e-01 1.52661392e-01 1.19489100e-02 6.68010450e+01] [-1.52651687e-01 9.88278546e-01 -1.72541728e-03 -6.45268830e+00] [-1.20722560e-02 -1.18953029e-04 9.99927121e-01 -1.09800364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.565769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.83, Y:-6.45, Z:-1.10 [[ 9.89451895e-01 1.44430158e-01 1.11748029e-02 6.68306773e+01] [-1.44421149e-01 9.89514997e-01 -1.61324371e-03 -6.45298803e+00] [-1.12906361e-02 -1.76508318e-05 9.99936259e-01 -1.09898441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.595769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.86, Y:-6.46, Z:-1.10 [[ 9.90100215e-01 1.39958988e-01 1.06322954e-02 6.68595281e+01] [-1.39950577e-01 9.90157301e-01 -1.53469276e-03 -6.45566507e+00] [-1.07424390e-02 3.15037580e-05 9.99942298e-01 -1.09918205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.89, Y:-6.46, Z:-1.10 [[ 9.91376148e-01 1.30639204e-01 1.03310814e-02 6.68897512e+01] [-1.30630759e-01 9.91429968e-01 -1.49092586e-03 -6.45849504e+00] [-1.04373171e-02 1.28511321e-04 9.99945521e-01 -1.10013720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.92, Y:-6.46, Z:-1.10 [[ 9.91893005e-01 1.26621925e-01 1.07310440e-02 6.69203711e+01] [-1.26612579e-01 9.91951035e-01 -1.54864629e-03 -6.46282216e+00] [-1.08407627e-02 1.77406274e-04 9.99941221e-01 -1.10052500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:66.95, Y:-6.47, Z:-1.10 [[ 9.92681762e-01 1.20130718e-01 1.23097489e-02 6.69505672e+01] [-1.20117920e-01 9.92758042e-01 -1.77647646e-03 -6.46848463e+00] [-1.24340116e-02 2.84854349e-04 9.99922654e-01 -1.10012210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.98, Y:-6.47, Z:-1.10 [[ 9.92990884e-01 1.17530552e-01 1.24769454e-02 6.69802557e+01] [-1.17517198e-01 9.93069215e-01 -1.80060210e-03 -6.47456960e+00] [-1.26020961e-02 3.21725811e-04 9.99920539e-01 -1.10050716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.745769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.01, Y:-6.48, Z:-1.10 [[ 9.93274957e-01 1.15114602e-01 1.23890154e-02 6.70109339e+01] [-1.15101247e-01 9.93352156e-01 -1.78805814e-03 -6.48132087e+00] [-1.25124868e-02 3.50042252e-04 9.99921655e-01 -1.10093261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.04, Y:-6.49, Z:-1.10 [[ 9.93660384e-01 1.11788612e-01 1.19309230e-02 6.70411698e+01] [-1.11775984e-01 9.93731938e-01 -1.72211181e-03 -6.49112836e+00] [-1.20486517e-02 3.77603627e-04 9.99927341e-01 -1.10101261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.07, Y:-6.50, Z:-1.10 [[ 9.93704736e-01 1.11408133e-01 1.17951488e-02 6.70722391e+01] [-1.11395742e-01 9.93774664e-01 -1.70443435e-03 -6.49821256e+00] [-1.19116079e-02 3.79775130e-04 9.99928982e-01 -1.10171835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.835769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.10, Y:-6.51, Z:-1.10 [[ 9.93298600e-01 1.15112480e-01 1.03444823e-02 6.71023811e+01] [-1.15103147e-01 9.93352420e-01 -1.49501703e-03 -6.50742515e+00] [-1.04478116e-02 2.94315855e-04 9.99945377e-01 -1.10244448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.13, Y:-6.51, Z:-1.10 [[ 9.92933903e-01 1.18337327e-01 8.86234881e-03 6.71316421e+01] [-1.18330604e-01 9.92973427e-01 -1.28102834e-03 -6.51360806e+00] [-8.95167035e-03 2.23289387e-04 9.99959908e-01 -1.10284886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.895769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.16, Y:-6.52, Z:-1.10 [[ 9.92463667e-01 1.22284567e-01 7.89650195e-03 6.71618965e+01] [-1.22279355e-01 9.92495066e-01 -1.14127419e-03 -6.51931898e+00] [-7.97679945e-03 1.67093998e-04 9.99968171e-01 -1.10251904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.19, Y:-6.52, Z:-1.10 [[ 9.91203489e-01 1.32062168e-01 8.67337719e-03 6.71912811e+01] [-1.32056246e-01 9.91241431e-01 -1.25445298e-03 -6.52295726e+00] [-8.76307660e-03 9.80445350e-05 9.99961599e-01 -1.10161502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.955769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.22, Y:-6.53, Z:-1.10 [[ 9.89823919e-01 1.41871372e-01 1.10056067e-02 6.72188908e+01] [-1.41862446e-01 9.89885101e-01 -1.59149353e-03 -6.52547817e+00] [-1.11200735e-02 1.40160743e-05 9.99938170e-01 -1.10211016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.25, Y:-6.53, Z:-1.10 [[ 9.89282056e-01 1.45602766e-01 1.09930669e-02 6.72485307e+01] [-1.45594098e-01 9.89343132e-01 -1.58898093e-03 -6.52906665e+00] [-1.11072752e-02 -2.85753372e-05 9.99938312e-01 -1.10292922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.28, Y:-6.53, Z:-1.10 [[ 9.88812798e-01 1.48808243e-01 1.02643664e-02 6.72771609e+01] [-1.48800861e-01 9.88866069e-01 -1.48346015e-03 -6.53176230e+00] [-1.03708347e-02 -6.04821685e-05 9.99946220e-01 -1.10371357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.31, Y:-6.53, Z:-1.10 [[ 9.88402381e-01 1.51553552e-01 9.60494674e-03 6.73063243e+01] [-1.51547220e-01 9.88449045e-01 -1.38788669e-03 -6.53337563e+00] [-9.70433959e-03 -8.38124680e-05 9.99952908e-01 -1.10431168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.34, Y:-6.53, Z:-1.10 [[ 9.87850012e-01 1.55050589e-01 1.05673077e-02 6.73358787e+01] [-1.55043130e-01 9.87906523e-01 -1.52639458e-03 -6.53315273e+00] [-1.06761805e-02 -1.30539551e-04 9.99942999e-01 -1.10453843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.36, Y:-6.54, Z:-1.10 [[ 9.87785016e-01 1.55347635e-01 1.21603469e-02 6.73632769e+01] [-1.55337788e-01 9.87859853e-01 -1.75585681e-03 -6.53531774e+00] [-1.22854867e-02 -1.54552341e-04 9.99924519e-01 -1.10415997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.39, Y:-6.54, Z:-1.11 [[ 9.87973058e-01 1.54175258e-01 1.17993854e-02 6.73918789e+01] [-1.54165912e-01 9.88043507e-01 -1.70306919e-03 -6.53846354e+00] [-1.19208773e-02 -1.36476545e-04 9.99928935e-01 -1.10501266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.165769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.42, Y:-6.54, Z:-1.11 [[ 9.88228641e-01 1.52574237e-01 1.11917975e-02 6.74193337e+01] [-1.52565731e-01 9.88292006e-01 -1.61490954e-03 -6.54228055e+00] [-1.13071576e-02 -1.11584908e-04 9.99936066e-01 -1.10651403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.195769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.45, Y:-6.55, Z:-1.11 [[ 9.88998435e-01 1.47555216e-01 1.04667910e-02 6.74476850e+01] [-1.47547501e-01 9.89053818e-01 -1.50969428e-03 -6.54958895e+00] [-1.05749829e-02 -5.12635793e-05 9.99944082e-01 -1.10866029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:-6.56, Z:-1.11 [[ 9.89379190e-01 1.44958102e-01 1.07688101e-02 6.74768256e+01] [-1.44949786e-01 9.89437794e-01 -1.55285881e-03 -6.55650818e+00] [-1.08801672e-02 -2.45705346e-05 9.99940809e-01 -1.10873425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.51, Y:-6.56, Z:-1.11 [[ 9.89673218e-01 1.42906001e-01 1.11712081e-02 6.75052574e+01] [-1.42896925e-01 9.89736265e-01 -1.61062388e-03 -6.56344432e+00] [-1.12867176e-02 -2.33996561e-06 9.99936303e-01 -1.10788670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.285769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.53, Y:-6.57, Z:-1.11 [[ 9.89980969e-01 1.40781800e-01 1.08703891e-02 6.75340248e+01] [-1.40773083e-01 9.90040648e-01 -1.56683066e-03 -6.57236292e+00] [-1.09827083e-02 2.08743432e-05 9.99939688e-01 -1.10669356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.315769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.56, Y:-6.58, Z:-1.11 [[ 9.89953307e-01 1.40970282e-01 1.09467073e-02 6.75631742e+01] [-1.40961454e-01 9.90013828e-01 -1.57770597e-03 -6.57878955e+00] [-1.10598013e-02 1.87914501e-05 9.99938838e-01 -1.10749997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.345769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.59, Y:-6.59, Z:-1.11 [[ 9.89546619e-01 1.43762697e-01 1.13918931e-02 6.75930131e+01] [-1.43753323e-01 9.89612190e-01 -1.64172228e-03 -6.58768492e+00] [-1.15095747e-02 -1.30617585e-05 9.99933763e-01 -1.10785641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.375769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:67.62, Y:-6.59, Z:-1.11 [[ 9.89167277e-01 1.46301093e-01 1.20037068e-02 6.76218489e+01] [-1.46290872e-01 9.89240106e-01 -1.72990174e-03 -6.59385004e+00] [-1.21276347e-02 -4.48705400e-05 9.99926457e-01 -1.10834206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40576923100001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:67.65, Y:-6.60, Z:-1.11 [[ 9.88220573e-01 1.52618276e-01 1.13031159e-02 6.76506947e+01] [-1.52609627e-01 9.88285206e-01 -1.62882203e-03 -6.60016243e+00] [-1.14192903e-02 -1.15328868e-04 9.99934791e-01 -1.10840090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.68, Y:-6.60, Z:-1.11 [[ 9.87781409e-01 1.55521862e-01 1.00418822e-02 6.76812724e+01] [-1.55515188e-01 9.87832442e-01 -1.44682546e-03 -6.60438315e+00] [-1.01447100e-02 -1.32517901e-04 9.99948532e-01 -1.10863354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:67.71, Y:-6.61, Z:-1.11 [[ 9.87371295e-01 1.58156164e-01 9.19535926e-03 6.77097885e+01] [-1.58150681e-01 9.87414101e-01 -1.32498768e-03 -6.60792280e+00] [-9.28918236e-03 -1.45997529e-04 9.99956844e-01 -1.10943417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.495769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.74, Y:-6.61, Z:-1.11 [[ 9.86829656e-01 1.61479242e-01 9.57520020e-03 6.77382884e+01] [-1.61473457e-01 9.86876092e-01 -1.37931754e-03 -6.61034296e+00] [-9.67226730e-03 -1.84989228e-04 9.99953205e-01 -1.10950716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.525769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.77, Y:-6.61, Z:-1.11 [[ 9.86683756e-01 1.62296750e-01 1.07205411e-02 6.77658609e+01] [-1.62289550e-01 9.86741971e-01 -1.54406211e-03 -6.61313501e+00] [-1.08290042e-02 -2.16330792e-04 9.99941341e-01 -1.10957402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.555769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:67.80, Y:-6.62, Z:-1.11 [[ 9.86620366e-01 1.62552849e-01 1.25229842e-02 6.77950530e+01] [-1.62543054e-01 9.86699805e-01 -1.80287684e-03 -6.61526675e+00] [-1.26494889e-02 -2.56769093e-04 9.99919959e-01 -1.10997998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.585769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.82, Y:-6.62, Z:-1.11 [[ 9.86686989e-01 1.62135760e-01 1.26799356e-02 6.78232294e+01] [-1.62125687e-01 9.86768428e-01 -1.82515555e-03 -6.61847031e+00] [-1.28080831e-02 -2.54886027e-04 9.99917941e-01 -1.11042705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.615769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.85, Y:-6.62, Z:-1.11 [[ 9.86832045e-01 1.61280659e-01 1.22907824e-02 6.78521890e+01] [-1.61271132e-01 9.86908554e-01 -1.76884803e-03 -6.62153727e+00] [-1.24151593e-02 -2.36592484e-04 9.99922901e-01 -1.11111442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.645769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.88, Y:-6.63, Z:-1.11 [[ 9.86856832e-01 1.61170854e-01 1.17281363e-02 6.78815734e+01] [-1.61162177e-01 9.86926494e-01 -1.68745486e-03 -6.62515040e+00] [-1.18467770e-02 -2.24855619e-04 9.99929799e-01 -1.11125185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.91, Y:-6.63, Z:-1.11 [[ 9.86875728e-01 1.61080134e-01 1.13793037e-02 6.79102911e+01] [-1.61071962e-01 9.86941307e-01 -1.63701014e-03 -6.62847888e+00] [-1.14943947e-02 -2.17361202e-04 9.99933914e-01 -1.11172388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.705769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:67.94, Y:-6.63, Z:-1.11 [[ 9.86856484e-01 1.61167267e-01 1.18063995e-02 6.79386827e+01] [-1.61158482e-01 9.86927080e-01 -1.69800867e-03 -6.63081986e+00] [-1.19257188e-02 -2.27010551e-04 9.99928860e-01 -1.11240443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.735769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.97, Y:-6.63, Z:-1.11 [[ 9.86827507e-01 1.61295649e-01 1.24573118e-02 6.79686551e+01] [-1.61285886e-01 9.86906102e-01 -1.79101535e-03 -6.63396065e+00] [-1.25830800e-02 -2.41765359e-04 9.99920801e-01 -1.11238771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:68.00, Y:-6.64, Z:-1.11 [[ 9.86756682e-01 1.61658598e-01 1.33322196e-02 6.79984722e+01] [-1.61647453e-01 9.86846709e-01 -1.91646195e-03 -6.63615134e+00] [-1.34666696e-02 -2.64037716e-04 9.99909285e-01 -1.11254269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.03, Y:-6.64, Z:-1.11 [[ 9.86795618e-01 1.61463852e-01 1.27997353e-02 6.80276499e+01] [-1.61453568e-01 9.86878595e-01 -1.83962408e-03 -6.63957963e+00] [-1.29288176e-02 -2.51229950e-04 9.99916388e-01 -1.11351006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.06, Y:-6.64, Z:-1.11 [[ 9.87141721e-01 1.59492884e-01 1.06415798e-02 6.80560412e+01] [-1.59485662e-01 9.87199060e-01 -1.52926803e-03 -6.64254413e+00] [-1.07492650e-02 -1.87575133e-04 9.99942207e-01 -1.11457648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.09, Y:-6.65, Z:-1.12 [[ 9.87447730e-01 1.57604382e-01 1.03845567e-02 6.80852286e+01] [-1.57597404e-01 9.87502320e-01 -1.49194522e-03 -6.64641340e+00] [-1.04899109e-02 -1.63361257e-04 9.99944966e-01 -1.11534899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.885769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.11, Y:-6.65, Z:-1.12 [[ 9.87755680e-01 1.55640760e-01 1.07084576e-02 6.81149447e+01] [-1.55633229e-01 9.87813713e-01 -1.53821874e-03 -6.65105390e+00] [-1.08173708e-02 -1.47207526e-04 9.99941480e-01 -1.11543039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.915769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:68.14, Y:-6.66, Z:-1.12 [[ 9.88380424e-01 1.51542967e-01 1.17841860e-02 6.81439731e+01] [-1.51533558e-01 9.88450665e-01 -1.69242714e-03 -6.65616784e+00] [-1.19045620e-02 -1.12937790e-04 9.99929132e-01 -1.11534315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.17, Y:-6.66, Z:-1.11 [[ 9.88664159e-01 1.49681426e-01 1.17750282e-02 6.81721936e+01] [-1.49671903e-01 9.88734273e-01 -1.69083892e-03 -6.66007126e+00] [-1.18954611e-02 -9.07190324e-05 9.99929242e-01 -1.11494441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.20, Y:-6.66, Z:-1.12 [[ 9.89092288e-01 1.46902409e-01 1.07763203e-02 6.82014997e+01] [-1.46894272e-01 9.89150989e-01 -1.54705618e-03 -6.66458024e+00] [-1.08866742e-02 -5.27983901e-05 9.99940737e-01 -1.11576446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.005769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.23, Y:-6.67, Z:-1.12 [[ 9.89253946e-01 1.45817072e-01 1.06776576e-02 6.82311017e+01] [-1.45809023e-01 9.89311569e-01 -1.53264010e-03 -6.66973681e+00] [-1.07870153e-02 -4.07285552e-05 9.99941818e-01 -1.11650369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.035769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:68.26, Y:-6.68, Z:-1.12 [[ 9.89656934e-01 1.43012385e-01 1.12521279e-02 6.82614061e+01] [-1.43003269e-01 9.89720899e-01 -1.61477562e-03 -6.67641961e+00] [-1.13673990e-02 -1.10171824e-05 9.99935389e-01 -1.11744662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.065769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.29, Y:-6.68, Z:-1.12 [[ 9.89933511e-01 1.41074153e-01 1.13897514e-02 6.82909550e+01] [-1.41064684e-01 9.89999032e-01 -1.63452576e-03 -6.68200107e+00] [-1.15064322e-02 1.13801398e-05 9.99933799e-01 -1.11746264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.32, Y:-6.69, Z:-1.12 [[ 9.90204762e-01 1.39148179e-01 1.15027326e-02 6.83203687e+01] [-1.39138391e-01 9.90271570e-01 -1.65072464e-03 -6.68796023e+00] [-1.16205244e-02 3.40836916e-05 9.99932479e-01 -1.11743927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.125769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.35, Y:-6.70, Z:-1.12 [[ 9.90576513e-01 1.36531396e-01 1.08327907e-02 6.83508797e+01] [-1.36522558e-01 9.90635742e-01 -1.55468088e-03 -6.69542718e+00] [-1.09436124e-02 6.11100788e-05 9.99940115e-01 -1.11657559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.38, Y:-6.70, Z:-1.12 [[ 9.90623652e-01 1.36234709e-01 1.02412706e-02 6.83808988e+01] [-1.36226791e-01 9.90676587e-01 -1.47007846e-03 -6.70042705e+00] [-1.03460627e-02 6.11590680e-05 9.99946476e-01 -1.11662635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.41, Y:-6.70, Z:-1.12 [[ 9.90479189e-01 1.37240740e-01 1.07682188e-02 6.84104807e+01] [-1.37232045e-01 9.90537721e-01 -1.54574272e-03 -6.70439566e+00] [-1.08784657e-02 5.32813117e-05 9.99940826e-01 -1.11729232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.44, Y:-6.71, Z:-1.12 [[ 9.90348411e-01 1.38102370e-01 1.17371330e-02 6.84407369e+01] [-1.38092103e-01 9.90417959e-01 -1.68466046e-03 -6.70816296e+00] [-1.18573229e-02 4.75954316e-05 9.99929698e-01 -1.11781606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.245769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.47, Y:-6.71, Z:-1.12 [[ 9.90082971e-01 1.39829025e-01 1.35482525e-02 6.84703252e+01] [-1.39815506e-01 9.90175663e-01 -1.94460528e-03 -6.71136532e+00] [-1.36870621e-02 3.10647905e-05 9.99906327e-01 -1.11800136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.275769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.50, Y:-6.72, Z:-1.12 [[ 9.90012386e-01 1.40327230e-01 1.35552286e-02 6.85015079e+01] [-1.40313746e-01 9.90105180e-01 -1.94547116e-03 -6.71521586e+00] [-1.36941046e-02 2.40556504e-05 9.99906231e-01 -1.11790558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.305769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:68.53, Y:-6.72, Z:-1.12 [[ 9.89987894e-01 1.40469734e-01 1.38644616e-02 6.85316399e+01] [-1.40455637e-01 9.90084973e-01 -1.99017675e-03 -6.71856427e+00] [-1.40065547e-02 2.29091154e-05 9.99901903e-01 -1.11823554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.335769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:68.56, Y:-6.72, Z:-1.12 [[ 9.89986275e-01 1.40481145e-01 1.38644384e-02 6.85623223e+01] [-1.40467047e-01 9.90083354e-01 -1.99033820e-03 -6.72297548e+00] [-1.40065547e-02 2.29107761e-05 9.99901903e-01 -1.11863468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.59, Y:-6.73, Z:-1.12 [[ 9.89916821e-01 1.41027072e-01 1.32685156e-02 6.85929892e+01] [-1.41014206e-01 9.90005740e-01 -1.90493274e-03 -6.72667728e+00] [-1.34045537e-02 1.46757641e-05 9.99910155e-01 -1.11904000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.395769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.62, Y:-6.73, Z:-1.12 [[ 9.89893310e-01 1.41259466e-01 1.25299021e-02 6.86229334e+01] [-1.41248012e-01 9.89972607e-01 -1.79889155e-03 -6.73103982e+00] [-1.26583703e-02 1.08869545e-05 9.99919880e-01 -1.12047277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.65, Y:-6.73, Z:-1.12 [[ 9.89970016e-01 1.40848711e-01 1.10003670e-02 6.86525143e+01] [-1.40839857e-01 9.90031131e-01 -1.57932011e-03 -6.73480089e+00] [-1.11131510e-02 1.41894415e-05 9.99938247e-01 -1.12129563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:-6.74, Z:-1.12 [[ 9.90013357e-01 1.40545574e-01 1.09769834e-02 6.86828098e+01] [-1.40536741e-01 9.90074210e-01 -1.57581219e-03 -6.73875079e+00] [-1.10895016e-02 1.74056438e-05 9.99938509e-01 -1.12148244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.71, Y:-6.74, Z:-1.12 [[ 9.90002753e-01 1.40564172e-01 1.16731934e-02 6.87125509e+01] [-1.40554184e-01 9.90071570e-01 -1.67575733e-03 -6.74309861e+00] [-1.17928483e-02 1.82882006e-05 9.99930462e-01 -1.12175257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.74, Y:-6.75, Z:-1.12 [[ 9.89898874e-01 1.41202357e-01 1.27324195e-02 6.87424316e+01] [-1.41190526e-01 9.89980755e-01 -1.82781563e-03 -6.74774931e+00] [-1.28629421e-02 1.16556240e-05 9.99917269e-01 -1.12162491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.77, Y:-6.75, Z:-1.12 [[ 9.89770720e-01 1.42148368e-01 1.21558124e-02 6.87725359e+01] [-1.42137657e-01 9.89845362e-01 -1.74504021e-03 -6.75182691e+00] [-1.22804292e-02 -6.08988879e-07 9.99924593e-01 -1.12233340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.80, Y:-6.75, Z:-1.12 [[ 9.89450553e-01 1.44532670e-01 9.89498446e-03 6.88015496e+01] [-1.44525691e-01 9.89500029e-01 -1.42055029e-03 -6.75367532e+00] [-9.99640333e-03 -2.45151981e-05 9.99950034e-01 -1.12352203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.83, Y:-6.76, Z:-1.12 [[ 9.89237088e-01 1.45991650e-01 9.81944488e-03 6.88312928e+01] [-1.45984851e-01 9.89285821e-01 -1.40948194e-03 -6.75635952e+00] [-9.92001019e-03 -3.91783838e-05 9.99950795e-01 -1.12388822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.635769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:68.86, Y:-6.76, Z:-1.12 [[ 9.89107214e-01 1.46804156e-01 1.07452089e-02 6.88610588e+01] [-1.46796066e-01 9.89165576e-01 -1.54209083e-03 -6.75885322e+00] [-1.08551761e-02 -5.20612285e-05 9.99941079e-01 -1.12392694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.89, Y:-6.76, Z:-1.12 [[ 9.89068061e-01 1.46857796e-01 1.33100648e-02 6.88907293e+01] [-1.46845392e-01 9.89157613e-01 -1.90980870e-03 -6.76038591e+00] [-1.34462222e-02 -6.55909045e-05 9.99909593e-01 -1.12323833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.695769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:68.92, Y:-6.76, Z:-1.12 [[ 9.89136625e-01 1.46384773e-01 1.34251455e-02 6.89199278e+01] [-1.46372115e-01 9.89227726e-01 -1.92601249e-03 -6.76353640e+00] [-1.35624651e-02 -5.99774530e-05 9.99908024e-01 -1.12357902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.725769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.95, Y:-6.77, Z:-1.13 [[ 9.89406613e-01 1.44651206e-01 1.22711897e-02 6.89494236e+01] [-1.44640500e-01 9.89482707e-01 -1.76020790e-03 -6.76524074e+00] [-1.23967462e-02 -3.33496618e-05 9.99923157e-01 -1.12521242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.755769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:68.98, Y:-6.77, Z:-1.13 [[ 9.89597789e-01 1.43384149e-01 1.17133451e-02 6.89786009e+01] [-1.43374308e-01 9.89667108e-01 -1.67993720e-03 -6.76844824e+00] [-1.18331888e-02 -1.69306152e-05 9.99929985e-01 -1.12581099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.785769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.01, Y:-6.77, Z:-1.13 [[ 9.89781298e-01 1.42135637e-01 1.14211313e-02 6.90074160e+01] [-1.42126201e-01 9.89847191e-01 -1.63779119e-03 -6.77172973e+00] [-1.15379632e-02 -2.18691202e-06 9.99933435e-01 -1.12586522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.815769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.04, Y:-6.77, Z:-1.13 [[ 9.90128129e-01 1.39694887e-01 1.14728835e-02 6.90372050e+01] [-1.39685206e-01 9.90194596e-01 -1.64480998e-03 -6.77408373e+00] [-1.15901588e-02 2.59805449e-05 9.99932832e-01 -1.12589844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.845769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:69.07, Y:-6.78, Z:-1.13 [[ 9.90199859e-01 1.39199017e-01 1.13081072e-02 6.90669811e+01] [-1.39189583e-01 9.90264426e-01 -1.62093792e-03 -6.77747278e+00] [-1.14236493e-02 3.10817759e-05 9.99934748e-01 -1.12647810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.875769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:69.10, Y:-6.78, Z:-1.13 [[ 9.90269430e-01 1.38684329e-01 1.15374706e-02 6.90952059e+01] [-1.38674476e-01 9.90336637e-01 -1.65356603e-03 -6.78014239e+00] [-1.16553036e-02 3.75231923e-05 9.99932074e-01 -1.12800844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.12, Y:-6.78, Z:-1.13 [[ 9.90325910e-01 1.38260554e-01 1.17733655e-02 6.91245191e+01] [-1.38250269e-01 9.90395889e-01 -1.68696482e-03 -6.78400276e+00] [-1.18935334e-02 4.29740338e-05 9.99929269e-01 -1.12807478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.15, Y:-6.79, Z:-1.13 [[ 9.90533224e-01 1.36717930e-01 1.23344633e-02 6.91543444e+01] [-1.36706525e-01 9.90610016e-01 -1.76707816e-03 -6.78805074e+00] [-1.24602341e-02 6.41480209e-05 9.99922366e-01 -1.12805273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:69.18, Y:-6.79, Z:-1.13 [[ 9.90695851e-01 1.35483706e-01 1.28800697e-02 6.91838670e+01] [-1.35471169e-01 9.90779571e-01 -1.84494885e-03 -6.79249278e+00] [-1.30112704e-02 8.29050695e-05 9.99915346e-01 -1.12855362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.995769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:69.21, Y:-6.80, Z:-1.13 [[ 9.90885255e-01 1.34072303e-01 1.30778414e-02 6.92132929e+01] [-1.34059259e-01 9.90971547e-01 -1.87298858e-03 -6.79793948e+00] [-1.32108846e-02 1.02711037e-04 9.99912727e-01 -1.12882045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.025769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.24, Y:-6.81, Z:-1.13 [[ 9.91291898e-01 1.31135681e-01 1.19919534e-02 6.92434902e+01] [-1.31124501e-01 9.91364422e-01 -1.71721566e-03 -6.80519392e+00] [-1.21135842e-02 1.29823060e-04 9.99926619e-01 -1.12953657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.055769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:69.27, Y:-6.81, Z:-1.13 [[ 9.91446404e-01 1.30145567e-01 9.80613937e-03 6.92723191e+01] [-1.30138042e-01 9.91494891e-01 -1.40424699e-03 -6.81110154e+00] [-9.90549360e-03 1.16083847e-04 9.99950933e-01 -1.13050698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.085769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:69.30, Y:-6.82, Z:-1.13 [[ 9.91332824e-01 1.31056243e-01 9.13744342e-03 6.93013921e+01] [-1.31049750e-01 9.91374930e-01 -1.30839295e-03 -6.81602578e+00] [-9.23010539e-03 9.95932022e-05 9.99957397e-01 -1.13108053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.115769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:69.33, Y:-6.82, Z:-1.13 [[ 9.91104654e-01 1.32768835e-01 9.16518160e-03 6.93310606e+01] [-1.32762375e-01 9.91147027e-01 -1.31229431e-03 -6.82085271e+00] [-9.25827428e-03 8.38297153e-05 9.99957138e-01 -1.13040795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.145769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.36, Y:-6.83, Z:-1.13 [[ 9.90444050e-01 1.37568415e-01 9.77315151e-03 6.93598091e+01] [-1.37561305e-01 9.90492266e-01 -1.39918197e-03 -6.82526435e+00] [-9.87271423e-03 4.14039771e-05 9.99951263e-01 -1.13049372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.175769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:69.39, Y:-6.83, Z:-1.13 [[ 9.90060330e-01 1.40310417e-01 9.67109718e-03 6.93882023e+01] [-1.40303590e-01 9.90107563e-01 -1.38417679e-03 -6.82920321e+00] [-9.76964088e-03 1.35288733e-05 9.99952276e-01 -1.13077131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.205769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.42, Y:-6.83, Z:-1.13 [[ 9.89379164e-01 1.45043680e-01 9.54993803e-03 6.94161826e+01] [-1.45037247e-01 9.89425252e-01 -1.36640871e-03 -6.83407614e+00] [-9.64713879e-03 -3.32004158e-05 9.99953465e-01 -1.13207439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.235769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:69.44, Y:-6.84, Z:-1.13 [[ 9.89224560e-01 1.46095975e-01 9.52550516e-03 6.94441780e+01] [-1.46089629e-01 9.89270420e-01 -1.36243701e-03 -6.83871756e+00] [-9.62234706e-03 -4.38213570e-05 9.99953703e-01 -1.13317661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:69.47, Y:-6.84, Z:-1.13 [[ 9.89116617e-01 1.46845501e-01 9.20412396e-03 6.94721579e+01] [-1.46839611e-01 9.89159439e-01 -1.31620795e-03 -6.84400812e+00] [-9.29762531e-03 -4.96468254e-05 9.99956775e-01 -1.13350480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29576923100001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:69.50, Y:-6.85, Z:-1.13 [[ 9.88835104e-01 1.48760203e-01 8.69131641e-03 6.95011711e+01] [-1.48755029e-01 9.88873297e-01 -1.24242274e-03 -6.84923501e+00] [-8.77943378e-03 -6.43257987e-05 9.99961458e-01 -1.13389476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:69.53, Y:-6.85, Z:-1.13 [[ 9.88080914e-01 1.53730581e-01 7.93828938e-03 6.95285530e+01] [-1.53726425e-01 9.88112796e-01 -1.13478505e-03 -6.85166668e+00] [-8.01837649e-03 -9.90653947e-05 9.99967847e-01 -1.13381501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:69.56, Y:-6.85, Z:-1.13 [[ 9.87579379e-01 1.56917151e-01 7.99860649e-03 6.95571072e+01] [-1.56913039e-01 9.87611762e-01 -1.14287836e-03 -6.85412536e+00] [-8.07885506e-03 -1.26402553e-04 9.99967358e-01 -1.13456824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.385769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:69.59, Y:-6.86, Z:-1.13 [[ 9.87038546e-01 1.60271091e-01 8.25143740e-03 6.95863780e+01] [-1.60266837e-01 9.87073023e-01 -1.17860499e-03 -6.85618788e+00] [-8.33366756e-03 -1.59103211e-04 9.99965262e-01 -1.13497530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.415769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.62, Y:-6.86, Z:-1.14 [[ 9.86511515e-01 1.63456468e-01 8.77579530e-03 6.96157343e+01] [-1.63451785e-01 9.86550528e-01 -1.25306398e-03 -6.85792819e+00] [-8.86258690e-03 -1.98257355e-04 9.99960707e-01 -1.13526922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.445769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:69.64, Y:-6.86, Z:-1.14 [[ 9.85737124e-01 1.67958549e-01 1.05947608e-02 6.96446466e+01] [-1.67951989e-01 9.85794016e-01 -1.51218167e-03 -6.85589577e+00] [-1.06982357e-02 -2.88797553e-04 9.99942731e-01 -1.13572761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.475769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:69.67, Y:-6.86, Z:-1.14 [[ 9.85574360e-01 1.68892640e-01 1.08837910e-02 6.96739816e+01] [-1.68885781e-01 9.85634406e-01 -1.55292845e-03 -6.85552816e+00] [-1.09897170e-02 -3.07591069e-04 9.99939564e-01 -1.13630574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.505769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:69.70, Y:-6.86, Z:-1.14 [[ 9.85745485e-01 1.67902707e-01 1.07013689e-02 6.97031628e+01] [-1.67896022e-01 9.85803528e-01 -1.52640465e-03 -6.85758360e+00] [-1.08057347e-02 -2.92070790e-04 9.99941574e-01 -1.13722506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.535769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:69.73, Y:-6.86, Z:-1.14 [[ 9.86030868e-01 1.66239783e-01 1.03664006e-02 6.97324559e+01] [-1.66233423e-01 9.86085323e-01 -1.47815820e-03 -6.85959504e+00] [-1.04678841e-02 -2.65732636e-04 9.99945175e-01 -1.13816244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.565769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.76, Y:-6.86, Z:-1.14 [[ 9.86348237e-01 1.64366166e-01 1.00458071e-02 6.97612708e+01] [-1.64360101e-01 9.86399365e-01 -1.43198828e-03 -6.86158022e+00] [-1.01445482e-02 -2.38690760e-04 9.99948514e-01 -1.13872679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.595769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.79, Y:-6.86, Z:-1.14 [[ 9.86971101e-01 1.60597530e-01 9.82236968e-03 6.97893916e+01] [-1.60591549e-01 9.87019957e-01 -1.39972328e-03 -6.86362652e+00] [-9.91966700e-03 -1.95903133e-04 9.99950780e-01 -1.13902768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.625769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:69.82, Y:-6.87, Z:-1.14 [[ 9.87537010e-01 1.57094922e-01 9.58332254e-03 6.98182205e+01] [-1.57089070e-01 9.87583496e-01 -1.36507557e-03 -6.86682067e+00] [-9.67877761e-03 -1.57372584e-04 9.99953147e-01 -1.13862121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:69.85, Y:-6.87, Z:-1.14 [[ 9.87695226e-01 1.56074619e-01 9.94249476e-03 6.98460294e+01] [-1.56068273e-01 9.87745256e-01 -1.41579098e-03 -6.86949337e+00] [-1.00416211e-02 -1.53337986e-04 9.99949570e-01 -1.13864273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68576923100001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:69.87, Y:-6.87, Z:-1.14 [[ 9.87772837e-01 1.55598001e-01 9.69973869e-03 6.98746738e+01] [-1.55591944e-01 9.87820450e-01 -1.38064892e-03 -6.87172272e+00] [-9.79642645e-03 -1.45433700e-04 9.99952003e-01 -1.13860621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.90, Y:-6.87, Z:-1.14 [[ 9.87747659e-01 1.55795535e-01 9.07268621e-03 6.99022807e+01] [-1.55790247e-01 9.87789316e-01 -1.29105972e-03 -6.87412337e+00] [-9.16304384e-03 -1.38194810e-04 9.99958009e-01 -1.13845549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.745769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:69.93, Y:-6.87, Z:-1.14 [[ 9.87390027e-01 1.58036125e-01 9.24761325e-03 6.99310051e+01] [-1.58030734e-01 9.87433318e-01 -1.31545147e-03 -6.87421778e+00] [-9.33929028e-03 -1.62543439e-04 9.99956375e-01 -1.13834124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.775769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:69.96, Y:-6.88, Z:-1.14 [[ 9.87118917e-01 1.59711941e-01 9.39893992e-03 6.99587864e+01] [-1.59706454e-01 9.87163645e-01 -1.33632592e-03 -6.87508030e+00] [-9.49171900e-03 -1.81958771e-04 9.99954936e-01 -1.13916620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.805769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:69.99, Y:-6.87, Z:-1.14 [[ 9.86755006e-01 1.61997109e-01 8.45549698e-03 6.99869481e+01] [-1.61992757e-01 9.86791215e-01 -1.20170850e-03 -6.87256900e+00] [-8.53848345e-03 -1.83937384e-04 9.99963530e-01 -1.13994116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.835769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:70.01, Y:-6.87, Z:-1.14 [[ 9.86757658e-01 1.62032050e-01 7.41213564e-03 7.00143003e+01] [-1.62028708e-01 9.86785483e-01 -1.05307129e-03 -6.87329823e+00] [-7.48481915e-03 -1.61852603e-04 9.99971975e-01 -1.14100290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.865769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:70.04, Y:-6.87, Z:-1.14 [[ 9.86881363e-01 1.61323813e-01 6.30900228e-03 7.00424465e+01] [-1.61321381e-01 9.86901520e-01 -8.95882323e-04 -6.87398420e+00] [-6.37089109e-03 -1.33647395e-04 9.99979697e-01 -1.14185678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.895769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:70.07, Y:-6.87, Z:-1.14 [[ 9.87260234e-01 1.58935394e-01 7.53464000e-03 7.00706650e+01] [-1.58931861e-01 9.87288975e-01 -1.06926238e-03 -6.87097659e+00] [-7.60881064e-03 -1.41854134e-04 9.99971043e-01 -1.14242080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.925769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.10, Y:-6.87, Z:-1.14 [[ 9.87509915e-01 1.57270057e-01 9.50249481e-03 7.00984495e+01] [-1.57264368e-01 9.87555620e-01 -1.34762458e-03 -6.87092832e+00] [-9.59618314e-03 -1.63611213e-04 9.99953942e-01 -1.14213991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.955769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.13, Y:-6.87, Z:-1.14 [[ 9.88272179e-01 1.52276873e-01 1.13953452e-02 7.01268987e+01] [-1.52268371e-01 9.88337865e-01 -1.61507308e-03 -6.86775449e+00] [-1.15083894e-02 -1.39018852e-04 9.99933767e-01 -1.14207148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.985769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.15, Y:-6.87, Z:-1.14 [[ 9.88786816e-01 1.48942740e-01 1.08024479e-02 7.01538993e+01] [-1.48934909e-01 9.88845818e-01 -1.53032505e-03 -6.86834374e+00] [-1.09098862e-02 -9.56963566e-05 9.99940481e-01 -1.14254790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:70.18, Y:-6.87, Z:-1.14 [[ 9.89846879e-01 1.41785326e-01 1.00039230e-02 7.01820678e+01] [-1.41778252e-01 9.89897430e-01 -1.41636927e-03 -6.86740955e+00] [-1.01036781e-02 -1.63500171e-05 9.99948956e-01 -1.14368696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.21, Y:-6.87, Z:-1.14 [[ 9.90329727e-01 1.38369658e-01 1.00433557e-02 7.02099376e+01] [-1.38362359e-01 9.90380653e-01 -1.42138344e-03 -6.86966905e+00] [-1.01434215e-02 1.80158919e-05 9.99948554e-01 -1.14402353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:70.24, Y:-6.87, Z:-1.14 [[ 9.90778645e-01 1.35111226e-01 1.01307703e-02 7.02374800e+01] [-1.35103637e-01 9.90830436e-01 -1.43300395e-03 -6.87225224e+00] [-1.02314905e-02 5.10857999e-05 9.99947656e-01 -1.14442275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:70.27, Y:-6.88, Z:-1.14 [[ 9.91543907e-01 1.29412901e-01 9.64265554e-03 7.02661421e+01] [-1.29405762e-01 9.91590788e-01 -1.36329441e-03 -6.87691028e+00] [-9.73799629e-03 1.03951079e-04 9.99952579e-01 -1.14494908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.29, Y:-6.88, Z:-1.14 [[ 9.91875807e-01 1.26869649e-01 9.29924478e-03 7.02942086e+01] [-1.26862902e-01 9.91919390e-01 -1.31432276e-03 -6.88249147e+00] [-9.39084888e-03 1.23915767e-04 9.99955897e-01 -1.14475013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.32, Y:-6.89, Z:-1.14 [[ 9.92343686e-01 1.23160174e-01 9.25095453e-03 7.03224357e+01] [-1.23153339e-01 9.92386793e-01 -1.30706259e-03 -6.89018502e+00] [-9.34150315e-03 1.57769372e-04 9.99956355e-01 -1.14367384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.195769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.35, Y:-6.90, Z:-1.14 [[ 9.92534532e-01 1.21599951e-01 9.41565500e-03 7.03494871e+01] [-1.21592805e-01 9.92579176e-01 -1.32991205e-03 -6.89594262e+00] [-9.50750033e-03 1.75107735e-04 9.99954787e-01 -1.14433922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.225769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.38, Y:-6.90, Z:-1.14 [[ 9.92543714e-01 1.21524978e-01 9.41572353e-03 7.03785353e+01] [-1.21517833e-01 9.92588358e-01 -1.32942670e-03 -6.89993730e+00] [-9.50749611e-03 1.75335798e-04 9.99954787e-01 -1.14471679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.255769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.41, Y:-6.91, Z:-1.15 [[ 9.92669286e-01 1.20507081e-01 9.25914007e-03 7.04062793e+01] [-1.20500134e-01 9.92712451e-01 -1.30651515e-03 -6.90599848e+00] [-9.34910796e-03 1.81209839e-04 9.99956280e-01 -1.14585036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.285769231 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:70.43, Y:-6.92, Z:-1.15 [[ 9.92688788e-01 1.20387389e-01 8.70903966e-03 7.04338277e+01] [-1.20381242e-01 9.92726975e-01 -1.22853631e-03 -6.91505901e+00] [-8.79359888e-03 1.71149207e-04 9.99961321e-01 -1.14627797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.315769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.46, Y:-6.92, Z:-1.15 [[ 9.92572132e-01 1.21361977e-01 8.47548125e-03 7.04611852e+01] [-1.21356194e-01 9.92608304e-01 -1.19523451e-03 -6.92095275e+00] [-8.55788910e-03 1.57804322e-04 9.99963368e-01 -1.14613283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.345769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:70.49, Y:-6.93, Z:-1.15 [[ 9.92335483e-01 1.23270645e-01 8.63927606e-03 7.04888350e+01] [-1.23264713e-01 9.92373079e-01 -1.21775856e-03 -6.92601921e+00] [-8.72349886e-03 1.43507143e-04 9.99961939e-01 -1.14571086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.375769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.52, Y:-6.93, Z:-1.15 [[ 9.91615212e-01 1.28935862e-01 8.64958286e-03 7.05167712e+01] [-1.28930136e-01 9.91652931e-01 -1.21871622e-03 -6.93061066e+00] [-8.73452041e-03 9.33056477e-05 9.99961849e-01 -1.14567439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:70.55, Y:-6.93, Z:-1.15 [[ 9.90850174e-01 1.34671077e-01 8.92379882e-03 7.05452393e+01] [-1.34665220e-01 9.90890357e-01 -1.25678734e-03 -6.93306463e+00] [-9.01175910e-03 4.35626211e-05 9.99959392e-01 -1.14658569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.57, Y:-6.94, Z:-1.15 [[ 9.90477203e-01 1.37383552e-01 8.98161974e-03 7.05739356e+01] [-1.37377734e-01 9.90517925e-01 -1.26450158e-03 -6.93524534e+00] [-9.07017707e-03 1.85854158e-05 9.99958865e-01 -1.14692089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.60, Y:-6.94, Z:-1.15 [[ 9.90205303e-01 1.39322713e-01 9.09064106e-03 7.06018446e+01] [-1.39316838e-01 9.90247031e-01 -1.27944624e-03 -6.93662811e+00] [-9.18023623e-03 4.35086133e-07 9.99957861e-01 -1.14716574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.495769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:70.63, Y:-6.94, Z:-1.15 [[ 9.90039377e-01 1.40512016e-01 8.85472080e-03 7.06305957e+01] [-1.40506494e-01 9.90078973e-01 -1.24568517e-03 -6.93808936e+00] [-8.94190662e-03 -1.08684066e-05 9.99960020e-01 -1.14725138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.525769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.66, Y:-6.94, Z:-1.15 [[ 9.90126630e-01 1.39794780e-01 1.03283901e-02 7.06591163e+01] [-1.39787235e-01 9.90180498e-01 -1.45244424e-03 -6.93689955e+00] [-1.04300146e-02 -5.67337603e-06 9.99945606e-01 -1.14809901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.555769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.69, Y:-6.94, Z:-1.15 [[ 9.90681601e-01 1.35631674e-01 1.24102255e-02 7.06873901e+01] [-1.35620466e-01 9.90759328e-01 -1.74418616e-03 -6.93700216e+00] [-1.25321136e-02 4.48525662e-05 9.99921469e-01 -1.14882699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.72, Y:-6.94, Z:-1.15 [[ 9.90959880e-01 1.33578986e-01 1.24567394e-02 7.07160231e+01] [-1.33567541e-01 9.91038168e-01 -1.75000053e-03 -6.93909461e+00] [-1.25788675e-02 7.03642628e-05 9.99920880e-01 -1.14949118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.615769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:70.74, Y:-6.94, Z:-1.15 [[ 9.91179768e-01 1.31949837e-01 1.23250584e-02 7.07444986e+01] [-1.31938514e-01 9.91256391e-01 -1.73094416e-03 -6.94088391e+00] [-1.24456907e-02 8.95269464e-05 9.99922545e-01 -1.14931358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:-6.94, Z:-1.15 [[ 9.91263395e-01 1.31396228e-01 1.14853770e-02 7.07734472e+01] [-1.31386363e-01 9.91329927e-01 -1.61253435e-03 -6.94046828e+00] [-1.15976789e-02 8.94243571e-05 9.99932741e-01 -1.14909112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.80, Y:-6.94, Z:-1.15 [[ 9.91243172e-01 1.31580048e-01 1.11204479e-02 7.08020814e+01] [-1.31570817e-01 9.91305545e-01 -1.56078728e-03 -6.94229545e+00] [-1.12291301e-02 8.39933173e-05 9.99936948e-01 -1.14886765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.705769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.83, Y:-6.94, Z:-1.15 [[ 9.91236971e-01 1.31642392e-01 1.09338264e-02 7.08304969e+01] [-1.31633478e-01 9.91297268e-01 -1.53408901e-03 -6.94478609e+00] [-1.10406234e-02 8.13881361e-05 9.99939047e-01 -1.14906940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.735769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.86, Y:-6.95, Z:-1.15 [[ 9.91396618e-01 1.30472036e-01 1.04782590e-02 7.08584830e+01] [-1.30463789e-01 9.91451986e-01 -1.46973336e-03 -6.94767667e+00] [-1.05804497e-02 9.00553268e-05 9.99944021e-01 -1.14991032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.89, Y:-6.95, Z:-1.15 [[ 9.91504002e-01 1.29660177e-01 1.03947902e-02 7.08866047e+01] [-1.29652024e-01 9.91558485e-01 -1.45730725e-03 -6.95214882e+00] [-1.04959971e-02 9.72203787e-05 9.99944911e-01 -1.15128923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.91, Y:-6.96, Z:-1.15 [[ 9.91560331e-01 1.29186128e-01 1.09112028e-02 7.09145197e+01] [-1.29177122e-01 9.91620357e-01 -1.52915843e-03 -6.95859164e+00] [-1.10173169e-02 1.06775069e-04 9.99939302e-01 -1.15061160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.94, Y:-6.96, Z:-1.15 [[ 9.91476604e-01 1.29765103e-01 1.16259008e-02 7.09429061e+01] [-1.29754925e-01 9.91544758e-01 -1.62872978e-03 -6.96290343e+00] [-1.17389532e-02 1.06329586e-04 9.99931090e-01 -1.14989780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.97, Y:-6.97, Z:-1.15 [[ 9.91328893e-01 1.30850240e-01 1.20515517e-02 7.09706432e+01] [-1.30839390e-01 9.91402141e-01 -1.68777705e-03 -6.96634205e+00] [-1.21687802e-02 9.63244824e-05 9.99925953e-01 -1.15002052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.885769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.00, Y:-6.97, Z:-1.15 [[ 9.90983769e-01 1.33502248e-01 1.13278147e-02 7.09995587e+01] [-1.33492843e-01 9.91048509e-01 -1.58578299e-03 -6.96879814e+00] [-1.14381194e-02 5.93030274e-05 9.99934581e-01 -1.15152417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.915769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.03, Y:-6.97, Z:-1.15 [[ 9.90718036e-01 1.35561527e-01 1.00421581e-02 7.10262070e+01] [-1.35554244e-01 9.90768929e-01 -1.40554464e-03 -6.97118850e+00] [-1.01399961e-02 3.12412759e-05 9.99948588e-01 -1.15250788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:-6.97, Z:-1.15 [[ 9.90443141e-01 1.37660793e-01 8.47880493e-03 7.10539786e+01] [-1.37655684e-01 9.90479432e-01 -1.18595403e-03 -6.97350230e+00] [-8.56134127e-03 7.46434037e-06 9.99963351e-01 -1.15239406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.975769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.08, Y:-6.97, Z:-1.15 [[ 9.90088480e-01 1.40261174e-01 7.18363374e-03 7.10810173e+01] [-1.40257577e-01 9.90114540e-01 -1.00448763e-03 -6.97289730e+00] [-7.25351083e-03 -1.30274340e-05 9.99973693e-01 -1.15296342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.005769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.11, Y:-6.97, Z:-1.15 [[ 9.90070945e-01 1.40361905e-01 7.61969498e-03 7.11078806e+01] [-1.40357867e-01 9.90100265e-01 -1.06476014e-03 -6.97394730e+00] [-7.69371378e-03 -1.52960539e-05 9.99970403e-01 -1.15335710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.035769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.14, Y:-6.97, Z:-1.15 [[ 9.90157533e-01 1.39663224e-01 9.06881270e-03 7.11358470e+01] [-1.39657484e-01 9.90199063e-01 -1.26629845e-03 -6.97355930e+00] [-9.15678516e-03 -1.26926072e-05 9.99958076e-01 -1.15396185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.065769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.16, Y:-6.98, Z:-1.15 [[ 9.90195941e-01 1.39362214e-01 9.49583288e-03 7.11642220e+01] [-1.39355913e-01 9.90241472e-01 -1.32523226e-03 -6.97522129e+00] [-9.58785483e-03 -1.10608607e-05 9.99954035e-01 -1.15374623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:-6.98, Z:-1.15 [[ 9.90301539e-01 1.38580159e-01 9.91970447e-03 7.11910002e+01] [-1.38573250e-01 9.90351220e-01 -1.38380384e-03 -6.97620148e+00] [-1.00157592e-02 -4.22261815e-06 9.99949841e-01 -1.15413078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:-6.98, Z:-1.15 [[ 9.90500571e-01 1.37121820e-01 1.03065362e-02 7.12190606e+01] [-1.37114297e-01 9.90554191e-01 -1.43639964e-03 -6.97537008e+00] [-1.04061444e-02 9.58119226e-06 9.99945855e-01 -1.15462310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:71.25, Y:-6.98, Z:-1.16 [[ 9.90640269e-01 1.36106043e-01 1.03441571e-02 7.12460366e+01] [-1.36098416e-01 9.90694274e-01 -1.44096191e-03 -6.97712968e+00] [-1.04440209e-02 1.96514881e-05 9.99945460e-01 -1.15552144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.27, Y:-6.98, Z:-1.16 [[ 9.90906946e-01 1.34171738e-01 1.00682014e-02 7.12733289e+01] [-1.34164421e-01 9.90958094e-01 -1.40175033e-03 -6.97906191e+00] [-1.01652409e-02 3.82097262e-05 9.99948332e-01 -1.15637133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.30, Y:-6.98, Z:-1.16 [[ 9.91064329e-01 1.32969485e-01 1.05172168e-02 7.13007971e+01] [-1.32961442e-01 9.91120131e-01 -1.46337058e-03 -6.98268871e+00] [-1.06184090e-02 5.19100625e-05 9.99943622e-01 -1.15696289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:-6.99, Z:-1.16 [[ 9.91241430e-01 1.31620813e-01 1.07883402e-02 7.13289462e+01] [-1.31612279e-01 9.91300135e-01 -1.50036003e-03 -6.98664314e+00] [-1.08919617e-02 6.73409893e-05 9.99940679e-01 -1.15614746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.36, Y:-6.99, Z:-1.16 [[ 9.91757634e-01 1.27579408e-01 1.18443956e-02 7.13569353e+01] [-1.27568842e-01 9.91828352e-01 -1.64637521e-03 -6.99085750e+00] [-1.19576509e-02 1.21829349e-04 9.99928497e-01 -1.15583160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:-7.00, Z:-1.16 [[ 9.92028176e-01 1.25394336e-01 1.25043791e-02 7.13845180e+01] [-1.25382399e-01 9.92106968e-01 -1.73711627e-03 -6.99503009e+00] [-1.26235062e-02 1.55439226e-04 9.99920308e-01 -1.15663988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.41, Y:-7.00, Z:-1.16 [[ 9.92302245e-01 1.23276522e-01 1.17963545e-02 7.14116316e+01] [-1.23265758e-01 9.92372344e-01 -1.63809538e-03 -6.99904060e+00] [-1.19083147e-02 1.71399152e-04 9.99929079e-01 -1.15656742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:-7.00, Z:-1.16 [[ 9.92319877e-01 1.23213268e-01 1.09431136e-02 7.14396468e+01] [-1.23204011e-01 9.92380202e-01 -1.51864890e-03 -7.00260836e+00] [-1.10468470e-02 1.58750002e-04 9.99938969e-01 -1.15713599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.395769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.47, Y:-7.01, Z:-1.16 [[ 9.92295564e-01 1.23531074e-01 9.46507657e-03 7.14675385e+01] [-1.23524166e-01 9.92340695e-01 -1.31317028e-03 -7.00509890e+00] [-9.55479800e-03 1.33887352e-04 9.99954343e-01 -1.15789742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.425769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:71.49, Y:-7.01, Z:-1.16 [[ 9.92269587e-01 1.23745059e-01 9.39295429e-03 7.14940322e+01] [-1.23738272e-01 9.92314035e-01 -1.30249996e-03 -7.00813280e+00] [-9.48193831e-03 1.30163156e-04 9.99955037e-01 -1.15790411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.52, Y:-7.01, Z:-1.16 [[ 9.92259159e-01 1.23773843e-01 1.00894967e-02 7.15219887e+01] [-1.23766022e-01 9.92310444e-01 -1.39831122e-03 -7.01199522e+00] [-1.01849873e-02 1.38750239e-04 9.99948122e-01 -1.15904736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.485769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.55, Y:-7.02, Z:-1.16 [[ 9.92385685e-01 1.22721872e-01 1.04878293e-02 7.15495699e+01] [-1.22713371e-01 9.92441091e-01 -1.45272926e-03 -7.01553188e+00] [-1.05868344e-02 1.54670832e-04 9.99943946e-01 -1.15816124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:-7.02, Z:-1.16 [[ 9.92470934e-01 1.22055724e-01 1.01904160e-02 7.15773071e+01] [-1.22047671e-01 9.92523237e-01 -1.41079128e-03 -7.01892067e+00] [-1.02864198e-02 1.56452804e-04 9.99947081e-01 -1.15775283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:71.60, Y:-7.02, Z:-1.16 [[ 9.92553576e-01 1.21466478e-01 9.12648882e-03 7.16042409e+01] [-1.21459997e-01 9.92595524e-01 -1.26310769e-03 -7.02020747e+00] [-9.21233719e-03 1.45198753e-04 9.99957555e-01 -1.15824040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.63, Y:-7.02, Z:-1.16 [[ 9.92557998e-01 1.21429928e-01 9.13202053e-03 7.16326885e+01] [-1.21423445e-01 9.92599996e-01 -1.26308052e-03 -7.02168368e+00] [-9.21781931e-03 1.44839281e-04 9.99957505e-01 -1.15942189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.66, Y:-7.02, Z:-1.16 [[ 9.92467758e-01 1.22167298e-01 9.10501527e-03 7.16614783e+01] [-1.22160890e-01 9.92509513e-01 -1.25874387e-03 -7.02035983e+00] [-9.19059161e-03 1.36985938e-04 9.99957756e-01 -1.16040530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.635769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:71.69, Y:-7.02, Z:-1.16 [[ 9.92489497e-01 1.21989209e-01 9.12309885e-03 7.16896839e+01] [-1.21982773e-01 9.92531417e-01 -1.26062004e-03 -7.02228766e+00] [-9.20874428e-03 1.38291249e-04 9.99957589e-01 -1.16077878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.72, Y:-7.03, Z:-1.16 [[ 9.92604073e-01 1.21013064e-01 9.64329343e-03 7.17161584e+01] [-1.21005835e-01 9.92650903e-01 -1.33180124e-03 -7.02503219e+00] [-9.73358928e-03 1.55056565e-04 9.99952615e-01 -1.16080198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.74, Y:-7.03, Z:-1.16 [[ 9.93101256e-01 1.16766168e-01 1.07497847e-02 7.17442046e+01] [-1.16756946e-01 9.93159410e-01 -1.48359354e-03 -7.02994953e+00] [-1.08494834e-02 2.18246578e-04 9.99941119e-01 -1.16109319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.725769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.77, Y:-7.03, Z:-1.16 [[ 9.93408863e-01 1.14071723e-01 1.12459911e-02 7.17731045e+01] [-1.14061467e-01 9.93472483e-01 -1.55121272e-03 -7.03477438e+00] [-1.13495322e-02 2.58254223e-04 9.99935559e-01 -1.16155270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.755769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:71.80, Y:-7.04, Z:-1.16 [[ 9.93847689e-01 1.10197499e-01 1.11032289e-02 7.18005110e+01] [-1.10187267e-01 9.93909665e-01 -1.53103234e-03 -7.03950993e+00] [-1.12043225e-02 2.98178507e-04 9.99937185e-01 -1.16234084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:-7.04, Z:-1.16 [[ 9.93945358e-01 1.09332933e-01 1.09057797e-02 7.18286298e+01] [-1.09323016e-01 9.94005140e-01 -1.50316968e-03 -7.04385972e+00] [-1.10047470e-02 3.01815800e-04 9.99939400e-01 -1.16305308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.815769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:71.86, Y:-7.05, Z:-1.16 [[ 9.93959719e-01 1.09216981e-01 1.07576508e-02 7.18563429e+01] [-1.09207330e-01 9.94017888e-01 -1.48231120e-03 -7.04826044e+00] [-1.08551908e-02 2.98543306e-04 9.99941036e-01 -1.16313856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.845769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:71.88, Y:-7.05, Z:-1.16 [[ 9.93862414e-01 1.10132241e-01 1.04111242e-02 7.18824876e+01] [-1.10123258e-01 9.93916904e-01 -1.43392657e-03 -7.05352151e+00] [-1.05057139e-02 2.78618808e-04 9.99944775e-01 -1.16199431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.875769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.91, Y:-7.06, Z:-1.16 [[ 9.93863672e-01 1.10170173e-01 9.87592724e-03 7.19100398e+01] [-1.10162102e-01 9.93912704e-01 -1.35919032e-03 -7.05822525e+00] [-9.96555178e-03 2.62896972e-04 9.99950308e-01 -1.16245385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.94, Y:-7.07, Z:-1.16 [[ 9.94009105e-01 1.08941066e-01 8.81724048e-03 7.19383176e+01] [-1.08934590e-01 9.94048180e-01 -1.21286268e-03 -7.06682741e+00] [-8.89689241e-03 2.45094070e-04 9.99960392e-01 -1.16298269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.97, Y:-7.07, Z:-1.16 [[ 9.94138066e-01 1.07748721e-01 8.92859268e-03 7.19663789e+01] [-1.07742036e-01 9.94178126e-01 -1.22773869e-03 -7.07401052e+00] [-9.00889881e-03 2.58557014e-04 9.99959386e-01 -1.16404411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.99, Y:-7.08, Z:-1.16 [[ 9.94309002e-01 1.06135360e-01 9.21384043e-03 7.19939650e+01] [-1.06128176e-01 9.94351651e-01 -1.26653422e-03 -7.08105779e+00] [-9.29622151e-03 2.81478297e-04 9.99956750e-01 -1.16393775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.995769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.02, Y:-7.09, Z:-1.16 [[ 9.94623489e-01 1.03029477e-01 1.04423209e-02 7.20202310e+01] [-1.03020086e-01 9.94678241e-01 -1.43465920e-03 -7.09137221e+00] [-1.05345616e-02 3.51176942e-04 9.99944448e-01 -1.16308106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.025769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:72.05, Y:-7.10, Z:-1.16 [[ 9.94722444e-01 1.02090677e-01 1.02348813e-02 7.20480859e+01] [-1.02081613e-01 9.94775034e-01 -1.40554513e-03 -7.09837525e+00] [-1.03248975e-02 3.53334094e-04 9.99946634e-01 -1.16331027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.055769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.08, Y:-7.11, Z:-1.16 [[ 9.94758938e-01 1.01786932e-01 9.69924956e-03 7.20758430e+01] [-1.01778781e-01 9.94806165e-01 -1.33158923e-03 -7.10565485e+00] [-9.78441165e-03 3.37432496e-04 9.99952075e-01 -1.16335156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.085769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:72.10, Y:-7.12, Z:-1.16 [[ 9.94586833e-01 1.03532077e-01 8.83975411e-03 7.21020486e+01] [-1.03525379e-01 9.94626073e-01 -1.21321605e-03 -7.11614995e+00] [-8.91785669e-03 2.91509822e-04 9.99960193e-01 -1.16320740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.115769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.13, Y:-7.12, Z:-1.16 [[ 9.94421321e-01 1.05119851e-01 8.72090333e-03 7.21302428e+01] [-1.05113396e-01 9.94459523e-01 -1.19648628e-03 -7.12391056e+00] [-8.79835982e-03 2.73127707e-04 9.99961256e-01 -1.16346327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.145769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.16, Y:-7.13, Z:-1.16 [[ 9.94424955e-01 1.05085457e-01 8.72096503e-03 7.21593085e+01] [-1.05079005e-01 9.94463158e-01 -1.19603635e-03 -7.12781315e+00] [-8.79836445e-03 2.72978070e-04 9.99961256e-01 -1.16384092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.19, Y:-7.14, Z:-1.16 [[ 9.94006573e-01 1.08949250e-01 8.99965370e-03 7.21857987e+01] [-1.08942539e-01 9.94047283e-01 -1.23401281e-03 -7.13966087e+00] [-9.08052608e-03 2.46171713e-04 9.99958741e-01 -1.16394980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.205769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:72.21, Y:-7.15, Z:-1.16 [[ 9.93783670e-01 1.10904532e-01 9.70576370e-03 7.22131790e+01] [-1.10896826e-01 9.93831034e-01 -1.33020345e-03 -7.14680218e+00] [-9.79341476e-03 2.45596084e-04 9.99952013e-01 -1.16471884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.24, Y:-7.15, Z:-1.16 [[ 9.93547983e-01 1.12928945e-01 1.04622484e-02 7.22417829e+01] [-1.12920110e-01 9.93603037e-01 -1.43320072e-03 -7.15391983e+00] [-1.05571717e-02 2.42555442e-04 9.99944242e-01 -1.16483028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.27, Y:-7.16, Z:-1.16 [[ 9.93332603e-01 1.14736004e-01 1.12244825e-02 7.22700934e+01] [-1.14725957e-01 9.93395990e-01 -1.53706592e-03 -7.16064491e+00] [-1.13267127e-02 2.39078190e-04 9.99935822e-01 -1.16468111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:72.30, Y:-7.17, Z:-1.16 [[ 9.92834524e-01 1.18875884e-01 1.21709237e-02 7.22981998e+01] [-1.18864390e-01 9.92909100e-01 -1.66605133e-03 -7.16933491e+00] [-1.22826742e-02 2.07423863e-04 9.99924544e-01 -1.16402726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:-7.18, Z:-1.17 [[ 9.92283103e-01 1.23511187e-01 1.09192590e-02 7.23248732e+01] [-1.23502220e-01 9.92343171e-01 -1.49429101e-03 -7.17613649e+00] [-1.10202138e-02 1.34206990e-04 9.99939267e-01 -1.16542603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:72.35, Y:-7.18, Z:-1.17 [[ 9.91981954e-01 1.25989004e-01 9.92838985e-03 7.23525949e+01] [-1.25981721e-01 9.92031633e-01 -1.35811131e-03 -7.18099589e+00] [-1.00203839e-02 9.64262715e-05 9.99949790e-01 -1.16602781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.385769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:72.38, Y:-7.19, Z:-1.17 [[ 9.91655085e-01 1.28579703e-01 9.35157504e-03 7.23814804e+01] [-1.28573362e-01 9.91699176e-01 -1.27860269e-03 -7.18536102e+00] [-9.43835161e-03 6.55694138e-05 9.99955456e-01 -1.16640697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.415769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:72.41, Y:-7.19, Z:-1.17 [[ 9.91293990e-01 1.31367634e-01 8.87527910e-03 7.24100198e+01] [-1.31362038e-01 9.91333719e-01 -1.21309409e-03 -7.18906053e+00] [-8.95772474e-03 3.66581257e-05 9.99959878e-01 -1.16702776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.445769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:72.44, Y:-7.19, Z:-1.17 [[ 9.90484980e-01 1.37389944e-01 7.96918172e-03 7.24381536e+01] [-1.37385630e-01 9.90517038e-01 -1.08893314e-03 -7.19037552e+00] [-8.04321874e-03 -1.62791328e-05 9.99967653e-01 -1.16644119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.475769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:72.47, Y:-7.19, Z:-1.17 [[ 9.90119530e-01 1.40017074e-01 7.65080816e-03 7.24663833e+01] [-1.40013178e-01 9.90149089e-01 -1.04515368e-03 -7.19167632e+00] [-7.72178008e-03 -3.63869003e-05 9.99970186e-01 -1.16742782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.505769231 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:72.49, Y:-7.19, Z:-1.17 [[ 9.89543360e-01 1.43997719e-01 8.28225498e-03 7.24948326e+01] [-1.43993297e-01 9.89578017e-01 -1.13092714e-03 -7.19051842e+00] [-8.35878838e-03 -7.34877622e-05 9.99965062e-01 -1.16823765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.535769231 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:72.52, Y:-7.19, Z:-1.17 [[ 9.89408275e-01 1.44896599e-01 8.73159081e-03 7.25214279e+01] [-1.44891725e-01 9.89446799e-01 -1.19165940e-03 -7.19168988e+00] [-8.81211197e-03 -8.60975758e-05 9.99961169e-01 -1.16791733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.565769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:72.55, Y:-7.19, Z:-1.17 [[ 9.89504829e-01 1.44182966e-01 9.56381341e-03 7.25496898e+01] [-1.44177093e-01 9.89551042e-01 -1.30431757e-03 -7.19157362e+00] [-9.65194190e-03 -8.82542849e-05 9.99953415e-01 -1.16821551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.595769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:72.58, Y:-7.19, Z:-1.17 [[ 9.89812428e-01 1.42079177e-01 9.21224633e-03 7.25769090e+01] [-1.42073642e-01 9.89855294e-01 -1.25577309e-03 -7.19357706e+00] [-9.29721000e-03 -6.58375801e-05 9.99956778e-01 -1.16857241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.625769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:72.60, Y:-7.20, Z:-1.17 [[ 9.90209938e-01 1.39307493e-01 8.81487920e-03 7.26037812e+01] [-1.39302322e-01 9.90249171e-01 -1.20089019e-03 -7.19576619e+00] [-8.89621982e-03 -3.87997347e-05 9.99960427e-01 -1.16999440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65576923100001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:72.63, Y:-7.20, Z:-1.17 [[ 9.91209902e-01 1.32092273e-01 7.38660739e-03 7.26325945e+01] [-1.32088446e-01 9.91237424e-01 -1.00570164e-03 -7.19852734e+00] [-7.45472709e-03 2.11759337e-05 9.99972213e-01 -1.17126753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68576923100001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:72.66, Y:-7.20, Z:-1.17 [[ 9.91724136e-01 1.28164035e-01 7.56422039e-03 7.26600484e+01] [-1.28159910e-01 9.91752982e-01 -1.02955893e-03 -7.20287018e+00] [-7.63379056e-03 5.16086357e-05 9.99970861e-01 -1.17213456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:72.69, Y:-7.21, Z:-1.17 [[ 9.92684556e-01 1.20389043e-01 9.15702318e-03 7.26886620e+01] [-1.20382674e-01 9.92726780e-01 -1.24557733e-03 -7.21004576e+00] [-9.24037600e-03 1.34118443e-04 9.99957298e-01 -1.17014122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.745769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:72.72, Y:-7.22, Z:-1.17 [[ 9.93024882e-01 1.17449598e-01 1.03525398e-02 7.27175234e+01] [-1.17441303e-01 9.93078828e-01 -1.40764863e-03 -7.21526436e+00] [-1.04462158e-02 1.82014345e-04 9.99945420e-01 -1.16962379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.775769231 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:72.74, Y:-7.22, Z:-1.17 [[ 9.93278222e-01 1.15234299e-01 1.09284025e-02 7.27442829e+01] [-1.15224928e-01 9.93338316e-01 -1.48544297e-03 -7.22155207e+00] [-1.10267750e-02 2.16233758e-04 9.99939180e-01 -1.17038073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.805769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:72.77, Y:-7.23, Z:-1.17 [[ 9.93251966e-01 1.15539506e-01 1.00575970e-02 7.27721370e+01] [-1.15531589e-01 9.93302866e-01 -1.36656829e-03 -7.22653922e+00] [-1.01481326e-02 1.95376473e-04 9.99948487e-01 -1.17090499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.835769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:72.80, Y:-7.23, Z:-1.17 [[ 9.93185233e-01 1.16192183e-01 9.08132480e-03 7.28006659e+01] [-1.16185761e-01 9.93226735e-01 -1.23343910e-03 -7.23166942e+00] [-9.16313057e-03 1.69912870e-04 9.99958003e-01 -1.17157776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.865769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:72.83, Y:-7.24, Z:-1.17 [[ 9.93072638e-01 1.17198187e-01 8.44514402e-03 7.28280132e+01] [-1.17192671e-01 9.93108535e-01 -1.14676267e-03 -7.23792566e+00] [-8.52134312e-03 1.49109639e-04 9.99963682e-01 -1.17144124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.895769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:72.86, Y:-7.24, Z:-1.17 [[ 9.93043210e-01 1.17440121e-01 8.54411179e-03 7.28568289e+01] [-1.17434489e-01 9.93079955e-01 -1.15961534e-03 -7.24285182e+00] [-8.62117152e-03 1.48174736e-04 9.99962826e-01 -1.17151488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.925769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:72.88, Y:-7.25, Z:-1.17 [[ 9.92892925e-01 1.18720965e-01 8.30490844e-03 7.28847378e+01] [-1.18715692e-01 9.92927648e-01 -1.12681079e-03 -7.24813947e+00] [-8.37994927e-03 1.32879512e-04 9.99964879e-01 -1.17148283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.955769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:72.91, Y:-7.25, Z:-1.17 [[ 9.92790058e-01 1.19598523e-01 8.00582986e-03 7.29120217e+01] [-1.19593654e-01 9.92822330e-01 -1.08593519e-03 -7.25288675e+00] [-8.07824290e-03 1.20659216e-04 9.99967363e-01 -1.17199506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.985769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:72.94, Y:-7.26, Z:-1.17 [[ 9.92706061e-01 1.20278953e-01 8.22497359e-03 7.29407661e+01] [-1.20273841e-01 9.92740127e-01 -1.11511364e-03 -7.25748166e+00] [-8.29938603e-03 1.17730904e-04 9.99965553e-01 -1.17262083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01576923100001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:72.97, Y:-7.26, Z:-1.17 [[ 9.92662517e-01 1.20673841e-01 7.67801980e-03 7.29682976e+01] [-1.20669400e-01 9.92692204e-01 -1.04069843e-03 -7.26139127e+00] [-7.74749547e-03 1.06560278e-04 9.99969982e-01 -1.17316762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:73.00, Y:-7.27, Z:-1.17 [[ 9.92691916e-01 1.20473262e-01 6.99660422e-03 7.29971929e+01] [-1.20469573e-01 9.92716568e-01 -9.47923352e-04 -7.26546168e+00] [-7.05984434e-03 9.81179294e-05 9.99975074e-01 -1.17373622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07576923100001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:73.02, Y:-7.27, Z:-1.17 [[ 9.92567028e-01 1.21502652e-01 6.91374507e-03 7.30247904e+01] [-1.21499076e-01 9.92591103e-01 -9.36450027e-04 -7.27195137e+00] [-6.97630301e-03 8.94757814e-05 9.99975661e-01 -1.17440525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:73.05, Y:-7.28, Z:-1.17 [[ 9.92486166e-01 1.22093593e-01 8.02282623e-03 7.30527506e+01] [-1.22088802e-01 9.92518587e-01 -1.08603262e-03 -7.27668551e+00] [-8.09540178e-03 9.83751014e-05 9.99967227e-01 -1.17412868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.135769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:73.08, Y:-7.28, Z:-1.17 [[ 9.92366553e-01 1.22991847e-01 9.03495372e-03 7.30808899e+01] [-1.22985813e-01 9.92407676e-01 -1.22255155e-03 -7.28039706e+00] [-9.11672129e-03 1.02048135e-04 9.99958437e-01 -1.17342239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.165769231 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:73.11, Y:-7.28, Z:-1.17 [[ 9.92042124e-01 1.25575547e-01 9.12179414e-03 7.31084452e+01] [-1.25569509e-01 9.92084057e-01 -1.23391714e-03 -7.28179297e+00] [-9.20453635e-03 7.86785678e-05 9.99957634e-01 -1.17348815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.195769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:73.14, Y:-7.29, Z:-1.18 [[ 9.91815325e-01 1.27390682e-01 8.60093311e-03 7.31370887e+01] [-1.27385387e-01 9.91852615e-01 -1.16295978e-03 -7.28500207e+00] [-8.67900824e-03 5.78081361e-05 9.99962335e-01 -1.17504755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.225769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:73.17, Y:-7.29, Z:-1.18 [[ 9.91436367e-01 1.30325821e-01 8.31323944e-03 7.31650160e+01] [-1.30320980e-01 9.91471220e-01 -1.12375024e-03 -7.28817752e+00] [-8.38879132e-03 3.07373455e-05 9.99964813e-01 -1.17610546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.255769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:73.19, Y:-7.29, Z:-1.18 [[ 9.91290846e-01 1.31439031e-01 8.13883097e-03 7.31926887e+01] [-1.31434432e-01 9.91324256e-01 -1.09972706e-03 -7.29082187e+00] [-8.21276761e-03 2.04267452e-05 9.99966274e-01 -1.17597177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.285769231 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:73.22, Y:-7.29, Z:-1.18 [[ 9.90995734e-01 1.33691383e-01 7.35315301e-03 7.32220215e+01] [-1.33687694e-01 9.91023014e-01 -9.93159416e-04 -7.29216829e+00] [-7.41992071e-03 1.19067416e-06 9.99972472e-01 -1.17555284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.315769231 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:73.25, Y:-7.29, Z:-1.18 [[ 9.90873821e-01 1.34613654e-01 6.94519597e-03 7.32504441e+01] [-1.34610388e-01 9.90898160e-01 -9.37779801e-04 -7.29493064e+00] [-7.00821988e-03 -5.67407036e-06 9.99975442e-01 -1.17560789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.345769231 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:73.28, Y:-7.30, Z:-1.18 [[ 9.90741771e-01 1.35583207e-01 6.92368670e-03 7.32773472e+01] [-1.35579985e-01 9.90765963e-01 -9.34762603e-04 -7.29724621e+00] [-6.98649124e-03 -1.26049830e-05 9.99975594e-01 -1.17624836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.375769231 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:73.31, Y:-7.30, Z:-1.18 [[ 9.90619732e-01 1.36450698e-01 7.33164926e-03 7.33054020e+01] [-1.36447115e-01 9.90646863e-01 -9.89148498e-04 -7.29941523e+00] [-7.39804534e-03 -2.05123660e-05 9.99972634e-01 -1.17704110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:73.33, Y:-7.30, Z:-1.18 [[ 9.90471912e-01 1.37443476e-01 8.64191417e-03 7.33341231e+01] [-1.37438542e-01 9.90509611e-01 -1.16511800e-03 -7.30069754e+00] [-8.72003692e-03 -3.37154290e-05 9.99961979e-01 -1.17767737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43576923100001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:73.36, Y:-7.30, Z:-1.18 [[ 9.90475797e-01 1.37381845e-01 9.16106473e-03 7.33617912e+01] [-1.37376302e-01 9.90518161e-01 -1.23467692e-03 -7.30376594e+00] [-9.24382318e-03 -3.55955866e-05 9.99957274e-01 -1.17782281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:73.39, Y:-7.31, Z:-1.18 [[ 9.90676989e-01 1.35957590e-01 8.63929554e-03 7.33899493e+01] [-1.35952610e-01 9.90714658e-01 -1.16390778e-03 -7.30658929e+00] [-8.71731882e-03 -2.14781186e-05 9.99962003e-01 -1.17867279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49576923100001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:73.42, Y:-7.31, Z:-1.18 [[ 9.90829542e-01 1.34885117e-01 7.92621259e-03 7.34181337e+01] [-1.34880894e-01 9.90861244e-01 -1.06738847e-03 -7.30971407e+00] [-7.99775168e-03 -1.14946191e-05 9.99968017e-01 -1.17935974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.525769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:73.45, Y:-7.31, Z:-1.18 [[ 9.90932555e-01 1.34165904e-01 7.22373455e-03 7.34454364e+01] [-1.34162380e-01 9.90958884e-01 -9.72387521e-04 -7.31302883e+00] [-7.28888518e-03 -5.58297292e-06 9.99973436e-01 -1.18006524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.555769231 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:73.47, Y:-7.32, Z:-1.18 [[ 9.91002308e-01 1.33668843e-01 6.86041318e-03 7.34718191e+01] [-1.33665655e-01 9.91026054e-01 -9.23139053e-04 -7.31583054e+00] [-6.92224314e-03 -2.16868961e-06 9.99976041e-01 -1.17987958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.585769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:73.50, Y:-7.32, Z:-1.18 [[ 9.91003022e-01 1.33637222e-01 7.35551600e-03 7.34995956e+01] [-1.33633562e-01 9.91030319e-01 -9.89076523e-04 -7.31852951e+00] [-7.42171681e-03 -2.76597685e-06 9.99972459e-01 -1.17976157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.615769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:73.53, Y:-7.32, Z:-1.18 [[ 9.91007670e-01 1.33520592e-01 8.72058662e-03 7.35262263e+01] [-1.33515448e-01 9.91046039e-01 -1.17195953e-03 -7.32043242e+00] [-8.79898356e-03 -2.91214768e-06 9.99961288e-01 -1.18044855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.645769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:73.55, Y:-7.32, Z:-1.18 [[ 9.91054821e-01 1.33155676e-01 8.93915641e-03 7.35542744e+01] [-1.33150264e-01 9.91095135e-01 -1.20052683e-03 -7.32454224e+00] [-9.01941139e-03 -4.63134936e-07 9.99959324e-01 -1.18084201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.675769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:73.58, Y:-7.33, Z:-1.18 [[ 9.91273366e-01 1.31513026e-01 9.02432499e-03 7.35828757e+01] [-1.31507446e-01 9.91314442e-01 -1.21155030e-03 -7.33113794e+00] [-9.10527834e-03 1.42116101e-05 9.99958546e-01 -1.18051010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.705769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:73.61, Y:-7.34, Z:-1.18 [[ 9.91430697e-01 1.30329000e-01 8.91767649e-03 7.36111015e+01] [-1.30323507e-01 9.91470802e-01 -1.19682623e-03 -7.33697623e+00] [-8.99759702e-03 2.43873829e-05 9.99959521e-01 -1.18078552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.735769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:73.64, Y:-7.34, Z:-1.18 [[ 9.91633483e-01 1.28768003e-01 9.04637893e-03 7.36396248e+01] [-1.28762289e-01 9.91674745e-01 -1.21367006e-03 -7.34333324e+00] [-9.12734739e-03 3.86834069e-05 9.99958344e-01 -1.18128574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:73.67, Y:-7.35, Z:-1.18 [[ 9.91876119e-01 1.26876252e-01 9.17503136e-03 7.36670550e+01] [-1.26870297e-01 9.91918552e-01 -1.23053603e-03 -7.34980547e+00] [-9.25700962e-03 5.65003516e-05 9.99957151e-01 -1.18143464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:73.69, Y:-7.36, Z:-1.18 [[ 9.92288383e-01 1.23588880e-01 9.46325994e-03 7.36935683e+01] [-1.23582402e-01 9.92333503e-01 -1.26855277e-03 -7.35841488e+00] [-9.54748890e-03 8.92777843e-05 9.99954418e-01 -1.18221630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:73.72, Y:-7.37, Z:-1.18 [[ 9.92451513e-01 1.22239528e-01 9.87385564e-03 7.37217605e+01] [-1.22232415e-01 9.92500623e-01 -1.32287725e-03 -7.36847760e+00] [-9.96151577e-03 1.05986303e-04 9.99950377e-01 -1.18207915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:73.75, Y:-7.38, Z:-1.18 [[ 9.92387664e-01 1.22757815e-01 9.86116364e-03 7.37491734e+01] [-1.22750751e-01 9.92436652e-01 -1.32075190e-03 -7.37519635e+00] [-9.94871285e-03 1.00232656e-04 9.99950505e-01 -1.18218371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.885769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:73.78, Y:-7.38, Z:-1.18 [[ 9.92241286e-01 1.23985698e-01 9.20743612e-03 7.37778709e+01] [-1.23979597e-01 9.92284002e-01 -1.23259558e-03 -7.38136304e+00] [-9.28921579e-03 8.14979984e-05 9.99956851e-01 -1.18196581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.915769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:73.81, Y:-7.39, Z:-1.18 [[ 9.91709313e-01 1.28262621e-01 7.83192990e-03 7.38066142e+01] [-1.28258343e-01 9.91740238e-01 -1.04817714e-03 -7.38673544e+00] [-7.90168197e-03 3.49766808e-05 9.99968781e-01 -1.18285403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.945769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:73.83, Y:-7.39, Z:-1.18 [[ 9.91377631e-01 1.30816386e-01 7.58068840e-03 7.38342763e+01] [-1.30812455e-01 9.91406613e-01 -1.01427315e-03 -7.39090688e+00] [-7.64822816e-03 1.38792524e-05 9.99970752e-01 -1.18334266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.975769231 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:73.86, Y:-7.40, Z:-1.18 [[ 9.90616491e-01 1.36370372e-01 9.06028569e-03 7.38626633e+01] [-1.36364996e-01 9.90657923e-01 -1.21146790e-03 -7.39642167e+00] [-9.14085213e-03 -3.54057394e-05 9.99958221e-01 -1.18357241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.005769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:73.89, Y:-7.40, Z:-1.18 [[ 9.90270980e-01 1.38808339e-01 9.77908732e-03 7.38910991e+01] [-1.38802198e-01 9.90319262e-01 -1.30723028e-03 -7.40044087e+00] [-9.86587301e-03 -6.28465983e-05 9.99951329e-01 -1.18298678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.035769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:73.92, Y:-7.40, Z:-1.18 [[ 9.89978293e-01 1.40858675e-01 1.00902574e-02 7.39199595e+01] [-1.40852248e-01 9.90029710e-01 -1.34832634e-03 -7.40431053e+00] [-1.01795780e-02 -8.64216194e-05 9.99948183e-01 -1.18316944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.065769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:73.95, Y:-7.41, Z:-1.18 [[ 9.89983273e-01 1.40823663e-01 1.00903252e-02 7.39490406e+01] [-1.40817240e-01 9.90034690e-01 -1.34781884e-03 -7.40810887e+00] [-1.01795767e-02 -8.65736264e-05 9.99948183e-01 -1.18354708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.095769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:73.98, Y:-7.41, Z:-1.18 [[ 9.89764587e-01 1.42380566e-01 9.68693451e-03 7.39766170e+01] [-1.42374723e-01 9.89811985e-01 -1.29367837e-03 -7.41178504e+00] [-9.77243853e-03 -9.87375808e-05 9.99952244e-01 -1.18366856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.125769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:74.00, Y:-7.42, Z:-1.19 [[ 9.89444403e-01 1.44638303e-01 8.91827239e-03 7.40044773e+01] [-1.44633447e-01 9.89484587e-01 -1.19055003e-03 -7.41597278e+00] [-8.99669221e-03 -1.11897408e-04 9.99959523e-01 -1.18512740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15576923100001 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:74.03, Y:-7.42, Z:-1.19 [[ 9.89294113e-01 1.45701417e-01 8.26160767e-03 7.40332528e+01] [-1.45697290e-01 9.89328603e-01 -1.10239682e-03 -7.41976487e+00] [-8.33406555e-03 -1.13099166e-04 9.99965265e-01 -1.18621815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18576923100001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:74.06, Y:-7.42, Z:-1.19 [[ 9.89335431e-01 1.45419409e-01 8.28251732e-03 7.40614132e+01] [-1.45415254e-01 9.89370094e-01 -1.10482430e-03 -7.42303312e+00] [-8.35513784e-03 -1.11362540e-04 9.99965089e-01 -1.18684626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:74.09, Y:-7.43, Z:-1.19 [[ 9.89429104e-01 1.44809699e-01 7.75880882e-03 7.40893712e+01] [-1.44806036e-01 9.89459520e-01 -1.03470356e-03 -7.42630059e+00] [-7.82686236e-03 -9.97565354e-05 9.99969365e-01 -1.18758836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:74.12, Y:-7.43, Z:-1.19 [[ 9.89718871e-01 1.42840305e-01 7.29405191e-03 7.41164741e+01] [-1.42837018e-01 9.89745746e-01 -9.72236101e-04 -7.43040193e+00] [-7.35813134e-03 -7.96202094e-05 9.99972925e-01 -1.18791220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.275769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:74.15, Y:-7.44, Z:-1.19 [[ 9.89916003e-01 1.41455501e-01 7.52648575e-03 7.41451660e+01] [-1.41451966e-01 9.89944613e-01 -1.00269352e-03 -7.43510659e+00] [-7.59264054e-03 -7.20538467e-05 9.99971173e-01 -1.18792609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.305769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:74.17, Y:-7.44, Z:-1.19 [[ 9.90146499e-01 1.39793513e-01 8.22702138e-03 7.41736986e+01] [-1.39789235e-01 9.90180675e-01 -1.09558610e-03 -7.43940361e+00] [-8.29939341e-03 -6.52582847e-05 9.99965557e-01 -1.18809507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.335769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:74.20, Y:-7.44, Z:-1.19 [[ 9.90661727e-01 1.35940559e-01 1.04645979e-02 7.42016005e+01] [-1.35933429e-01 9.90716994e-01 -1.39292069e-03 -7.44448369e+00] [-1.05568094e-02 -4.25754665e-05 9.99944274e-01 -1.18866257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.365769231 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:74.23, Y:-7.45, Z:-1.19 [[ 9.90943019e-01 1.33880124e-01 1.03944850e-02 7.42303815e+01] [-1.33872981e-01 9.90997534e-01 -1.38311482e-03 -7.45018970e+00] [-1.04860806e-02 -2.09527265e-05 9.99945019e-01 -1.18883446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.395769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:74.26, Y:-7.46, Z:-1.19 [[ 9.91568562e-01 1.29251908e-01 9.25915326e-03 7.42588580e+01] [-1.29246043e-01 9.91611791e-01 -1.23160230e-03 -7.45942369e+00] [-9.34067249e-03 2.45092027e-05 9.99956375e-01 -1.18987549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.425769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:74.29, Y:-7.47, Z:-1.19 [[ 9.91851518e-01 1.27090372e-01 8.86580794e-03 7.42872149e+01] [-1.27084909e-01 9.91891141e-01 -1.17917490e-03 -7.46622720e+00] [-8.94377813e-03 4.28560161e-05 9.99960003e-01 -1.19055762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.455769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:74.32, Y:-7.47, Z:-1.19 [[ 9.92072888e-01 1.25357905e-01 8.76248693e-03 7.43155992e+01] [-1.25352505e-01 9.92111583e-01 -1.16497175e-03 -7.47272714e+00] [-8.83940319e-03 5.73371999e-05 9.99960930e-01 -1.19074209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.485769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:74.34, Y:-7.48, Z:-1.19 [[ 9.92290710e-01 1.23635259e-01 8.57142833e-03 7.43439010e+01] [-1.23630031e-01 9.92327727e-01 -1.13922218e-03 -7.48273547e+00] [-8.64651402e-03 7.07536327e-05 9.99962616e-01 -1.19163867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:74.37, Y:-7.49, Z:-1.19 [[ 9.92286851e-01 1.23648787e-01 8.81949615e-03 7.43741503e+01] [-1.23643254e-01 9.92326041e-01 -1.17189461e-03 -7.48984157e+00] [-8.89671904e-03 7.23844051e-05 9.99960421e-01 -1.19169840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54576923100001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:74.40, Y:-7.50, Z:-1.19 [[ 9.92104653e-01 1.24988034e-01 1.03125421e-02 7.44030288e+01] [-1.24980542e-01 9.92158247e-01 -1.37031295e-03 -7.49900182e+00] [-1.04029464e-02 7.06267532e-05 9.99945885e-01 -1.19089724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57576923100001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:74.43, Y:-7.51, Z:-1.19 [[ 9.91940738e-01 1.26234790e-01 1.08788481e-02 7.44319691e+01] [-1.26226529e-01 9.92000390e-01 -1.44542315e-03 -7.50521141e+00] [-1.09742843e-02 6.05748677e-05 9.99939779e-01 -1.19122484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:74.46, Y:-7.51, Z:-1.19 [[ 9.91751646e-01 1.27715730e-01 1.08335446e-02 7.44621729e+01] [-1.27707627e-01 9.91810814e-01 -1.43926396e-03 -7.51124025e+00] [-1.09286433e-02 4.38661247e-05 9.99940280e-01 -1.19118824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.635769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:74.49, Y:-7.52, Z:-1.19 [[ 9.91513302e-01 1.29556749e-01 1.07898581e-02 7.44922067e+01] [-1.29548821e-01 9.91572009e-01 -1.43346010e-03 -7.51704327e+00] [-1.08846357e-02 2.34813618e-05 9.99940760e-01 -1.19179251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.665769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:74.52, Y:-7.52, Z:-1.19 [[ 9.91157183e-01 1.32329215e-01 9.81923338e-03 7.45223396e+01] [-1.32322785e-01 9.91205821e-01 -1.30451014e-03 -7.52343323e+00] [-9.90550609e-03 -6.33372200e-06 9.99950939e-01 -1.19261462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.695769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:74.55, Y:-7.53, Z:-1.19 [[ 9.91056527e-01 1.33116715e-01 9.32200032e-03 7.45527159e+01] [-1.33110955e-01 9.91100368e-01 -1.23845146e-03 -7.52819253e+00] [-9.40389654e-03 -1.34849598e-05 9.99955782e-01 -1.19321779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.725769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:74.58, Y:-7.53, Z:-1.19 [[ 9.90932331e-01 1.34064542e-01 8.93389584e-03 7.45820954e+01] [-1.34059290e-01 9.90972602e-01 -1.18684804e-03 -7.53321503e+00] [-9.01236024e-03 -2.15856400e-05 9.99959388e-01 -1.19337929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.755769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:74.61, Y:-7.54, Z:-1.19 [[ 9.90835689e-01 1.34759805e-01 9.18874585e-03 7.46118583e+01] [-1.34754278e-01 9.90878294e-01 -1.22085086e-03 -7.53767249e+00] [-9.26945044e-03 -2.85602147e-05 9.99957037e-01 -1.19336096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.785769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:74.64, Y:-7.54, Z:-1.19 [[ 9.90784412e-01 1.35008726e-01 1.09037889e-02 7.46404881e+01] [-1.35000958e-01 9.90844409e-01 -1.44874015e-03 -7.54275765e+00] [-1.09995508e-02 -3.66327863e-05 9.99939502e-01 -1.19377389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.815769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:74.67, Y:-7.55, Z:-1.19 [[ 9.90844060e-01 1.34515732e-01 1.15571028e-02 7.46692146e+01] [-1.34506973e-01 9.90911458e-01 -1.53539522e-03 -7.54697180e+00] [-1.16586004e-02 -3.31736970e-05 9.99932036e-01 -1.19370544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.845769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:74.70, Y:-7.55, Z:-1.19 [[ 9.90891702e-01 1.34154575e-01 1.16698067e-02 7.46997802e+01] [-1.34145621e-01 9.90960418e-01 -1.55021493e-03 -7.55143296e+00] [-1.17722849e-02 -2.93583592e-05 9.99930704e-01 -1.19448775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.875769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:74.73, Y:-7.56, Z:-1.20 [[ 9.90982134e-01 1.33526331e-01 1.11861130e-02 7.47291484e+01] [-1.33518064e-01 9.91045266e-01 -1.48597978e-03 -7.55536276e+00] [-1.12843618e-02 -2.09687382e-05 9.99936329e-01 -1.19508530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:74.76, Y:-7.56, Z:-1.20 [[ 9.91103981e-01 1.32612930e-01 1.12565129e-02 7.47592317e+01] [-1.32604501e-01 9.91167902e-01 -1.49518014e-03 -7.56049341e+00] [-1.13553745e-02 -1.07853021e-05 9.99935526e-01 -1.19572948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:74.79, Y:-7.57, Z:-1.20 [[ 9.91197970e-01 1.31883561e-01 1.15460634e-02 7.47894106e+01] [-1.31874643e-01 9.91265215e-01 -1.53362609e-03 -7.56505756e+00] [-1.16474711e-02 -2.50592796e-06 9.99932166e-01 -1.19591981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:74.82, Y:-7.57, Z:-1.20 [[ 9.91581510e-01 1.28980967e-01 1.14025945e-02 7.48202790e+01] [-1.28972077e-01 9.91647069e-01 -1.51467160e-03 -7.57126022e+00] [-1.15027132e-02 3.13040649e-05 9.99933841e-01 -1.19593779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:74.85, Y:-7.58, Z:-1.20 [[ 9.91886212e-01 1.26683186e-01 1.06354916e-02 7.48516017e+01] [-1.26675319e-01 9.91943228e-01 -1.41282248e-03 -7.57707221e+00] [-1.07287847e-02 5.41048569e-05 9.99942443e-01 -1.19693316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.88, Y:-7.58, Z:-1.20 [[ 9.92213746e-01 1.24126687e-01 1.02199809e-02 7.48823396e+01] [-1.24119270e-01 9.92266375e-01 -1.35934164e-03 -7.58349882e+00] [-1.03096740e-02 8.02608885e-05 9.99946851e-01 -1.19865570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.055769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:74.91, Y:-7.59, Z:-1.20 [[ 9.92835593e-01 1.19077808e-01 9.89752667e-03 7.49146927e+01] [-1.19070586e-01 9.92884917e-01 -1.31785482e-03 -7.59367814e+00] [-9.98403221e-03 1.29908874e-04 9.99950150e-01 -1.19881549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.085769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.95, Y:-7.60, Z:-1.20 [[ 9.93004128e-01 1.17652526e-01 1.00342232e-02 7.49469396e+01] [-1.17645011e-01 9.93054813e-01 -1.33803630e-03 -7.60072510e+00] [-1.01219570e-02 1.48199274e-04 9.99948761e-01 -1.19949256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.115769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:74.98, Y:-7.61, Z:-1.20 [[ 9.92992917e-01 1.17835777e-01 8.93288181e-03 7.49782809e+01] [-1.17829814e-01 9.93033087e-01 -1.19275706e-03 -7.60858363e+00] [-9.01119666e-03 1.31839508e-04 9.99959390e-01 -1.19972123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.145769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:75.01, Y:-7.61, Z:-1.20 [[ 9.92865395e-01 1.18917277e-01 8.77427139e-03 7.50097005e+01] [-1.18911550e-01 9.92904158e-01 -1.17331470e-03 -7.61382572e+00] [-8.85153794e-03 1.21581348e-04 9.99960817e-01 -1.20021589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.175769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:75.04, Y:-7.62, Z:-1.20 [[ 9.92659940e-01 1.20612788e-01 8.87687394e-03 7.50406886e+01] [-1.20606981e-01 9.92699624e-01 -1.18853063e-03 -7.61853178e+00] [-8.95542142e-03 1.09193773e-04 9.99959893e-01 -1.20109834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.205769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:75.07, Y:-7.62, Z:-1.20 [[ 9.92058991e-01 1.25469960e-01 8.73193896e-03 7.50717080e+01] [-1.25464518e-01 9.92097417e-01 -1.17039820e-03 -7.62130834e+00] [-8.80978390e-03 6.55555484e-05 9.99961191e-01 -1.20079546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.235769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:75.10, Y:-7.62, Z:-1.20 [[ 9.91642854e-01 1.28704815e-01 8.91746290e-03 7.51027926e+01] [-1.28699254e-01 9.91682948e-01 -1.19709114e-03 -7.62341368e+00] [-8.99736729e-03 3.94160510e-05 9.99959522e-01 -1.20091856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:75.13, Y:-7.62, Z:-1.20 [[ 9.90807351e-01 1.34967754e-01 9.19227587e-03 7.51346968e+01] [-1.34962112e-01 9.90849991e-01 -1.23420831e-03 -7.62146952e+00] [-9.27474479e-03 -1.77463028e-05 9.99956988e-01 -1.20083460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:75.17, Y:-7.62, Z:-1.20 [[ 9.90501133e-01 1.37178566e-01 9.46294335e-03 7.51654834e+01] [-1.37172685e-01 9.90546334e-01 -1.27083341e-03 -7.62280439e+00] [-9.54781494e-03 -3.92954116e-05 9.99954418e-01 -1.20111552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.20, Y:-7.62, Z:-1.20 [[ 9.90086603e-01 1.40100902e-01 1.00128217e-02 7.51968059e+01] [-1.40094466e-01 9.90137229e-01 -1.34484577e-03 -7.62115376e+00] [-1.01024817e-02 -7.12271293e-05 9.99948966e-01 -1.20133334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:75.23, Y:-7.62, Z:-1.20 [[ 9.90065502e-01 1.40249901e-01 1.00133021e-02 7.52264484e+01] [-1.40243471e-01 9.90116135e-01 -1.34494371e-03 -7.62135732e+00] [-1.01029602e-02 -7.27178642e-05 9.99948961e-01 -1.20186464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.385769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:75.26, Y:-7.62, Z:-1.20 [[ 9.90103970e-01 1.39993113e-01 9.80088774e-03 7.52560351e+01] [-1.39986941e-01 9.90152475e-01 -1.31629654e-03 -7.62149245e+00] [-9.88864570e-03 -6.87258631e-05 9.99951104e-01 -1.20193243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.415769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:75.29, Y:-7.62, Z:-1.20 [[ 9.90214656e-01 1.39207262e-01 9.81188571e-03 7.52855970e+01] [-1.39201038e-01 9.90263265e-01 -1.31772539e-03 -7.61814224e+00] [-9.89978693e-03 -6.09936801e-05 9.99950994e-01 -1.20160238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:75.32, Y:-7.62, Z:-1.20 [[ 9.90242192e-01 1.38959855e-01 1.05147839e-02 7.53150195e+01] [-1.38952699e-01 9.90298013e-01 -1.41169343e-03 -7.61882466e+00] [-1.06089384e-02 -6.31392031e-05 9.99943722e-01 -1.20194401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.475769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:75.34, Y:-7.62, Z:-1.20 [[ 9.90280696e-01 1.38642965e-01 1.10576341e-02 7.53439227e+01] [-1.38635033e-01 9.90342428e-01 -1.48431499e-03 -7.61932550e+00] [-1.11566341e-02 -6.30869889e-05 9.99937761e-01 -1.20173882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:-7.62, Z:-1.20 [[ 9.90331551e-01 1.38222562e-01 1.17449211e-02 7.53729988e+01] [-1.38213589e-01 9.90401191e-01 -1.57613432e-03 -7.61729225e+00] [-1.18500411e-02 -6.24121524e-05 9.99929784e-01 -1.20273533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.535769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.40, Y:-7.62, Z:-1.20 [[ 9.90336808e-01 1.38208511e-01 1.14635802e-02 7.54006350e+01] [-1.38199968e-01 9.90403152e-01 -1.53788371e-03 -7.61804330e+00] [-1.15661146e-02 -6.12435671e-05 9.99933108e-01 -1.20316113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.565769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.43, Y:-7.62, Z:-1.20 [[ 9.90226225e-01 1.39037694e-01 1.09791871e-02 7.54301830e+01] [-1.39029916e-01 9.90287087e-01 -1.47229069e-03 -7.61531823e+00] [-1.10772511e-02 -6.85346049e-05 9.99938643e-01 -1.20413105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.595769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:75.46, Y:-7.61, Z:-1.20 [[ 9.90153482e-01 1.39557445e-01 1.09453501e-02 7.54580417e+01] [-1.39549752e-01 9.90213974e-01 -1.46726653e-03 -7.61454133e+00] [-1.10430066e-02 -7.46018235e-05 9.99939021e-01 -1.20443118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.625769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:75.49, Y:-7.61, Z:-1.20 [[ 9.90172203e-01 1.39403884e-01 1.12055751e-02 7.54861475e+01] [-1.39395819e-01 9.90235604e-01 -1.50140454e-03 -7.61310038e+00] [-1.13054611e-02 -7.53612758e-05 9.99936088e-01 -1.20465815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:-7.61, Z:-1.21 [[ 9.90614374e-01 1.36194968e-01 1.15798825e-02 7.55153188e+01] [-1.36186143e-01 9.90682053e-01 -1.55086963e-03 -7.60966688e+00] [-1.16832024e-02 -4.07057934e-05 9.99931748e-01 -1.20533646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.54, Y:-7.61, Z:-1.21 [[ 9.91059901e-01 1.32926705e-01 1.14351695e-02 7.55436000e+01] [-1.32917889e-01 9.91125870e-01 -1.53097754e-03 -7.61117289e+00] [-1.15372002e-02 -2.64814537e-06 9.99933444e-01 -1.20590522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.57, Y:-7.61, Z:-1.21 [[ 9.91517883e-01 1.29525799e-01 1.07403762e-02 7.55720232e+01] [-1.29517828e-01 9.91576052e-01 -1.43735529e-03 -7.61342573e+00] [-1.08360745e-02 3.40932670e-05 9.99941287e-01 -1.20648664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.60, Y:-7.61, Z:-1.21 [[ 9.92348655e-01 1.23076498e-01 9.81445042e-03 7.56002206e+01] [-1.23069530e-01 9.92397182e-01 -1.31306816e-03 -7.61370743e+00] [-9.90144077e-03 9.51616217e-05 9.99950975e-01 -1.20817410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.775769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.63, Y:-7.62, Z:-1.21 [[ 9.92701903e-01 1.20170638e-01 1.00969983e-02 7.56290245e+01] [-1.20163120e-01 9.92753243e-01 -1.35023346e-03 -7.61634815e+00] [-1.01860862e-02 1.27092505e-04 9.99948112e-01 -1.20940757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.805769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.66, Y:-7.62, Z:-1.21 [[ 9.93389992e-01 1.14296433e-01 1.06136233e-02 7.56571581e+01] [-1.14287795e-01 9.93446670e-01 -1.41881358e-03 -7.61934927e+00] [-1.07062341e-02 1.96427599e-04 9.99942667e-01 -1.20889120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.835769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.69, Y:-7.62, Z:-1.21 [[ 9.93729965e-01 1.11314743e-01 1.04778271e-02 7.56862624e+01] [-1.11306166e-01 9.93785177e-01 -1.40002595e-03 -7.62293930e+00] [-1.05685528e-02 2.25000977e-04 9.99944126e-01 -1.20863133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.71, Y:-7.63, Z:-1.21 [[ 9.94080081e-01 1.08010230e-01 1.17721572e-02 7.57138773e+01] [-1.07999178e-01 9.94149740e-01 -1.57238134e-03 -7.62587305e+00] [-1.18731203e-02 2.91689663e-04 9.99929469e-01 -1.20847986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:-7.63, Z:-1.21 [[ 9.94090268e-01 1.07769373e-01 1.30499663e-02 7.57428998e+01] [-1.07755781e-01 9.94175868e-01 -1.74224874e-03 -7.62866021e+00] [-1.31617227e-02 3.25743198e-04 9.99913328e-01 -1.20874112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:-7.63, Z:-1.21 [[ 9.94042900e-01 1.08197497e-01 1.31154349e-02 7.57719597e+01] [-1.08183813e-01 9.94129367e-01 -1.75041132e-03 -7.63167499e+00] [-1.32278291e-02 3.21106180e-04 9.99912457e-01 -1.20936779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.955769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.80, Y:-7.63, Z:-1.21 [[ 9.93951079e-01 1.09391179e-01 9.73764593e-03 7.58020356e+01] [-1.09383695e-01 9.93998752e-01 -1.29946333e-03 -7.63312942e+00] [-9.82135772e-03 2.26463287e-04 9.99951744e-01 -1.21113379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.83, Y:-7.64, Z:-1.21 [[ 9.93954899e-01 1.09356467e-01 9.73767138e-03 7.58311160e+01] [-1.09348983e-01 9.94002571e-01 -1.29927259e-03 -7.63692546e+00] [-9.82135425e-03 2.26613899e-04 9.99951744e-01 -1.21151142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.86, Y:-7.64, Z:-1.21 [[ 9.93890753e-01 1.10045168e-01 8.43996037e-03 7.58599527e+01] [-1.10039573e-01 9.93926569e-01 -1.12593347e-03 -7.63944548e+00] [-8.51260439e-03 1.90325228e-04 9.99963749e-01 -1.21225907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.89, Y:-7.64, Z:-1.21 [[ 9.93789395e-01 1.10959542e-01 8.40344925e-03 7.58892066e+01] [-1.10954031e-01 9.93824908e-01 -1.12066800e-03 -7.64148541e+00] [-8.47590598e-03 1.81311409e-04 9.99964062e-01 -1.21298703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.92, Y:-7.65, Z:-1.21 [[ 9.93843013e-01 1.10448826e-01 8.78197887e-03 7.59175495e+01] [-1.10442791e-01 9.93881793e-01 -1.17071070e-03 -7.64511635e+00] [-8.85755254e-03 1.93596389e-04 9.99960752e-01 -1.21345249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.94, Y:-7.65, Z:-1.21 [[ 9.93962870e-01 1.09352034e-01 8.94129604e-03 7.59449793e+01] [-1.09345737e-01 9.94003063e-01 -1.19154871e-03 -7.64909152e+00] [-9.01797393e-03 2.06662575e-04 9.99959316e-01 -1.21426837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.97, Y:-7.65, Z:-1.21 [[ 9.94088872e-01 1.08194919e-01 9.00969679e-03 7.59736535e+01] [-1.08188483e-01 9.94129676e-01 -1.20007132e-03 -7.65352978e+00] [-9.08664857e-03 2.18232116e-04 9.99958692e-01 -1.21484421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:-7.66, Z:-1.21 [[ 9.94235376e-01 1.06846923e-01 8.93043320e-03 7.60015017e+01] [-1.06840550e-01 9.94275456e-01 -1.18904429e-03 -7.65921385e+00] [-9.00635627e-03 2.28057501e-04 9.99959416e-01 -1.21446269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:-7.66, Z:-1.21 [[ 9.94230267e-01 1.06862232e-01 9.30802407e-03 7.60298042e+01] [-1.06855313e-01 9.94273809e-01 -1.23900536e-03 -7.66402948e+00] [-9.38712742e-03 2.37244812e-04 9.99955912e-01 -1.21464910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:-7.67, Z:-1.21 [[ 9.94004635e-01 1.08939129e-01 9.33014788e-03 7.60582225e+01] [-1.08932273e-01 9.94048399e-01 -1.24146786e-03 -7.67098386e+00] [-9.40986298e-03 2.17670596e-04 9.99955703e-01 -1.21482939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:-7.68, Z:-1.22 [[ 9.93802796e-01 1.10739726e-01 9.62887321e-03 7.60857056e+01] [-1.10732511e-01 9.93849420e-01 -1.28093452e-03 -7.67570017e+00] [-9.71150040e-03 2.06766999e-04 9.99952821e-01 -1.21549268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.11, Y:-7.68, Z:-1.22 [[ 9.93604126e-01 1.12517521e-01 9.52093948e-03 7.61138031e+01] [-1.12510553e-01 9.93649723e-01 -1.26598936e-03 -7.68020220e+00] [-9.60292486e-03 1.86686085e-04 9.99953873e-01 -1.21608504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.315769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.14, Y:-7.69, Z:-1.22 [[ 9.93222991e-01 1.15952581e-01 7.94282990e-03 7.61415578e+01] [-1.15947844e-01 9.93254742e-01 -1.05593210e-03 -7.68534034e+00] [-8.01169151e-03 1.27822042e-04 9.99967898e-01 -1.21668114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.17, Y:-7.69, Z:-1.22 [[ 9.93078745e-01 1.17238444e-01 7.05363952e-03 7.61699212e+01] [-1.17234743e-01 9.93103789e-01 -9.37328162e-04 -7.69020342e+00] [-7.11488703e-03 1.03909058e-04 9.99974683e-01 -1.21735690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:-7.70, Z:-1.22 [[ 9.92945544e-01 1.18273600e-01 8.39661257e-03 7.61968662e+01] [-1.18268396e-01 9.92981038e-01 -1.11533739e-03 -7.69515567e+00] [-8.46959204e-03 1.14415391e-04 9.99964126e-01 -1.21714431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:-7.70, Z:-1.22 [[ 9.92921878e-01 1.18304205e-01 1.05004170e-02 7.62254763e+01] [-1.18296077e-01 9.92977389e-01 -1.39397278e-03 -7.69875353e+00] [-1.05915895e-02 1.41947937e-04 9.99943897e-01 -1.21639241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.25, Y:-7.70, Z:-1.22 [[ 9.92802245e-01 1.19017838e-01 1.33587574e-02 7.62531707e+01] [-1.19004758e-01 9.92892102e-01 -1.77265205e-03 -7.70251307e+00] [-1.34747820e-02 1.70137238e-04 9.99909197e-01 -1.21546931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.28, Y:-7.71, Z:-1.22 [[ 9.92767866e-01 1.19269319e-01 1.36672511e-02 7.62810943e+01] [-1.19255662e-01 9.92861924e-01 -1.81279287e-03 -7.70655334e+00] [-1.37859037e-02 1.69785437e-04 9.99904955e-01 -1.21601394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:-7.71, Z:-1.22 [[ 9.92759029e-01 1.19413941e-01 1.30315194e-02 7.63092235e+01] [-1.19401547e-01 9.92844542e-01 -1.72777159e-03 -7.71069480e+00] [-1.31445930e-02 1.59277259e-04 9.99913593e-01 -1.21657643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:-7.71, Z:-1.22 [[ 9.92659598e-01 1.20314246e-01 1.23046865e-02 7.63374835e+01] [-1.20303272e-01 9.92735848e-01 -1.63089564e-03 -7.71382930e+00] [-1.24115234e-02 1.38630159e-04 9.99922964e-01 -1.21653768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.37, Y:-7.72, Z:-1.22 [[ 9.92551031e-01 1.21197411e-01 1.23951306e-02 7.63660692e+01] [-1.21186355e-01 9.92628415e-01 -1.64198633e-03 -7.71684510e+00] [-1.25027634e-02 1.27634522e-04 9.99921829e-01 -1.21713954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.39, Y:-7.72, Z:-1.22 [[ 9.92243745e-01 1.23730431e-01 1.19637688e-02 7.63943805e+01] [-1.23720322e-01 9.92315863e-01 -1.58430859e-03 -7.71933938e+00] [-1.20678648e-02 9.18589593e-05 9.99927176e-01 -1.21721749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:-7.72, Z:-1.22 [[ 9.92117212e-01 1.24788548e-01 1.14566626e-02 7.64222365e+01] [-1.24779354e-01 9.92183356e-01 -1.51666556e-03 -7.72300837e+00] [-1.15563725e-02 7.51550524e-05 9.99933220e-01 -1.21829789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:-7.73, Z:-1.22 [[ 9.92123972e-01 1.24830628e-01 1.03604609e-02 7.64491724e+01] [-1.24823117e-01 9.92178064e-01 -1.37101509e-03 -7.72827018e+00] [-1.04505667e-02 6.69919067e-05 9.99945389e-01 -1.21917399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.48, Y:-7.73, Z:-1.22 [[ 9.92235874e-01 1.23971866e-01 9.94725178e-03 7.64772502e+01] [-1.23964904e-01 9.92285731e-01 -1.31578513e-03 -7.73264503e+00] [-1.00336363e-02 7.24590932e-05 9.99949659e-01 -1.21949121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.50, Y:-7.74, Z:-1.22 [[ 9.92361238e-01 1.22983783e-01 9.70371490e-03 7.65048034e+01] [-1.22977115e-01 9.92408677e-01 -1.28320487e-03 -7.73657173e+00] [-9.78786426e-03 8.00679156e-05 9.99952095e-01 -1.21971945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.53, Y:-7.74, Z:-1.22 [[ 9.92411653e-01 1.22552417e-01 1.00008284e-02 7.65333614e+01] [-1.22545318e-01 9.92462038e-01 -1.32184380e-03 -7.74039481e+00] [-1.00874377e-02 8.62584891e-05 9.99949117e-01 -1.21975002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.56, Y:-7.74, Z:-1.22 [[ 9.92370663e-01 1.22868069e-01 1.01934149e-02 7.65622357e+01] [-1.22860716e-01 9.92423010e-01 -1.34682978e-03 -7.74410497e+00] [-1.02816619e-02 8.41841057e-05 9.99947139e-01 -1.22047604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.59, Y:-7.75, Z:-1.22 [[ 9.92320094e-01 1.23266993e-01 1.02994879e-02 7.65904669e+01] [-1.23259512e-01 9.92373540e-01 -1.36038028e-03 -7.74740111e+00] [-1.03886293e-02 8.04228331e-05 9.99946034e-01 -1.22082706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.62, Y:-7.75, Z:-1.22 [[ 9.92301071e-01 1.23372496e-01 1.08541538e-02 7.66187506e+01] [-1.23364200e-01 9.92360429e-01 -1.43311079e-03 -7.75045040e+00] [-1.09480392e-02 8.30633742e-05 9.99940065e-01 -1.22147694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.65, Y:-7.75, Z:-1.22 [[ 9.92162712e-01 1.24480496e-01 1.08516948e-02 7.66468006e+01] [-1.24472276e-01 9.92222052e-01 -1.43229961e-03 -7.75437250e+00] [-1.09455843e-02 7.03391238e-05 9.99940093e-01 -1.22151423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.68, Y:-7.76, Z:-1.22 [[ 9.91980195e-01 1.25911338e-01 1.10284766e-02 7.66759060e+01] [-1.25902944e-01 9.92041497e-01 -1.45488706e-03 -7.75749397e+00] [-1.11238933e-02 5.47014665e-05 9.99938126e-01 -1.22153259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.70, Y:-7.76, Z:-1.22 [[ 9.91787504e-01 1.27444359e-01 1.07462779e-02 7.67037037e+01] [-1.27436485e-01 9.91845721e-01 -1.41717347e-03 -7.75949418e+00] [-1.08392605e-02 3.60670553e-05 9.99941253e-01 -1.22219843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.73, Y:-7.76, Z:-1.22 [[ 9.91631891e-01 1.28680236e-01 1.03725006e-02 7.67329911e+01] [-1.28672974e-01 9.91686138e-01 -1.36725080e-03 -7.76119480e+00] [-1.04622032e-02 2.11489951e-05 9.99945269e-01 -1.22298309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:-7.76, Z:-1.22 [[ 9.91594755e-01 1.28926651e-01 1.08517436e-02 7.67610792e+01] [-1.28918723e-01 9.91654132e-01 -1.42989299e-03 -7.76282832e+00] [-1.09455277e-02 1.88814596e-05 9.99940096e-01 -1.22487497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.79, Y:-7.77, Z:-1.22 [[ 9.91734443e-01 1.27789705e-01 1.15145832e-02 7.67894938e+01] [-1.27780711e-01 9.91801286e-01 -1.51648153e-03 -7.76659816e+00] [-1.16139692e-02 3.26053393e-05 9.99932555e-01 -1.22496571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:-7.77, Z:-1.22 [[ 9.92176154e-01 1.24260904e-01 1.20708854e-02 7.68174761e+01] [-1.24250765e-01 9.92249576e-01 -1.58914908e-03 -7.77106916e+00] [-1.21748000e-02 7.68990741e-05 9.99925881e-01 -1.22483442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.065769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:-7.78, Z:-1.23 [[ 9.92422966e-01 1.22296865e-01 1.18377838e-02 7.68450592e+01] [-1.22286983e-01 9.92493560e-01 -1.55776935e-03 -7.77595318e+00] [-1.19394345e-02 9.83592090e-05 9.99928718e-01 -1.22515953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:-7.78, Z:-1.23 [[ 9.92691429e-01 1.20099763e-01 1.18225797e-02 7.68721491e+01] [-1.20089759e-01 9.92761820e-01 -1.55509261e-03 -7.78137527e+00] [-1.19237720e-02 1.23956353e-04 9.99928902e-01 -1.22589543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.125769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.90, Y:-7.79, Z:-1.23 [[ 9.92918132e-01 1.18214794e-01 1.17832770e-02 7.69004015e+01] [-1.18204732e-01 9.92988037e-01 -1.54924574e-03 -7.78732260e+00] [-1.18837969e-02 1.45435082e-04 9.99929375e-01 -1.22623441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:-7.79, Z:-1.23 [[ 9.93127152e-01 1.16392895e-01 1.22944331e-02 7.69292761e+01] [-1.16381808e-01 9.93203234e-01 -1.61586048e-03 -7.79482927e+00] [-1.23989454e-02 1.73906560e-04 9.99923115e-01 -1.22550072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.96, Y:-7.80, Z:-1.23 [[ 9.93047767e-01 1.17035596e-01 1.26016732e-02 7.69578763e+01] [-1.17024003e-01 9.93127706e-01 -1.65593913e-03 -7.80158491e+00] [-1.27088747e-02 1.69728409e-04 9.99919225e-01 -1.22566902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:-7.81, Z:-1.23 [[ 9.92967156e-01 1.17796892e-01 1.18372286e-02 7.69861325e+01] [-1.17786721e-01 9.93037698e-01 -1.55523230e-03 -7.80700917e+00] [-1.19380158e-02 1.50026251e-04 9.99928728e-01 -1.22670991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:-7.81, Z:-1.23 [[ 9.92893212e-01 1.18545728e-01 1.04871711e-02 7.70154905e+01] [-1.18537790e-01 9.92948586e-01 -1.37750434e-03 -7.81252731e+00] [-1.05765190e-02 1.24588614e-04 9.99944059e-01 -1.22803690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.04, Y:-7.82, Z:-1.23 [[ 9.92758861e-01 1.19733772e-01 9.67820773e-03 7.70438355e+01] [-1.19727069e-01 9.92806030e-01 -1.27107551e-03 -7.81981051e+00] [-9.76077366e-03 1.03128030e-04 9.99952357e-01 -1.22955904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.305769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.07, Y:-7.83, Z:-1.23 [[ 9.92740982e-01 1.19853107e-01 1.00286953e-02 7.70714832e+01] [-1.19845919e-01 9.92791631e-01 -1.31679305e-03 -7.82563258e+00] [-1.01142265e-02 1.05336214e-04 9.99948844e-01 -1.22916752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:-7.83, Z:-1.23 [[ 9.92746422e-01 1.19780253e-01 1.03553460e-02 7.71004624e+01] [-1.19772593e-01 9.92800423e-01 -1.35899696e-03 -7.83175260e+00] [-1.04435729e-02 1.08852723e-04 9.99945458e-01 -1.22905836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:-7.84, Z:-1.23 [[ 9.92714990e-01 1.20015211e-01 1.06441286e-02 7.71295607e+01] [-1.20007134e-01 9.92772047e-01 -1.39663733e-03 -7.83854207e+00] [-1.07348111e-02 1.09091445e-04 9.99942374e-01 -1.22890361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.16, Y:-7.84, Z:-1.23 [[ 9.92598232e-01 1.20929620e-01 1.11703288e-02 7.71580720e+01] [-1.20920785e-01 9.92661078e-01 -1.46541327e-03 -7.84283124e+00] [-1.12655625e-02 1.03841696e-04 9.99936536e-01 -1.22921718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.19, Y:-7.85, Z:-1.23 [[ 9.92170961e-01 1.24243959e-01 1.26579402e-02 7.71872859e+01] [-1.24232891e-01 9.92251698e-01 -1.66004442e-03 -7.84750963e+00] [-1.27661131e-02 7.45153678e-05 9.99918507e-01 -1.22932698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.22, Y:-7.85, Z:-1.23 [[ 9.91925825e-01 1.26089017e-01 1.35910581e-02 7.72177085e+01] [-1.26076435e-01 9.92018930e-01 -1.78209521e-03 -7.85180053e+00] [-1.37072895e-02 5.41941116e-05 9.99906049e-01 -1.22932690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:-7.86, Z:-1.23 [[ 9.91662103e-01 1.28049827e-01 1.44746163e-02 7.72468711e+01] [-1.28035764e-01 9.91767735e-01 -1.89792956e-03 -7.85519684e+00] [-1.45984869e-02 2.88362611e-05 9.99893436e-01 -1.22981850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:-7.86, Z:-1.23 [[ 9.91237749e-01 1.31382833e-01 1.36483133e-02 7.72769051e+01] [-1.31370648e-01 9.91331706e-01 -1.78942068e-03 -7.85576250e+00] [-1.37651049e-02 -1.92464389e-05 9.99905256e-01 -1.22989143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:-7.86, Z:-1.23 [[ 9.91054868e-01 1.32936516e-01 1.17529673e-02 7.73055994e+01] [-1.32927592e-01 9.91124554e-01 -1.54069440e-03 -7.85778090e+00] [-1.18534690e-02 -3.53809545e-05 9.99929745e-01 -1.23050047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:-7.86, Z:-1.23 [[ 9.90718240e-01 1.35684973e-01 8.18272239e-03 7.73349703e+01] [-1.35680742e-01 9.90752031e-01 -1.07257099e-03 -7.85807161e+00] [-8.25258058e-03 -4.76222000e-05 9.99965946e-01 -1.23099928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:-7.86, Z:-1.23 [[ 9.90586377e-01 1.36623816e-01 8.51835020e-03 7.73634853e+01] [-1.36619269e-01 9.90623001e-01 -1.11612913e-03 -7.86028787e+00] [-8.59096345e-03 -5.81484703e-05 9.99963095e-01 -1.23160694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:-7.86, Z:-1.23 [[ 9.90457565e-01 1.37454012e-01 1.00103458e-02 7.73918795e+01] [-1.37447782e-01 9.90508147e-01 -1.31103312e-03 -7.86224632e+00] [-1.00955358e-02 -7.73771472e-05 9.99949036e-01 -1.23163646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.42, Y:-7.86, Z:-1.23 [[ 9.90216943e-01 1.39030657e-01 1.18693617e-02 7.74203644e+01] [-1.39022018e-01 9.90288071e-01 -1.55383806e-03 -7.86180514e+00] [-1.19701184e-02 -1.11465841e-04 9.99928349e-01 -1.23096034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.45, Y:-7.86, Z:-1.23 [[ 9.90134561e-01 1.39626773e-01 1.17437026e-02 7.74489191e+01] [-1.39618367e-01 9.90204196e-01 -1.53668966e-03 -7.86277135e+00] [-1.18432266e-02 -1.18107035e-04 9.99929860e-01 -1.23172728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.725769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:-7.86, Z:-1.23 [[ 9.90148346e-01 1.39672354e-01 9.89374363e-03 7.74773255e+01] [-1.39666393e-01 9.90197770e-01 -1.29427964e-03 -7.86200239e+00] [-9.97753796e-03 -1.00294640e-04 9.99950218e-01 -1.23329373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:-7.86, Z:-1.23 [[ 9.90314487e-01 1.38537604e-01 9.19510790e-03 7.75059152e+01] [-1.38532411e-01 9.90357171e-01 -1.20235916e-03 -7.86409248e+00] [-9.27301300e-03 -8.31067782e-05 9.99957001e-01 -1.23465870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:-7.87, Z:-1.24 [[ 9.90567443e-01 1.36711655e-01 9.27704458e-03 7.75349622e+01] [-1.36706293e-01 9.90610882e-01 -1.21263820e-03 -7.86661511e+00] [-9.35572309e-03 -6.70304503e-05 9.99956232e-01 -1.23555050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.815769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.56, Y:-7.87, Z:-1.24 [[ 9.91257274e-01 1.31532479e-01 1.04030336e-02 7.75633774e+01] [-1.31525457e-01 9.91311861e-01 -1.35925159e-03 -7.86821646e+00] [-1.04914363e-02 -2.08957234e-05 9.99944963e-01 -1.23568660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.59, Y:-7.87, Z:-1.24 [[ 9.91622796e-01 1.28660852e-01 1.14286806e-02 7.75923354e+01] [-1.28652193e-01 9.91688653e-01 -1.49265933e-03 -7.87119220e+00] [-1.15257397e-02 9.83019280e-06 9.99933576e-01 -1.23559213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:-7.87, Z:-1.24 [[ 9.91632513e-01 1.28585934e-01 1.14287455e-02 7.76214254e+01] [-1.28577277e-01 9.91698370e-01 -1.49216217e-03 -7.87488275e+00] [-1.15257394e-02 1.01995386e-05 9.99933576e-01 -1.23596971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.65, Y:-7.88, Z:-1.24 [[ 9.92359002e-01 1.22723221e-01 1.27523385e-02 7.76491495e+01] [-1.22711972e-01 9.92440932e-01 -1.66387975e-03 -7.87907029e+00] [-1.28601394e-02 8.63014375e-05 9.99917301e-01 -1.23564291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.68, Y:-7.88, Z:-1.24 [[ 9.92695979e-01 1.19904016e-01 1.33311688e-02 7.76773608e+01] [-1.19891479e-01 9.92785481e-01 -1.73852995e-03 -7.88367913e+00] [-1.34434476e-02 1.27538149e-04 9.99909625e-01 -1.23636723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:-7.89, Z:-1.24 [[ 9.92957467e-01 1.17660104e-01 1.38408049e-02 7.77063665e+01] [-1.17646380e-01 9.93053912e-01 -1.80451273e-03 -7.88831738e+00] [-1.39569846e-02 1.63483803e-04 9.99902583e-01 -1.23652488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:-7.89, Z:-1.24 [[ 9.93274034e-01 1.14802675e-01 1.50678242e-02 7.77351478e+01] [-1.14786085e-01 9.93388291e-01 -1.96418427e-03 -7.89429745e+00] [-1.51936938e-02 2.21396688e-04 9.99884545e-01 -1.23715169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:-7.90, Z:-1.24 [[ 9.93374774e-01 1.13956013e-01 1.48520954e-02 7.77642653e+01] [-1.13939798e-01 9.93485769e-01 -1.93617913e-03 -7.89954485e+00] [-1.49759847e-02 2.31106760e-04 9.99887827e-01 -1.23724944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:-7.90, Z:-1.24 [[ 9.93438102e-01 1.13522616e-01 1.39051692e-02 7.77932820e+01] [-1.13508364e-01 9.93535388e-01 -1.81242919e-03 -7.90473866e+00] [-1.40210294e-02 2.22183211e-04 9.99901676e-01 -1.23767329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.82, Y:-7.91, Z:-1.24 [[ 9.93618086e-01 1.12145901e-01 1.20993926e-02 7.78215101e+01] [-1.12135010e-01 9.93691729e-01 -1.57695000e-03 -7.91133745e+00] [-1.21999148e-02 2.10120536e-04 9.99925556e-01 -1.23843175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.115769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.85, Y:-7.92, Z:-1.24 [[ 9.93695883e-01 1.11505852e-01 1.16162123e-02 7.78506631e+01] [-1.11495774e-01 9.93763755e-01 -1.51356694e-03 -7.91717531e+00] [-1.17125423e-02 2.08866653e-04 9.99931384e-01 -1.23931751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.88, Y:-7.93, Z:-1.24 [[ 9.93871157e-01 1.10051683e-01 1.04283446e-02 7.78793075e+01] [-1.10043484e-01 9.93925845e-01 -1.35854722e-03 -7.92652370e+00] [-1.05145116e-02 2.02649529e-04 9.99944700e-01 -1.24054422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.175769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.91, Y:-7.93, Z:-1.24 [[ 9.93973337e-01 1.09180950e-01 9.82476918e-03 7.79086547e+01] [-1.09173631e-01 9.94021871e-01 -1.27984545e-03 -7.93369178e+00] [-9.90577019e-03 1.99526532e-04 9.99950917e-01 -1.24071628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:-7.94, Z:-1.24 [[ 9.94048414e-01 1.08524578e-01 9.49557936e-03 7.79387085e+01] [-1.08517714e-01 9.94093746e-01 -1.23667038e-03 -7.94088258e+00] [-9.57370519e-03 1.98871668e-04 9.99954151e-01 -1.24078717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:-7.95, Z:-1.24 [[ 9.94099495e-01 1.07954886e-01 1.05799958e-02 7.79682584e+01] [-1.07946332e-01 9.94155768e-01 -1.37787481e-03 -7.95146459e+00] [-1.06669121e-02 2.27672920e-04 9.99943081e-01 -1.24049938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:-7.96, Z:-1.24 [[ 9.94053216e-01 1.08317782e-01 1.12010088e-02 7.79989946e+01] [-1.08308217e-01 9.94116292e-01 -1.45887596e-03 -7.95888854e+00] [-1.12931275e-02 2.37039050e-04 9.99936203e-01 -1.24106366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.03, Y:-7.97, Z:-1.24 [[ 9.93901082e-01 1.09765085e-01 1.05955007e-02 7.80287838e+01] [-1.09756605e-01 9.93957536e-01 -1.38027166e-03 -7.96875626e+00] [-1.06829834e-02 2.08927318e-04 9.99942913e-01 -1.24240550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.06, Y:-7.98, Z:-1.24 [[ 9.93793260e-01 1.10818433e-01 9.70723572e-03 7.80591225e+01] [-1.10811365e-01 9.93840652e-01 -1.26462356e-03 -7.97590693e+00] [-9.78758908e-03 1.81102329e-04 9.99952084e-01 -1.24258078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:-7.98, Z:-1.24 [[ 9.93622580e-01 1.12416868e-01 8.75308776e-03 7.80892336e+01] [-1.12411182e-01 9.93661122e-01 -1.14049735e-03 -7.98354175e+00] [-8.82581415e-03 1.49278980e-04 9.99961041e-01 -1.24244188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.12, Y:-7.99, Z:-1.24 [[ 9.93231192e-01 1.15893485e-01 7.77816308e-03 7.81184506e+01] [-1.15889100e-01 9.93261642e-01 -1.01367615e-03 -7.99455799e+00] [-7.84322949e-03 1.05410458e-04 9.99969236e-01 -1.24354840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.415769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:78.15, Y:-8.00, Z:-1.24 [[ 9.93013495e-01 1.17735376e-01 7.91073329e-03 7.81480660e+01] [-1.17730898e-01 9.93045000e-01 -1.03104847e-03 -8.00108274e+00] [-7.97710503e-03 9.25073047e-05 9.99968178e-01 -1.24348066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.18, Y:-8.01, Z:-1.24 [[ 9.92445221e-01 1.22229273e-01 1.06060598e-02 7.81775544e+01] [-1.22221477e-01 9.92501889e-01 -1.38254358e-03 -8.00892725e+00] [-1.06955217e-02 7.58104678e-05 9.99942798e-01 -1.24282967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.475769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.21, Y:-8.01, Z:-1.24 [[ 9.92159900e-01 1.24458736e-01 1.13470723e-02 7.82083378e+01] [-1.24449959e-01 9.92224783e-01 -1.47910457e-03 -8.01371660e+00] [-1.14429338e-02 5.53655591e-05 9.99934526e-01 -1.24248206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.505769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.24, Y:-8.02, Z:-1.24 [[ 9.91480958e-01 1.29783370e-01 1.10356928e-02 7.82377296e+01] [-1.29775394e-01 9.91542373e-01 -1.43882472e-03 -8.01649467e+00] [-1.11290925e-02 -5.59406842e-06 9.99938070e-01 -1.24215804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.535769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.27, Y:-8.02, Z:-1.24 [[ 9.91102876e-01 1.32720638e-01 1.00160866e-02 7.82679260e+01] [-1.32714219e-01 9.91153485e-01 -1.30575531e-03 -8.01888294e+00] [-1.01007798e-02 -3.51392669e-05 9.99948985e-01 -1.24293022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.565769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.30, Y:-8.02, Z:-1.24 [[ 9.90717668e-01 1.35629416e-01 9.11944722e-03 7.82980231e+01] [-1.35624218e-01 9.90759637e-01 -1.18886419e-03 -8.02164782e+00] [-9.19642517e-03 -5.89891477e-05 9.99957710e-01 -1.24468613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.33, Y:-8.02, Z:-1.25 [[ 9.90453626e-01 1.37581951e-01 8.53354885e-03 7.83276711e+01] [-1.37577471e-01 9.90490384e-01 -1.11258022e-03 -8.02375091e+00] [-8.60546904e-03 -7.20649554e-05 9.99962970e-01 -1.24587251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.36, Y:-8.02, Z:-1.25 [[ 9.90263024e-01 1.38838795e-01 1.01455607e-02 7.83564832e+01] [-1.38832531e-01 9.90314990e-01 -1.32249098e-03 -8.02279473e+00] [-1.02309139e-02 -9.89199551e-05 9.99947658e-01 -1.24584355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:78.39, Y:-8.02, Z:-1.25 [[ 9.90317292e-01 1.38391380e-01 1.09310468e-02 7.83866894e+01] [-1.38384087e-01 9.90377613e-01 -1.42445213e-03 -8.02400437e+00] [-1.10229960e-02 -1.02023360e-04 9.99939240e-01 -1.24526375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.42, Y:-8.02, Z:-1.25 [[ 9.90504056e-01 1.37118944e-01 1.00054777e-02 7.84155105e+01] [-1.37112771e-01 9.90554586e-01 -1.30366870e-03 -8.02380095e+00] [-1.00897295e-02 -8.05896316e-05 9.99949094e-01 -1.24593057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:-8.03, Z:-1.25 [[ 9.90611770e-01 1.36398772e-01 9.14851792e-03 7.84456116e+01] [-1.36393583e-01 9.90654011e-01 -1.19169828e-03 -8.02615983e+00] [-9.22556216e-03 -6.72887894e-05 9.99957441e-01 -1.24627211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:-8.03, Z:-1.25 [[ 9.90639799e-01 1.36201808e-01 9.04739440e-03 7.84748346e+01] [-1.36196726e-01 9.90681111e-01 -1.17832758e-03 -8.02841138e+00] [-9.12357308e-03 -6.49272976e-05 9.99958377e-01 -1.24705012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.50, Y:-8.03, Z:-1.25 [[ 9.90631747e-01 1.36199628e-01 9.91981043e-03 7.85030537e+01] [-1.36193520e-01 9.90681410e-01 -1.29179491e-03 -8.02827767e+00] [-1.00033138e-02 -7.13208562e-05 9.99949963e-01 -1.24652011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:-8.03, Z:-1.25 [[ 9.90623679e-01 1.36210090e-01 1.05611414e-02 7.85310155e+01] [-1.36203175e-01 9.90679971e-01 -1.37467383e-03 -8.02974552e+00] [-1.06499557e-02 -7.66765476e-05 9.99943285e-01 -1.24670504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:-8.03, Z:-1.25 [[ 9.90625048e-01 1.36191921e-01 1.06665676e-02 7.85597231e+01] [-1.36184873e-01 9.90682469e-01 -1.38777856e-03 -8.03005735e+00] [-1.07561857e-02 -7.78569414e-05 9.99942148e-01 -1.24703774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.59, Y:-8.03, Z:-1.25 [[ 9.90696273e-01 1.35738551e-01 9.79493756e-03 7.85883461e+01] [-1.35732589e-01 9.90744690e-01 -1.27399248e-03 -8.03251269e+00] [-9.87721228e-03 -6.73526376e-05 9.99951217e-01 -1.24830394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.62, Y:-8.04, Z:-1.25 [[ 9.90808853e-01 1.34993885e-01 8.62949024e-03 7.86173214e+01] [-1.34989232e-01 9.90846430e-01 -1.12209832e-03 -8.03544144e+00] [-8.70197601e-03 -5.31033029e-05 9.99962136e-01 -1.24907093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.925769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.65, Y:-8.04, Z:-1.25 [[ 9.91071418e-01 1.33071726e-01 8.32824152e-03 7.86458258e+01] [-1.33067327e-01 9.91106409e-01 -1.08258447e-03 -8.03771331e+00] [-8.39823493e-03 -3.52983117e-05 9.99964734e-01 -1.24862420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.955769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.67, Y:-8.04, Z:-1.25 [[ 9.91118303e-01 1.32649418e-01 9.41499777e-03 7.86730684e+01] [-1.32643782e-01 9.91163019e-01 -1.22340854e-03 -8.04081901e+00] [-9.49408205e-03 -3.62983130e-05 9.99954930e-01 -1.24859355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.985769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:78.70, Y:-8.04, Z:-1.25 [[ 9.91102745e-01 1.32623378e-01 1.12422739e-02 7.87022923e+01] [-1.32615347e-01 9.91166504e-01 -1.46010232e-03 -8.04291914e+00] [-1.13366090e-02 -4.37866430e-05 9.99935738e-01 -1.24771122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:-8.05, Z:-1.25 [[ 9.91092104e-01 1.32707569e-01 1.11867005e-02 7.87306340e+01] [-1.32699629e-01 9.91155235e-01 -1.45232216e-03 -8.04599446e+00] [-1.12804909e-02 -4.50859791e-05 9.99936372e-01 -1.24837307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04576923100001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.76, Y:-8.05, Z:-1.25 [[ 9.91249561e-01 1.31566464e-01 1.07039088e-02 7.87594345e+01] [-1.31559132e-01 9.91307351e-01 -1.38928528e-03 -8.05065484e+00] [-1.07936468e-02 -3.10685216e-05 9.99941746e-01 -1.24943406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.79, Y:-8.06, Z:-1.25 [[ 9.91398966e-01 1.30459655e-01 1.04100348e-02 7.87877745e+01] [-1.30452663e-01 9.91453619e-01 -1.35071668e-03 -8.05616849e+00] [-1.04972807e-02 -1.89176430e-05 9.99944902e-01 -1.24940790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:78.82, Y:-8.06, Z:-1.25 [[ 9.91557559e-01 1.29234724e-01 1.05826733e-02 7.88165600e+01] [-1.29227435e-01 9.91614031e-01 -1.37261248e-03 -8.06189606e+00] [-1.06713166e-02 -6.54745305e-06 9.99943060e-01 -1.24976544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.135769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.85, Y:-8.07, Z:-1.25 [[ 9.91900245e-01 1.26505405e-01 1.14142938e-02 7.88457072e+01] [-1.26496747e-01 9.91965918e-01 -1.48021264e-03 -8.06875106e+00] [-1.15098453e-02 2.43522508e-05 9.99933759e-01 -1.24981201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.165769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:78.88, Y:-8.07, Z:-1.25 [[ 9.92029059e-01 1.25489327e-01 1.14356763e-02 7.88756179e+01] [-1.25480572e-01 9.92094969e-01 -1.48271466e-03 -8.07371541e+00] [-1.15313418e-02 3.59408208e-05 9.99933511e-01 -1.24982061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.195769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:78.91, Y:-8.08, Z:-1.25 [[ 9.92110221e-01 1.24941066e-01 1.03459813e-02 7.89054452e+01] [-1.24933871e-01 9.92164164e-01 -1.34142815e-03 -8.07996379e+00] [-1.04325113e-02 3.82810881e-05 9.99945579e-01 -1.24961772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.225769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:78.93, Y:-8.09, Z:-1.25 [[ 9.92050006e-01 1.25384246e-01 1.07506104e-02 7.89348103e+01] [-1.25376502e-01 9.92108255e-01 -1.39391497e-03 -8.08537908e+00] [-1.08405443e-02 3.49594222e-05 9.99941239e-01 -1.25025446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.255769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:78.97, Y:-8.09, Z:-1.25 [[ 9.91961045e-01 1.25987012e-01 1.18556984e-02 7.89652318e+01] [-1.25977640e-01 9.92031891e-01 -1.53703329e-03 -8.09079293e+00] [-1.19548771e-02 3.11242487e-05 9.99928537e-01 -1.25071201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.285769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:78.99, Y:-8.10, Z:-1.25 [[ 9.91825950e-01 1.26938644e-01 1.29562672e-02 7.89938073e+01] [-1.26927532e-01 9.91910571e-01 -1.67971439e-03 -8.09630513e+00] [-1.30646791e-02 2.14772917e-05 9.99914653e-01 -1.25052347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.315769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:79.02, Y:-8.10, Z:-1.25 [[ 9.91649722e-01 1.28289986e-01 1.31342138e-02 7.90229163e+01] [-1.28278687e-01 9.91736699e-01 -1.70262393e-03 -8.10399924e+00] [-1.32441114e-02 3.56685506e-06 9.99912293e-01 -1.25159149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.345769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:79.05, Y:-8.11, Z:-1.25 [[ 9.91732361e-01 1.27721725e-01 1.24131076e-02 7.90532839e+01] [-1.27711590e-01 9.91810043e-01 -1.60900220e-03 -8.11013104e+00] [-1.25169493e-02 1.04018504e-05 9.99921660e-01 -1.25249868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.375769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:79.08, Y:-8.12, Z:-1.25 [[ 9.92108178e-01 1.24877785e-01 1.12650960e-02 7.90843923e+01] [-1.24869257e-01 9.92172131e-01 -1.45993981e-03 -8.12007622e+00] [-1.13592284e-02 4.17540534e-05 9.99935481e-01 -1.25365499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40576923100001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:79.12, Y:-8.13, Z:-1.25 [[ 9.92283620e-01 1.23513474e-01 1.08461352e-02 7.91163064e+01] [-1.23505468e-01 9.92342894e-01 -1.40740316e-03 -8.12801765e+00] [-1.09369185e-02 5.69860949e-05 9.99940188e-01 -1.25349272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:79.15, Y:-8.14, Z:-1.25 [[ 9.92370945e-01 1.22835459e-01 1.05526483e-02 7.91465174e+01] [-1.22827821e-01 9.92427048e-01 -1.37124889e-03 -8.13591476e+00] [-1.06411716e-02 6.46287523e-05 9.99943379e-01 -1.25353249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:79.18, Y:-8.15, Z:-1.25 [[ 9.92337003e-01 1.23203361e-01 9.39174383e-03 7.91773841e+01] [-1.23197324e-01 9.92381443e-01 -1.22092258e-03 -8.14658829e+00] [-9.47061406e-03 5.45289485e-05 9.99955151e-01 -1.25471559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:79.21, Y:-8.15, Z:-1.26 [[ 9.92194227e-01 1.24381934e-01 8.93034692e-03 7.92092265e+01] [-1.24376510e-01 9.92234414e-01 -1.16231673e-03 -8.15336692e+00] [-9.00556875e-03 4.25185645e-05 9.99959448e-01 -1.25562932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.525769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:79.24, Y:-8.16, Z:-1.26 [[ 9.91762970e-01 1.27732652e-01 9.51743404e-03 7.92391775e+01] [-1.27726625e-01 9.91808635e-01 -1.24096415e-03 -8.16158527e+00] [-9.59798491e-03 1.51125636e-05 9.99953938e-01 -1.25503501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.555769231 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:79.27, Y:-8.17, Z:-1.26 [[ 9.91420376e-01 1.30339300e-01 9.86430989e-03 7.92703891e+01] [-1.30332958e-01 9.91469448e-01 -1.28586116e-03 -8.16719747e+00] [-9.94776012e-03 -1.08157229e-05 9.99950520e-01 -1.25520729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.585769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:79.30, Y:-8.17, Z:-1.26 [[ 9.91007776e-01 1.33441102e-01 9.85194507e-03 7.93008053e+01] [-1.33434912e-01 9.91056744e-01 -1.28594248e-03 -8.17229228e+00] [-9.93543419e-03 -4.02144204e-05 9.99950642e-01 -1.25523993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.615769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:79.33, Y:-8.18, Z:-1.26 [[ 9.90075721e-01 1.40226363e-01 9.30769185e-03 7.93322156e+01] [-1.40221121e-01 9.90119466e-01 -1.21669523e-03 -8.17652228e+00] [-9.38633963e-03 -1.00514575e-04 9.99955942e-01 -1.25666496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.645769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:79.36, Y:-8.18, Z:-1.26 [[ 9.89586544e-01 1.43674296e-01 8.72750685e-03 7.93626040e+01] [-1.43669818e-01 9.89625021e-01 -1.14109666e-03 -8.17933391e+00] [-8.80090540e-03 -1.24665421e-04 9.99961264e-01 -1.25766575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.675769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:79.39, Y:-8.18, Z:-1.26 [[ 9.88614410e-01 1.50192806e-01 9.14704818e-03 7.93928447e+01] [-1.50188164e-01 9.88656707e-01 -1.19615493e-03 -8.17802133e+00] [-9.22294440e-03 -1.91242377e-04 9.99957449e-01 -1.25683139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.705769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:79.42, Y:-8.18, Z:-1.26 [[ 9.88107882e-01 1.53429360e-01 1.01115818e-02 7.94214846e+01] [-1.53423858e-01 9.88159588e-01 -1.32221147e-03 -8.17797105e+00] [-1.01947225e-02 -2.44870307e-04 9.99948002e-01 -1.25655180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.735769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.45, Y:-8.18, Z:-1.26 [[ 9.87659659e-01 1.56261107e-01 1.05292293e-02 7.94512092e+01] [-1.56255307e-01 9.87715741e-01 -1.37642291e-03 -8.17715987e+00] [-1.06149668e-02 -2.85810567e-04 9.99943619e-01 -1.25617231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:79.48, Y:-8.18, Z:-1.26 [[ 9.87256287e-01 1.58773028e-01 1.07772740e-02 7.94798454e+01] [-1.58767103e-01 9.87315058e-01 -1.40860819e-03 -8.17557606e+00] [-1.08642139e-02 -3.20419286e-04 9.99940931e-01 -1.25719709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:79.51, Y:-8.18, Z:-1.26 [[ 9.87261405e-01 1.58741199e-01 1.07773236e-02 7.95089387e+01] [-1.58735276e-01 9.87320176e-01 -1.40822854e-03 -8.17928956e+00] [-1.08642130e-02 -3.20451762e-04 9.99940931e-01 -1.25757473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:79.54, Y:-8.17, Z:-1.26 [[ 9.86859661e-01 1.61272924e-01 9.95256275e-03 7.95387471e+01] [-1.61268004e-01 9.86909793e-01 -1.30020107e-03 -8.17213983e+00] [-1.00319689e-02 -3.21913944e-04 9.99949627e-01 -1.25873296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85576923100001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:79.57, Y:-8.17, Z:-1.26 [[ 9.86834258e-01 1.61448486e-01 9.61939224e-03 7.95676687e+01] [-1.61443902e-01 9.86881091e-01 -1.25626469e-03 -8.17116648e+00] [-9.69601835e-03 -3.13267186e-04 9.99952943e-01 -1.25944051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.885769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:79.60, Y:-8.17, Z:-1.26 [[ 9.87078514e-01 1.59982254e-01 9.03800602e-03 7.95972285e+01] [-1.59978150e-01 9.87119851e-01 -1.17995275e-03 -8.16603903e+00] [-9.11036665e-03 -2.81177468e-04 9.99958460e-01 -1.26011237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.915769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:79.63, Y:-8.17, Z:-1.26 [[ 9.87308441e-01 1.58572255e-01 8.76824655e-03 7.96259942e+01] [-1.58568340e-01 9.87347341e-01 -1.14434316e-03 -8.16543015e+00] [-8.83876600e-03 -2.60546633e-04 9.99960903e-01 -1.26037146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.945769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:79.65, Y:-8.16, Z:-1.26 [[ 9.87857684e-01 1.55087921e-01 9.21588123e-03 7.96544738e+01] [-1.55083449e-01 9.87900642e-01 -1.20233887e-03 -8.16155008e+00] [-9.29084322e-03 -2.41490947e-04 9.99956810e-01 -1.26019781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.975769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.68, Y:-8.16, Z:-1.26 [[ 9.88051484e-01 1.53794224e-01 1.00797543e-02 7.96824845e+01] [-1.53788812e-01 9.88102866e-01 -1.31438220e-03 -8.16162599e+00] [-1.01619785e-02 -2.51476159e-04 9.99948334e-01 -1.26008532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.005769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:79.71, Y:-8.16, Z:-1.26 [[ 9.88141541e-01 1.53089614e-01 1.18264110e-02 7.97105941e+01] [-1.53082125e-01 9.88212268e-01 -1.54132100e-03 -8.15791440e+00] [-1.19229646e-02 -2.87368810e-04 9.99928878e-01 -1.26019369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.035769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:79.74, Y:-8.16, Z:-1.26 [[ 9.88109421e-01 1.53272668e-01 1.21351014e-02 7.97400839e+01] [-1.53264805e-01 9.88183890e-01 -1.58083608e-03 -8.15854672e+00] [-1.22340107e-02 -2.97844925e-04 9.99925117e-01 -1.26047364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.065769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.77, Y:-8.16, Z:-1.26 [[ 9.88083549e-01 1.53446301e-01 1.20471058e-02 7.97694617e+01] [-1.53438571e-01 9.88156943e-01 -1.56883474e-03 -8.15988363e+00] [-1.21451632e-02 -2.98350908e-04 9.99926200e-01 -1.26105375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.095769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:79.80, Y:-8.16, Z:-1.26 [[ 9.88258147e-01 1.52326994e-01 1.19298935e-02 7.97981305e+01] [-1.52319338e-01 9.88330110e-01 -1.55302678e-03 -8.15982215e+00] [-1.20272409e-02 -2.82362119e-04 9.99927630e-01 -1.26125016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.125769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.83, Y:-8.16, Z:-1.26 [[ 9.88424531e-01 1.51245381e-01 1.19071903e-02 7.98256130e+01] [-1.51237683e-01 9.88496213e-01 -1.54951347e-03 -8.16126356e+00] [-1.20045693e-02 -2.69238753e-04 9.99927906e-01 -1.26168037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:79.85, Y:-8.16, Z:-1.26 [[ 9.88622216e-01 1.49940816e-01 1.19944096e-02 7.98542911e+01] [-1.49932918e-01 9.88694941e-01 -1.56013275e-03 -8.16291026e+00] [-1.20927397e-02 -2.55974937e-04 9.99926847e-01 -1.26192879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:79.88, Y:-8.16, Z:-1.26 [[ 9.89084931e-01 1.46915296e-01 1.12647804e-02 7.98825214e+01] [-1.46908139e-01 9.89149055e-01 -1.46477317e-03 -8.16303130e+00] [-1.13577445e-02 -2.06102857e-04 9.99935477e-01 -1.26301132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21576923100001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:79.91, Y:-8.17, Z:-1.26 [[ 9.89369860e-01 1.44996344e-01 1.11058479e-02 7.99108212e+01] [-1.44989274e-01 9.89432174e-01 -1.44341233e-03 -8.16586397e+00] [-1.11977728e-02 -1.82160167e-04 9.99937286e-01 -1.26361290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24576923100001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:79.94, Y:-8.17, Z:-1.26 [[ 9.89972492e-01 1.40815022e-01 1.12069140e-02 7.99394086e+01] [-1.40807560e-01 9.90035914e-01 -1.45603954e-03 -8.16841243e+00] [-1.13002796e-02 -1.36579129e-04 9.99936140e-01 -1.26365655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.275769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:79.97, Y:-8.17, Z:-1.26 [[ 9.90234784e-01 1.38944430e-01 1.13806006e-02 7.99669227e+01] [-1.38936618e-01 9.90300172e-01 -1.47807548e-03 -8.17137332e+00] [-1.14755811e-02 -1.17540409e-04 9.99934146e-01 -1.26353130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.305769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.99, Y:-8.18, Z:-1.26 [[ 9.90534346e-01 1.36750422e-01 1.18756754e-02 7.99949379e+01] [-1.36741766e-01 9.90605528e-01 -1.54164460e-03 -8.17501600e+00] [-1.19749303e-02 -9.68489044e-05 9.99928293e-01 -1.26356123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.335769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:80.02, Y:-8.18, Z:-1.26 [[ 9.90644932e-01 1.35957063e-01 1.17599547e-02 8.00232253e+01] [-1.35948527e-01 9.90714727e-01 -1.52593099e-03 -8.17817648e+00] [-1.18582214e-02 -8.70927230e-05 9.99929685e-01 -1.26416978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.365769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:80.05, Y:-8.18, Z:-1.27 [[ 9.90975361e-01 1.33615308e-01 1.07136792e-02 8.00507127e+01] [-1.33608091e-01 9.91033272e-01 -1.38975754e-03 -8.18177761e+00] [-1.08033054e-02 -5.42187502e-05 9.99941641e-01 -1.26531723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.395769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:80.08, Y:-8.19, Z:-1.27 [[ 9.91209001e-01 1.31942014e-01 9.79900467e-03 8.00795417e+01] [-1.31935901e-01 9.91257436e-01 -1.27051663e-03 -8.18602805e+00] [-9.88097077e-03 -3.34929873e-05 9.99951181e-01 -1.26640893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.425769231 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:80.11, Y:-8.19, Z:-1.27 [[ 9.91481494e-01 1.29948795e-01 8.81798593e-03 8.01074827e+01] [-1.29943769e-01 9.91520706e-01 -1.14298808e-03 -8.19099680e+00] [-8.89174555e-03 -1.25907917e-05 9.99960468e-01 -1.26718525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.455769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:80.13, Y:-8.20, Z:-1.27 [[ 9.91761165e-01 1.27869887e-01 7.68653950e-03 8.01348313e+01] [-1.27866007e-01 9.91790952e-01 -9.96089535e-04 -8.19621354e+00] [-7.75081018e-03 5.03580143e-06 9.99969962e-01 -1.26850061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.485769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:80.16, Y:-8.20, Z:-1.27 [[ 9.92301883e-01 1.23626520e-01 7.31147100e-03 8.01615913e+01] [-1.23622897e-01 9.92328818e-01 -9.47060954e-04 -8.20441883e+00] [-7.37246522e-03 3.59051406e-05 9.99972822e-01 -1.26880116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:80.19, Y:-8.21, Z:-1.27 [[ 9.92641184e-01 1.20696619e-01 9.78806410e-03 8.01900524e+01] [-1.20689993e-01 9.92689438e-01 -1.26697381e-03 -8.21304146e+00] [-9.86942730e-03 7.63289961e-05 9.99951293e-01 -1.26749621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:80.22, Y:-8.22, Z:-1.27 [[ 9.92730360e-01 1.19899131e-01 1.05181452e-02 8.02182181e+01] [-1.19891441e-01 9.92786075e-01 -1.36094577e-03 -8.21873616e+00] [-1.06054443e-02 9.00166064e-05 9.99943757e-01 -1.26719714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.25, Y:-8.22, Z:-1.27 [[ 9.92782160e-01 1.19467595e-01 1.05392789e-02 8.02462052e+01] [-1.19459854e-01 9.92838096e-01 -1.36317774e-03 -8.22391573e+00] [-1.06266531e-02 9.43178252e-05 9.99943531e-01 -1.26798338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60576923100001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:80.28, Y:-8.23, Z:-1.27 [[ 9.92721273e-01 1.19999081e-01 1.02320070e-02 8.02751011e+01] [-1.19991819e-01 9.92773999e-01 -1.32296329e-03 -8.22869781e+00] [-1.03168249e-02 8.55766730e-05 9.99946776e-01 -1.26824202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.30, Y:-8.23, Z:-1.27 [[ 9.92390558e-01 1.22644972e-01 1.09174332e-02 8.03031835e+01] [-1.22636870e-01 9.92450607e-01 -1.41103197e-03 -8.23308634e+00] [-1.10080692e-02 6.14149643e-05 9.99939407e-01 -1.26853271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.665769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:80.33, Y:-8.24, Z:-1.27 [[ 9.91939044e-01 1.26250874e-01 1.08466258e-02 8.03318318e+01] [-1.26243098e-01 9.91998345e-01 -1.40135976e-03 -8.23519910e+00] [-1.09367577e-02 2.07518093e-05 9.99940192e-01 -1.26923516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.695769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:80.36, Y:-8.24, Z:-1.27 [[ 9.91795044e-01 1.27410102e-01 1.04525986e-02 8.03593163e+01] [-1.27402950e-01 9.91850123e-01 -1.34999609e-03 -8.23741372e+00] [-1.05394144e-02 7.22752612e-06 9.99944459e-01 -1.26975109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.725769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:80.39, Y:-8.24, Z:-1.27 [[ 9.91758420e-01 1.27676657e-01 1.06727287e-02 8.03869432e+01] [-1.27669224e-01 9.91815845e-01 -1.37767933e-03 -8.23978856e+00] [-1.07612790e-02 3.74607432e-06 9.99942096e-01 -1.27077959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.755769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:80.42, Y:-8.24, Z:-1.27 [[ 9.92069899e-01 1.25204088e-01 1.10114512e-02 8.04157247e+01] [-1.25196031e-01 9.92131007e-01 -1.42070902e-03 -8.24214311e+00] [-1.11026808e-02 3.08526706e-05 9.99938363e-01 -1.27087528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.785769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:80.44, Y:-8.25, Z:-1.27 [[ 9.92341172e-01 1.23042578e-01 1.09325921e-02 8.04428807e+01] [-1.23034510e-01 9.92401391e-01 -1.41004128e-03 -8.24558344e+00] [-1.10230147e-02 5.41559016e-05 9.99939243e-01 -1.27136325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.815769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:80.47, Y:-8.25, Z:-1.27 [[ 9.92773663e-01 1.19512585e-01 1.08257020e-02 8.04711989e+01] [-1.19504472e-01 9.92832682e-01 -1.39560268e-03 -8.24782254e+00] [-1.09149028e-02 9.17977829e-05 9.99940426e-01 -1.27199694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.845769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:80.50, Y:-8.25, Z:-1.27 [[ 9.92936331e-01 1.18178655e-01 1.05473852e-02 8.04999439e+01] [-1.18170883e-01 9.92992344e-01 -1.35923861e-03 -8.25041778e+00] [-1.06341057e-02 1.03243581e-04 9.99943451e-01 -1.27212561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.875769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:80.53, Y:-8.25, Z:-1.27 [[ 9.93054676e-01 1.17183800e-01 1.05055768e-02 8.05287876e+01] [-1.17176039e-01 9.93110238e-01 -1.35335385e-03 -8.25297209e+00] [-1.05917870e-02 1.12952498e-04 9.99943899e-01 -1.27306896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:80.56, Y:-8.26, Z:-1.27 [[ 9.93235670e-01 1.15681050e-01 1.00398339e-02 8.05577480e+01] [-1.15673890e-01 9.93286404e-01 -1.29290749e-03 -8.25561474e+00] [-1.01219954e-02 1.22815189e-04 9.99948764e-01 -1.27343254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93576923100001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:80.58, Y:-8.26, Z:-1.27 [[ 9.93323919e-01 1.14921612e-01 1.00307046e-02 8.05848709e+01] [-1.14914431e-01 9.93374555e-01 -1.29130500e-03 -8.25903641e+00] [-1.01126456e-02 1.30011427e-04 9.99948857e-01 -1.27315285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96576923100001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:80.61, Y:-8.26, Z:-1.27 [[ 9.93492163e-01 1.13393116e-01 1.07388762e-02 8.06132596e+01] [-1.13384804e-01 9.93550189e-01 -1.38170050e-03 -8.26275521e+00] [-1.08262878e-02 1.55083243e-04 9.99941382e-01 -1.27384153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99576923100001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:80.64, Y:-8.27, Z:-1.27 [[ 9.93611028e-01 1.12361390e-01 1.05850445e-02 8.06430834e+01] [-1.12353262e-01 9.93667395e-01 -1.36137074e-03 -8.26692481e+00] [-1.06709791e-02 1.63408702e-04 9.99943050e-01 -1.27435678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.025769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:80.67, Y:-8.27, Z:-1.28 [[ 9.93754300e-01 1.11102644e-01 1.04208202e-02 8.06721378e+01] [-1.11094699e-01 9.93808921e-01 -1.34000973e-03 -8.27057584e+00] [-1.05051827e-02 1.73942548e-04 9.99944804e-01 -1.27501692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.055769231 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:80.70, Y:-8.27, Z:-1.28 [[ 9.93882847e-01 1.10012293e-01 9.70477852e-03 8.07018470e+01] [-1.10005353e-01 9.93930212e-01 -1.24772671e-03 -8.27350638e+00] [-9.78313784e-03 1.72516595e-04 9.99952129e-01 -1.27572731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.085769231 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:80.73, Y:-8.28, Z:-1.28 [[ 9.93827801e-01 1.10546133e-01 9.26572277e-03 8.07298904e+01] [-1.10539832e-01 9.93870981e-01 -1.19107566e-03 -8.27687507e+00] [-9.34060179e-03 1.59492668e-04 9.99956363e-01 -1.27561569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.115769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:80.76, Y:-8.28, Z:-1.28 [[ 9.93517896e-01 1.13276761e-01 9.51659685e-03 8.07577158e+01] [-1.13270240e-01 9.93563464e-01 -1.22318477e-03 -8.28051299e+00] [-9.59390133e-03 1.37308757e-04 9.99953968e-01 -1.27539344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.145769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:80.79, Y:-8.28, Z:-1.28 [[ 9.93386564e-01 1.14414144e-01 9.61964434e-03 8.07852589e+01] [-1.14407540e-01 9.93433132e-01 -1.23585372e-03 -8.28313658e+00] [-9.69787255e-03 1.27120643e-04 9.99952966e-01 -1.27551427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.175769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:80.81, Y:-8.29, Z:-1.28 [[ 9.93279675e-01 1.15343092e-01 9.56337042e-03 8.08136402e+01] [-1.15336613e-01 9.93325706e-01 -1.22804362e-03 -8.28555742e+00] [-9.64118802e-03 1.16784005e-04 9.99953516e-01 -1.27578867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.205769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:80.84, Y:-8.29, Z:-1.28 [[ 9.93118775e-01 1.16687833e-01 9.95235575e-03 8.08420000e+01] [-1.16680889e-01 9.93168635e-01 -1.27752136e-03 -8.28773697e+00] [-1.00334388e-02 1.07480734e-04 9.99949658e-01 -1.27650041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.235769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:80.87, Y:-8.29, Z:-1.28 [[ 9.93129618e-01 1.16530465e-01 1.06870232e-02 8.08710482e+01] [-1.16522455e-01 9.93187111e-01 -1.37128312e-03 -8.29154755e+00] [-1.07740099e-02 1.16583707e-04 9.99941952e-01 -1.27710422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:80.90, Y:-8.30, Z:-1.28 [[ 9.93308837e-01 1.14848445e-01 1.21404088e-02 8.08993843e+01] [-1.14837990e-01 9.93383013e-01 -1.55707743e-03 -8.29613047e+00] [-1.22389038e-02 1.52478625e-04 9.99925090e-01 -1.27680930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.93, Y:-8.30, Z:-1.28 [[ 9.93477099e-01 1.13326321e-01 1.26648873e-02 8.09275183e+01] [-1.13314824e-01 9.93557806e-01 -1.62400108e-03 -8.30054753e+00] [-1.27673397e-02 1.78288399e-04 9.99918478e-01 -1.27725735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:80.96, Y:-8.31, Z:-1.28 [[ 9.93844697e-01 1.10119406e-01 1.21010444e-02 8.09560362e+01] [-1.10108677e-01 9.93918343e-01 -1.55128716e-03 -8.30849702e+00] [-1.21982768e-02 2.09308526e-04 9.99925576e-01 -1.27781436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:80.98, Y:-8.32, Z:-1.28 [[ 9.94029646e-01 1.08524434e-01 1.12920338e-02 8.09848062e+01] [-1.08514992e-01 9.94093759e-01 -1.44733123e-03 -8.31519368e+00] [-1.13824111e-02 2.13335197e-04 9.99935196e-01 -1.27906101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38576923100001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:81.01, Y:-8.32, Z:-1.28 [[ 9.94170119e-01 1.07333337e-01 1.02630432e-02 8.10149760e+01] [-1.07325477e-01 9.94223070e-01 -1.31516896e-03 -8.32266442e+00] [-1.03449158e-02 2.06015674e-04 9.99946469e-01 -1.27908163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.415769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:81.04, Y:-8.33, Z:-1.28 [[ 9.94327310e-01 1.05900341e-01 9.91555681e-03 8.10437973e+01] [-1.05892935e-01 9.94376726e-01 -1.27047130e-03 -8.33325443e+00] [-9.99434226e-03 2.13276892e-04 9.99950033e-01 -1.27934631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.445769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:81.07, Y:-8.34, Z:-1.28 [[ 9.94340717e-01 1.05633862e-01 1.13148793e-02 8.10735958e+01] [-1.05624191e-01 9.94405061e-01 -1.45062595e-03 -8.34118688e+00] [-1.14048084e-02 2.47291480e-04 9.99934932e-01 -1.27905871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.475769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:81.10, Y:-8.35, Z:-1.28 [[ 9.94292471e-01 1.05715675e-01 1.43762729e-02 8.11021070e+01] [-1.05700070e-01 9.94396349e-01 -1.84313131e-03 -8.35368410e+00] [-1.44905612e-02 3.13038521e-04 9.99894957e-01 -1.27846230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.505769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:81.13, Y:-8.36, Z:-1.28 [[ 9.94222757e-01 1.06372698e-01 1.43512523e-02 8.11335448e+01] [-1.06357210e-01 9.94326283e-01 -1.84033823e-03 -8.36128980e+00] [-1.44655891e-02 3.03346990e-04 9.99895322e-01 -1.27895038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.535769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:81.17, Y:-8.37, Z:-1.28 [[ 9.94124500e-01 1.07429469e-01 1.32433930e-02 8.11651544e+01] [-1.07416346e-01 9.94212672e-01 -1.70032675e-03 -8.36790156e+00] [-1.33494143e-02 2.67779594e-04 9.99910857e-01 -1.28014046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.565769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:81.20, Y:-8.38, Z:-1.28 [[ 9.93836068e-01 1.10348795e-01 1.06308092e-02 8.11959702e+01] [-1.10340491e-01 9.93892906e-01 -1.36630146e-03 -8.37621132e+00] [-1.07166556e-02 1.84870970e-04 9.99942558e-01 -1.28154418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.595769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:81.23, Y:-8.38, Z:-1.28 [[ 9.93611010e-01 1.12399246e-01 1.01769194e-02 8.12253944e+01] [-1.12391724e-01 9.93663114e-01 -1.30986386e-03 -8.38204094e+00] [-1.02596572e-02 1.57693631e-04 9.99947356e-01 -1.28126360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.625769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:81.26, Y:-8.39, Z:-1.28 [[ 9.93147106e-01 1.16457941e-01 9.81701337e-03 8.12558144e+01] [-1.16451138e-01 9.93195618e-01 -1.26368642e-03 -8.38705245e+00] [-9.89738098e-03 1.11824129e-04 9.99951013e-01 -1.27996763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:81.29, Y:-8.39, Z:-1.28 [[ 9.92897169e-01 1.18602686e-01 9.41357483e-03 8.12860068e+01] [-1.18596528e-01 9.92941788e-01 -1.21175415e-03 -8.39067945e+00] [-9.49084913e-03 8.67299775e-05 9.99954957e-01 -1.28074890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:81.32, Y:-8.39, Z:-1.28 [[ 9.92898569e-01 1.18590964e-01 9.41356973e-03 8.13159285e+01] [-1.18584805e-01 9.92943189e-01 -1.21179378e-03 -8.39449125e+00] [-9.49084774e-03 8.68819778e-05 9.99954957e-01 -1.28113730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71576923100001 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:81.34, Y:-8.40, Z:-1.28 [[ 9.92651271e-01 1.20663299e-01 9.15547748e-03 8.13449268e+01] [-1.20657562e-01 9.92693489e-01 -1.17846407e-03 -8.39756731e+00] [-9.23078025e-03 6.51262714e-05 9.99957393e-01 -1.28247936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74576923100001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:81.37, Y:-8.40, Z:-1.28 [[ 9.92219936e-01 1.24137971e-01 9.45321992e-03 8.13743626e+01] [-1.24132013e-01 9.92264966e-01 -1.21670965e-03 -8.40040764e+00] [-9.53113881e-03 3.37963491e-05 9.99954577e-01 -1.28419808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.775769231 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:81.40, Y:-8.40, Z:-1.28 [[ 9.92044109e-01 1.25535740e-01 9.44798655e-03 8.14045121e+01] [-1.25529854e-01 9.92089098e-01 -1.21573363e-03 -8.40388964e+00] [-9.52586247e-03 2.00570096e-05 9.99954628e-01 -1.28439045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.805769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:81.43, Y:-8.40, Z:-1.28 [[ 9.91862309e-01 1.27043476e-01 8.31352483e-03 8.14341525e+01] [-1.27038971e-01 9.91897150e-01 -1.06986022e-03 -8.40498275e+00] [-8.38208035e-03 5.01239055e-06 9.99964870e-01 -1.28417729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.835769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:81.46, Y:-8.41, Z:-1.28 [[ 9.91742138e-01 1.28006204e-01 7.87045329e-03 8.14627058e+01] [-1.28002198e-01 9.91773367e-01 -1.01278621e-03 -8.40645522e+00] [-7.93534888e-03 -3.01255459e-06 9.99968515e-01 -1.28425535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.865769231 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:81.49, Y:-8.41, Z:-1.28 [[ 9.91642638e-01 1.28763828e-01 8.04701419e-03 8.14911713e+01] [-1.28759667e-01 9.91675288e-01 -1.03511817e-03 -8.40813894e+00] [-8.11331089e-03 -9.66355804e-06 9.99967087e-01 -1.28476530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.895769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:81.52, Y:-8.41, Z:-1.29 [[ 9.91630829e-01 1.28749389e-01 9.58615320e-03 8.15189426e+01] [-1.28743489e-01 9.91677163e-01 -1.23258586e-03 -8.40884609e+00] [-9.66506388e-03 -1.18846772e-05 9.99953292e-01 -1.28536937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.925769231 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:81.55, Y:-8.41, Z:-1.29 [[ 9.91758972e-01 1.27715910e-01 1.01384180e-02 8.15481493e+01] [-1.27709266e-01 9.91810792e-01 -1.30279435e-03 -8.41127235e+00] [-1.02217799e-02 -2.71192334e-06 9.99947756e-01 -1.28610548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.955769231 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:81.58, Y:-8.41, Z:-1.29 [[ 9.92103231e-01 1.24986741e-01 1.04639598e-02 8.15766288e+01] [-1.24979514e-01 9.92158412e-01 -1.34437944e-03 -8.41350329e+00] [-1.05499354e-02 2.59825700e-05 9.99944348e-01 -1.28707604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.985769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:81.61, Y:-8.42, Z:-1.29 [[ 9.92379209e-01 1.22770834e-01 1.05274767e-02 8.16068920e+01] [-1.22763397e-01 9.92435046e-01 -1.35222350e-03 -8.41766811e+00] [-1.06138504e-02 4.95296943e-05 9.99943670e-01 -1.28746546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01576923100001 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:81.64, Y:-8.42, Z:-1.29 [[ 9.92725807e-01 1.19929512e-01 1.06011241e-02 8.16360060e+01] [-1.19921809e-01 9.92782406e-01 -1.36170898e-03 -8.42261767e+00] [-1.06879186e-02 8.04976685e-05 9.99942879e-01 -1.28781488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:81.67, Y:-8.43, Z:-1.29 [[ 9.93547455e-01 1.12863039e-01 1.11976905e-02 8.16657300e+01] [-1.12853996e-01 9.93610541e-01 -1.43817795e-03 -8.43077065e+00] [-1.12884604e-02 1.65193930e-04 9.99936270e-01 -1.28841165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:81.70, Y:-8.44, Z:-1.29 [[ 9.93953247e-01 1.09219561e-01 1.13150686e-02 8.16966749e+01] [-1.09210095e-01 9.94017628e-01 -1.45303018e-03 -8.43763617e+00] [-1.14060770e-02 2.08524353e-04 9.99934927e-01 -1.28887744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:81.73, Y:-8.45, Z:-1.29 [[ 9.94649901e-01 1.02671412e-01 1.14085678e-02 8.17273683e+01] [-1.02661337e-01 9.94715285e-01 -1.46679035e-03 -8.44969733e+00] [-1.14988742e-02 2.87724044e-04 9.99933844e-01 -1.28961243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13576923100001 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:81.76, Y:-8.46, Z:-1.29 [[ 9.94869339e-01 1.00595798e-01 1.07463482e-02 8.17598476e+01] [-1.00586720e-01 9.94927333e-01 -1.38322017e-03 -8.45899405e+00] [-1.08309817e-02 2.95183412e-04 9.99941300e-01 -1.29004083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.165769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:81.79, Y:-8.47, Z:-1.29 [[ 9.95005431e-01 9.93345110e-02 9.84112214e-03 8.17907537e+01] [-9.93268200e-02 9.95054056e-01 -1.26842948e-03 -8.46816993e+00] [-9.91844732e-03 2.84606856e-04 9.99950770e-01 -1.29051663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.195769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:81.82, Y:-8.48, Z:-1.29 [[ 9.95070912e-01 9.87124155e-02 9.47307168e-03 8.18207844e+01] [-9.87052453e-02 9.95115963e-01 -1.22261629e-03 -8.48252585e+00] [-9.54749225e-03 2.81548040e-04 9.99954382e-01 -1.29038639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.225769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:81.85, Y:-8.49, Z:-1.29 [[ 9.95071146e-01 9.86916317e-02 9.66318413e-03 8.18530143e+01] [-9.86841531e-02 9.95118022e-01 -1.24887403e-03 -8.49207596e+00] [-9.73926210e-03 2.89115366e-04 9.99952530e-01 -1.29050114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.255769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:81.88, Y:-8.51, Z:-1.29 [[ 9.95060328e-01 9.87125062e-02 1.05253986e-02 8.18831099e+01] [-9.87036104e-02 9.95115943e-01 -1.36258106e-03 -8.50604394e+00] [-1.06084957e-02 3.16955514e-04 9.99943678e-01 -1.29078719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.285769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:81.91, Y:-8.51, Z:-1.29 [[ 9.95055440e-01 9.87175058e-02 1.09327817e-02 8.19146054e+01] [-9.87078858e-02 9.95115443e-01 -1.41737228e-03 -8.51477188e+00] [-1.10192994e-02 3.31212230e-04 9.99939231e-01 -1.29127642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.315769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:81.95, Y:-8.53, Z:-1.29 [[ 9.95104021e-01 9.81396651e-02 1.16873651e-02 8.19461857e+01] [-9.81286055e-02 9.95172585e-01 -1.51739766e-03 -8.52592541e+00] [-1.17798623e-02 3.63103673e-04 9.99930549e-01 -1.29200695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.345769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:81.98, Y:-8.53, Z:-1.29 [[ 9.95123332e-01 9.79443570e-02 1.16814705e-02 8.19784875e+01] [-9.79332691e-02 9.95191825e-01 -1.51883820e-03 -8.53387599e+00] [-1.17740655e-02 3.67426743e-04 9.99930616e-01 -1.29224693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.375769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:82.01, Y:-8.54, Z:-1.29 [[ 9.95147958e-01 9.77478368e-02 1.12205784e-02 8.20108823e+01] [-9.77375712e-02 9.95211150e-01 -1.46093781e-03 -8.54186480e+00] [-1.13096483e-02 3.57177197e-04 9.99935980e-01 -1.29213132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.04, Y:-8.55, Z:-1.29 [[ 9.95031988e-01 9.89841131e-02 1.06530949e-02 8.20416251e+01] [-9.89749086e-02 9.95088960e-01 -1.38908999e-03 -8.55220983e+00] [-1.07382750e-02 3.27799879e-04 9.99942289e-01 -1.29194911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:82.07, Y:-8.56, Z:-1.29 [[ 9.94871336e-01 1.00548358e-01 1.10023907e-02 8.20738816e+01] [-1.00538620e-01 9.94932120e-01 -1.43603662e-03 -8.55787308e+00] [-1.10910230e-02 3.22506495e-04 9.99938441e-01 -1.29232427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:82.11, Y:-8.56, Z:-1.29 [[ 9.94203418e-01 1.06866321e-01 1.17963390e-02 8.21050123e+01] [-1.06855559e-01 9.94273361e-01 -1.54061596e-03 -8.56448852e+00] [-1.18934256e-02 2.71181246e-04 9.99929234e-01 -1.29236020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49576923100001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:82.14, Y:-8.57, Z:-1.29 [[ 9.93786541e-01 1.10662699e-01 1.19196422e-02 8.21374642e+01] [-1.10651959e-01 9.93857995e-01 -1.55881970e-03 -8.57017716e+00] [-1.20189348e-02 2.30202277e-04 9.99927743e-01 -1.29229203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.525769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:82.17, Y:-8.58, Z:-1.29 [[ 9.93391924e-01 1.14181057e-01 1.16262891e-02 8.21686929e+01] [-1.14171054e-01 9.93459940e-01 -1.52266883e-03 -8.57504412e+00] [-1.17241124e-02 1.85221237e-04 9.99931253e-01 -1.29242383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.555769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.20, Y:-8.58, Z:-1.29 [[ 9.92772377e-01 1.19493494e-01 1.11495395e-02 8.22002531e+01] [-1.19484607e-01 9.92834977e-01 -1.46218180e-03 -8.57804481e+00] [-1.12443740e-02 1.19415349e-04 9.99936773e-01 -1.29345673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.585769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:82.23, Y:-8.58, Z:-1.29 [[ 9.92500547e-01 1.21762542e-01 1.07957692e-02 8.22329924e+01] [-1.21754325e-01 9.92559255e-01 -1.41754439e-03 -8.58225110e+00] [-1.08880444e-02 9.24819954e-05 9.99940719e-01 -1.29449390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.615769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:82.27, Y:-8.59, Z:-1.30 [[ 9.92265624e-01 1.23690386e-01 1.04699915e-02 8.22650364e+01] [-1.23682744e-01 9.92320857e-01 -1.37672378e-03 -8.58689379e+00] [-1.05598784e-02 7.11184068e-05 9.99944240e-01 -1.29520831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.645769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.30, Y:-8.59, Z:-1.30 [[ 9.91948899e-01 1.26276867e-01 9.56737575e-03 8.22974185e+01] [-1.26270593e-01 9.91995036e-01 -1.25946407e-03 -8.59087058e+00] [-9.64983043e-03 4.12457920e-05 9.99953438e-01 -1.29612909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.675769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:82.33, Y:-8.59, Z:-1.30 [[ 9.91890954e-01 1.26769664e-01 9.04364903e-03 8.23292695e+01] [-1.26764063e-01 9.91932181e-01 -1.19224227e-03 -8.59413044e+00] [-9.12182666e-03 3.61646277e-05 9.99958395e-01 -1.29677652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.705769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:82.36, Y:-8.60, Z:-1.30 [[ 9.91862791e-01 1.27027430e-01 8.49920181e-03 8.23623106e+01] [-1.27022480e-01 9.91899204e-01 -1.12188408e-03 -8.59882711e+00] [-8.57286156e-03 3.31653879e-05 9.99963252e-01 -1.29743619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.735769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:82.40, Y:-8.60, Z:-1.30 [[ 9.91836121e-01 1.27228650e-01 8.60109316e-03 8.23953023e+01] [-1.27223574e-01 9.91873414e-01 -1.13698553e-03 -8.60455227e+00] [-8.67585278e-03 3.34415095e-05 9.99962364e-01 -1.29733456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:82.43, Y:-8.61, Z:-1.30 [[ 9.91847659e-01 1.27101783e-01 9.13007843e-03 8.24271211e+01] [-1.27096039e-01 9.91889679e-01 -1.20892948e-03 -8.60997417e+00] [-9.20968766e-03 3.86770650e-05 9.99957589e-01 -1.29754021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:82.46, Y:-8.62, Z:-1.30 [[ 9.91908754e-01 1.26522322e-01 1.04463305e-02 8.24588480e+01] [-1.26514746e-01 9.91963759e-01 -1.38550355e-03 -8.61549486e+00] [-1.05376784e-02 5.26782504e-05 9.99944476e-01 -1.29752222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.49, Y:-8.62, Z:-1.30 [[ 9.91989960e-01 1.25782403e-01 1.16062998e-02 8.24910058e+01] [-1.25772974e-01 9.92057852e-01 -1.54166018e-03 -8.62226226e+00] [-1.17080346e-02 6.95525770e-05 9.99931456e-01 -1.29748416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.52, Y:-8.63, Z:-1.30 [[ 9.91931487e-01 1.26181931e-01 1.22492889e-02 8.25236139e+01] [-1.26171428e-01 9.92007115e-01 -1.62958705e-03 -8.62787484e+00] [-1.23570061e-02 7.09284436e-05 9.99923647e-01 -1.29757574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.56, Y:-8.63, Z:-1.30 [[ 9.91780453e-01 1.27332581e-01 1.25676617e-02 8.25562654e+01] [-1.27321585e-01 9.91860076e-01 -1.67445572e-03 -8.63236827e+00] [-1.26785746e-02 6.05578449e-05 9.99919622e-01 -1.29710132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.915769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:82.59, Y:-8.64, Z:-1.30 [[ 9.91602622e-01 1.28677847e-01 1.28938829e-02 8.25882216e+01] [-1.28666353e-01 9.91686447e-01 -1.72052019e-03 -8.63577643e+00] [-1.30080817e-02 4.70634475e-05 9.99915390e-01 -1.29768272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:-8.64, Z:-1.30 [[ 9.91416866e-01 1.30194944e-01 1.19111030e-02 8.26198563e+01] [-1.30185220e-01 9.91488414e-01 -1.59138688e-03 -8.63830032e+00] [-1.20169112e-02 2.70782300e-05 9.99927794e-01 -1.29812948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.975769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.65, Y:-8.64, Z:-1.30 [[ 9.91438486e-01 1.30046761e-01 1.17289411e-02 8.26527285e+01] [-1.30037298e-01 9.91507861e-01 -1.56913885e-03 -8.64238378e+00] [-1.18333988e-02 3.05048366e-05 9.99929982e-01 -1.29912532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.005769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.69, Y:-8.65, Z:-1.30 [[ 9.91562111e-01 1.29132783e-01 1.13712123e-02 8.26857286e+01] [-1.29123804e-01 9.91627310e-01 -1.52336687e-03 -8.64667440e+00] [-1.14727212e-02 4.22186890e-05 9.99934185e-01 -1.29908321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.035769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:82.72, Y:-8.65, Z:-1.30 [[ 9.91757901e-01 1.27631117e-01 1.12500629e-02 8.27175799e+01] [-1.27622207e-01 9.91821705e-01 -1.50931213e-03 -8.65060882e+00] [-1.13506918e-02 6.11143677e-05 9.99935577e-01 -1.30059965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.065769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:82.75, Y:-8.66, Z:-1.30 [[ 9.92087138e-01 1.25081766e-01 1.08472446e-02 8.27487465e+01] [-1.25073310e-01 9.92146433e-01 -1.45715847e-03 -8.65537666e+00] [-1.09443190e-02 8.89273912e-05 9.99940105e-01 -1.30085816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.095769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:82.78, Y:-8.66, Z:-1.30 [[ 9.92153557e-01 1.24547165e-01 1.09234795e-02 8.27816087e+01] [-1.24538536e-01 9.92213684e-01 -1.46934925e-03 -8.66010923e+00] [-1.10214292e-02 9.74259347e-05 9.99939257e-01 -1.30147281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.125769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:82.81, Y:-8.66, Z:-1.30 [[ 9.92070369e-01 1.25242215e-01 1.05247716e-02 8.28135972e+01] [-1.25234222e-01 9.92126191e-01 -1.41769401e-03 -8.66463820e+00] [-1.06194567e-02 8.83906288e-05 9.99943608e-01 -1.30114671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:82.85, Y:-8.67, Z:-1.30 [[ 9.91759993e-01 1.27696437e-01 1.02828550e-02 8.28467388e+01] [-1.27688920e-01 9.91813297e-01 -1.38690118e-03 -8.66758034e+00] [-1.03757747e-02 6.24664507e-05 9.99946168e-01 -1.30109106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18576923100001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:82.88, Y:-8.67, Z:-1.30 [[ 9.91490265e-01 1.29801097e-01 9.93627078e-03 8.28789218e+01] [-1.29794164e-01 9.91540051e-01 -1.34215206e-03 -8.67104481e+00] [-1.00264232e-02 4.10607397e-05 9.99949733e-01 -1.30136644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.91, Y:-8.67, Z:-1.30 [[ 9.91013915e-01 1.33423655e-01 9.46303511e-03 8.29121005e+01] [-1.33417525e-01 9.91059094e-01 -1.27903800e-03 -8.67261803e+00] [-9.54908093e-03 5.00973317e-06 9.99954406e-01 -1.30159952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.94, Y:-8.67, Z:-1.30 [[ 9.90858881e-01 1.34543725e-01 9.83177987e-03 8.29436145e+01] [-1.34537142e-01 9.90907658e-01 -1.33086674e-03 -8.67475292e+00] [-9.92144574e-03 -4.03843743e-06 9.99950781e-01 -1.30197025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.275769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:82.98, Y:-8.68, Z:-1.30 [[ 9.90763118e-01 1.35188493e-01 1.06073121e-02 8.29762278e+01] [-1.35180847e-01 9.90819898e-01 -1.43786670e-03 -8.67711621e+00] [-1.07043189e-02 -9.32013921e-06 9.99942707e-01 -1.30250354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.305769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.01, Y:-8.68, Z:-1.30 [[ 9.90768599e-01 1.35106454e-01 1.11278570e-02 8.30097581e+01] [-1.35098008e-01 9.90831089e-01 -1.51061337e-03 -8.67904925e+00] [-1.12299203e-02 -6.68302825e-06 9.99936942e-01 -1.30323139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.335769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.04, Y:-8.68, Z:-1.30 [[ 9.90846745e-01 1.34576496e-01 1.05780608e-02 8.30417518e+01] [-1.34568812e-01 9.90903208e-01 -1.43802335e-03 -8.68193667e+00] [-1.06753586e-02 1.38367233e-06 9.99943017e-01 -1.30362557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.365769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:83.07, Y:-8.68, Z:-1.30 [[ 9.90913889e-01 1.34094923e-01 1.04026808e-02 8.30747636e+01] [-1.34087455e-01 9.90968492e-01 -1.41522806e-03 -8.68136334e+00] [-1.04985038e-02 7.50014908e-06 9.99944889e-01 -1.30358431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.395769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.11, Y:-8.68, Z:-1.30 [[ 9.90820681e-01 1.34661604e-01 1.18588100e-02 8.31077149e+01] [-1.34651909e-01 9.90891645e-01 -1.61585917e-03 -8.68344940e+00] [-1.19683900e-02 4.21527308e-06 9.99928376e-01 -1.30336145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.14, Y:-8.68, Z:-1.30 [[ 9.90622061e-01 1.35866633e-01 1.44288178e-02 8.31408279e+01] [-1.35852360e-01 9.90727136e-01 -1.96935899e-03 -8.68255655e+00] [-1.45625915e-02 -9.29848524e-06 9.99893960e-01 -1.30214595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.17, Y:-8.68, Z:-1.30 [[ 9.90548138e-01 1.36437014e-01 1.41183149e-02 8.31728735e+01] [-1.36423367e-01 9.90648748e-01 -1.92971801e-03 -8.68426134e+00] [-1.42495760e-02 -1.45894810e-05 9.99898470e-01 -1.30286506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.21, Y:-8.68, Z:-1.31 [[ 9.90582899e-01 1.36470610e-01 1.10133204e-02 8.32054428e+01] [-1.36462290e-01 9.90644120e-01 -1.50696868e-03 -8.68476937e+00] [-1.11159381e-02 -1.01255260e-05 9.99938216e-01 -1.30605228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.24, Y:-8.69, Z:-1.31 [[ 9.90668810e-01 1.35956278e-01 9.54988017e-03 8.32377303e+01] [-1.35949991e-01 9.90714838e-01 -1.30750483e-03 -8.68800912e+00] [-9.63897148e-03 -3.00187341e-06 9.99953544e-01 -1.30689449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.27, Y:-8.69, Z:-1.31 [[ 9.90755372e-01 1.35369902e-01 8.87600234e-03 8.32681874e+01] [-1.35364431e-01 9.90795130e-01 -1.21701080e-03 -8.69057464e+00] [-8.95904653e-03 4.26498492e-06 9.99959867e-01 -1.30756503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:83.30, Y:-8.69, Z:-1.31 [[ 9.90823930e-01 1.34821365e-01 9.54670860e-03 8.32991277e+01] [-1.34815004e-01 9.90869921e-01 -1.30973474e-03 -8.68986493e+00] [-9.63612662e-03 1.06769665e-05 9.99953571e-01 -1.30783890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:83.33, Y:-8.69, Z:-1.31 [[ 9.90822324e-01 1.34833168e-01 9.54671384e-03 8.33298370e+01] [-1.34826807e-01 9.90868315e-01 -1.30969651e-03 -8.69408404e+00] [-9.63612679e-03 1.05235948e-05 9.99953571e-01 -1.30823803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.36, Y:-8.70, Z:-1.31 [[ 9.90792298e-01 1.34990011e-01 1.04076739e-02 8.33607124e+01] [-1.34982459e-01 9.90846959e-01 -1.42795050e-03 -8.69586344e+00] [-1.05051711e-02 9.94894206e-06 9.99944819e-01 -1.30702036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.665769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.39, Y:-8.70, Z:-1.31 [[ 9.90794061e-01 1.34823886e-01 1.22330735e-02 8.33915455e+01] [-1.34813437e-01 9.90869577e-01 -1.67857335e-03 -8.69625975e+00] [-1.23476921e-02 1.39378268e-05 9.99923764e-01 -1.30661540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.42, Y:-8.70, Z:-1.31 [[ 9.90834704e-01 1.34521456e-01 1.22706022e-02 8.34227254e+01] [-1.34510918e-01 9.90910681e-01 -1.68386167e-03 -8.69951684e+00] [-1.23855863e-02 1.78986076e-05 9.99923296e-01 -1.30758109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.725769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:83.45, Y:-8.70, Z:-1.31 [[ 9.90952626e-01 1.33712441e-01 1.15704848e-02 8.34525218e+01] [-1.33703013e-01 9.91020172e-01 -1.58805870e-03 -8.70295564e+00] [-1.16789271e-02 2.66822457e-05 9.99931799e-01 -1.30815488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.755769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.48, Y:-8.71, Z:-1.31 [[ 9.91248301e-01 1.31628466e-01 1.00376002e-02 8.34833386e+01] [-1.31621264e-01 9.91299120e-01 -1.37773543e-03 -8.70788069e+00] [-1.01316135e-02 4.45162803e-05 9.99948673e-01 -1.30917487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.785769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:83.51, Y:-8.71, Z:-1.31 [[ 9.91359435e-01 1.30797018e-01 9.93025433e-03 8.35131055e+01] [-1.30789924e-01 9.91409167e-01 -1.36330123e-03 -8.71311634e+00] [-1.00232609e-02 5.27443281e-05 9.99949764e-01 -1.30893064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.815769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:83.54, Y:-8.72, Z:-1.31 [[ 9.91442401e-01 1.30087013e-01 1.09240383e-02 8.35428867e+01] [-1.30078384e-01 9.91502579e-01 -1.49971389e-03 -8.72000484e+00] [-1.10263054e-02 6.58986963e-05 9.99939206e-01 -1.30889615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.845769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.57, Y:-8.73, Z:-1.31 [[ 9.91434681e-01 1.30102119e-01 1.14329551e-02 8.35737270e+01] [-1.30092667e-01 9.91500597e-01 -1.56970738e-03 -8.72555141e+00] [-1.15400040e-02 6.89187133e-05 9.99933410e-01 -1.30973717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:-8.73, Z:-1.31 [[ 9.91397038e-01 1.30345703e-01 1.19126517e-02 8.36042798e+01] [-1.30335457e-01 9.91468604e-01 -1.63575097e-03 -8.73236714e+00] [-1.20242333e-02 6.90377624e-05 9.99927704e-01 -1.31096655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.64, Y:-8.74, Z:-1.31 [[ 9.91371315e-01 1.30558407e-01 1.17225323e-02 8.36360564e+01] [-1.30548480e-01 9.91440617e-01 -1.61137787e-03 -8.73821429e+00] [-1.18325736e-02 6.71150255e-05 9.99929990e-01 -1.31163258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.67, Y:-8.74, Z:-1.31 [[ 9.91354900e-01 1.30714105e-01 1.13703400e-02 8.36669199e+01] [-1.30704755e-01 9.91420102e-01 -1.56476692e-03 -8.74432727e+00] [-1.14773208e-02 6.50818446e-05 9.99934131e-01 -1.31257654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.70, Y:-8.75, Z:-1.31 [[ 9.91442166e-01 1.30152205e-01 1.01407841e-02 8.36975040e+01] [-1.30144726e-01 9.91494024e-01 -1.39681536e-03 -8.75410091e+00] [-1.02363254e-02 6.50920767e-05 9.99947605e-01 -1.31298503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.73, Y:-8.76, Z:-1.31 [[ 9.91557907e-01 1.29296337e-01 9.76593847e-03 8.37290169e+01] [-1.29289343e-01 9.91605996e-01 -1.34682443e-03 -8.76188286e+00] [-9.85810261e-03 7.28226429e-05 9.99951405e-01 -1.31335505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.76, Y:-8.77, Z:-1.31 [[ 9.91856135e-01 1.26958067e-01 1.01517270e-02 8.37605026e+01] [-1.26950370e-01 9.91908080e-01 -1.40163724e-03 -8.77267487e+00] [-1.02475291e-02 1.01457002e-04 9.99947488e-01 -1.31380204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.79, Y:-8.78, Z:-1.31 [[ 9.91953284e-01 1.26125982e-01 1.09962795e-02 8.37920846e+01] [-1.26116873e-01 9.92014225e-01 -1.52069109e-03 -8.78003912e+00] [-1.11002643e-02 1.21638134e-04 9.99938383e-01 -1.31430400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.82, Y:-8.79, Z:-1.31 [[ 9.91990904e-01 1.25760442e-01 1.17625497e-02 8.38246586e+01] [-1.25749976e-01 9.92060630e-01 -1.62810642e-03 -8.78793086e+00] [-1.18739139e-02 1.35926410e-04 9.99929493e-01 -1.31416822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.86, Y:-8.80, Z:-1.31 [[ 9.91978376e-01 1.25769650e-01 1.26845155e-02 8.38564952e+01] [-1.25757447e-01 9.92059460e-01 -1.75824751e-03 -8.79903928e+00] [-1.28049278e-02 1.48971214e-04 9.99918002e-01 -1.31423401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.145769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.89, Y:-8.81, Z:-1.31 [[ 9.91868686e-01 1.26638040e-01 1.26220375e-02 8.38876716e+01] [-1.26625997e-01 9.91948984e-01 -1.75197851e-03 -8.80641048e+00] [-1.27422844e-02 1.39454544e-04 9.99918804e-01 -1.31381480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.92, Y:-8.82, Z:-1.31 [[ 9.91296288e-01 1.31031654e-01 1.27426528e-02 8.39196737e+01] [-1.31019713e-01 9.91378181e-01 -1.77099770e-03 -8.81579222e+00] [-1.28648448e-02 8.60447220e-05 9.99917241e-01 -1.31448283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:-8.82, Z:-1.31 [[ 9.90964648e-01 1.33574296e-01 1.21233130e-02 8.39510042e+01] [-1.33563651e-01 9.91038801e-01 -1.68713137e-03 -8.82249349e+00] [-1.22400309e-02 5.26536045e-05 9.99925087e-01 -1.31493759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:-8.83, Z:-1.32 [[ 9.90639960e-01 1.36024595e-01 1.13920880e-02 8.39835124e+01] [-1.36015335e-01 9.90705460e-01 -1.58725981e-03 -8.82995738e+00] [-1.15021102e-02 2.29043208e-05 9.99933848e-01 -1.31578275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.02, Y:-8.84, Z:-1.32 [[ 9.90252670e-01 1.38833455e-01 1.11767944e-02 8.40154370e+01] [-1.38824697e-01 9.90315744e-01 -1.55935628e-03 -8.84028357e+00] [-1.12850463e-02 -7.45837395e-06 9.99936322e-01 -1.31694879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:84.05, Y:-8.85, Z:-1.32 [[ 9.90162719e-01 1.39465354e-01 1.12785549e-02 8.40465562e+01] [-1.39456452e-01 9.90226951e-01 -1.57576713e-03 -8.84697535e+00] [-1.13880940e-02 -1.26013948e-05 9.99935153e-01 -1.31718046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.08, Y:-8.85, Z:-1.32 [[ 9.90064992e-01 1.40137409e-01 1.15247124e-02 8.40776461e+01] [-1.40128135e-01 9.90132065e-01 -1.61228461e-03 -8.85274665e+00] [-1.16369287e-02 -1.86699039e-05 9.99932288e-01 -1.31779933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.11, Y:-8.86, Z:-1.32 [[ 9.89588863e-01 1.43517368e-01 1.08003659e-02 8.41105665e+01] [-1.43509407e-01 9.89647797e-01 -1.51262342e-03 -8.85875471e+00] [-1.09056461e-02 -5.30788144e-05 9.99940530e-01 -1.31840426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:-8.86, Z:-1.32 [[ 9.89261466e-01 1.45786221e-01 1.03985750e-02 8.41432485e+01] [-1.45778946e-01 9.89316113e-01 -1.45825797e-03 -8.86329129e+00] [-1.05000717e-02 -7.32948760e-05 9.99944870e-01 -1.31900913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.18, Y:-8.87, Z:-1.32 [[ 9.88584240e-01 1.50311523e-01 1.03752927e-02 8.41757885e+01] [-1.50304508e-01 9.88638676e-01 -1.45703881e-03 -8.86511678e+00] [-1.04764254e-02 -1.19047659e-04 9.99945114e-01 -1.31941309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.21, Y:-8.87, Z:-1.32 [[ 9.88243940e-01 1.52526074e-01 1.04743595e-02 8.42084964e+01] [-1.52519029e-01 9.88299437e-01 -1.47284419e-03 -8.86804563e+00] [-1.05764508e-02 -1.42009793e-04 9.99944058e-01 -1.31916793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.475769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.24, Y:-8.87, Z:-1.32 [[ 9.87685006e-01 1.56063513e-01 1.10684155e-02 8.42406195e+01] [-1.56055842e-01 9.87747004e-01 -1.55869153e-03 -8.86984727e+00] [-1.11760491e-02 -1.87794639e-04 9.99937528e-01 -1.31915440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.505769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.27, Y:-8.87, Z:-1.32 [[ 9.87557097e-01 1.56794530e-01 1.21019064e-02 8.42737567e+01] [-1.56785385e-01 9.87631222e-01 -1.70664094e-03 -8.87310190e+00] [-1.22198125e-02 -2.11996680e-04 9.99925313e-01 -1.31971899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.535769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:84.31, Y:-8.88, Z:-1.32 [[ 9.87550326e-01 1.56786302e-01 1.27439643e-02 8.43051607e+01] [-1.56776127e-01 9.87632526e-01 -1.79976773e-03 -8.87604649e+00] [-1.28685326e-02 -2.20588152e-04 9.99917173e-01 -1.32028834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.565769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.34, Y:-8.88, Z:-1.32 [[ 9.87923754e-01 1.54388951e-01 1.30655568e-02 8.43379849e+01] [-1.54378015e-01 9.88010129e-01 -1.84759359e-03 -8.87778164e+00] [-1.31941505e-02 -1.91753124e-04 9.99912935e-01 -1.32094898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.37, Y:-8.88, Z:-1.32 [[ 9.88113632e-01 1.53216213e-01 1.24997126e-02 8.43701068e+01] [-1.53206081e-01 9.88192676e-01 -1.76984894e-03 -8.88125457e+00] [-1.26232940e-02 -1.66220113e-04 9.99920309e-01 -1.32110115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:-8.88, Z:-1.32 [[ 9.88451760e-01 1.51135051e-01 1.10142934e-02 8.44032364e+01] [-1.51127036e-01 9.88513117e-01 -1.56118854e-03 -8.88435197e+00] [-1.11237238e-02 -1.21397953e-04 9.99938122e-01 -1.32138691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.43, Y:-8.89, Z:-1.32 [[ 9.88530467e-01 1.50657924e-01 1.04740300e-02 8.44345271e+01] [-1.50650630e-01 9.88585949e-01 -1.48651762e-03 -8.88850310e+00] [-1.05784346e-02 -1.08451266e-04 9.99944041e-01 -1.32245871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.47, Y:-8.89, Z:-1.32 [[ 9.88646505e-01 1.49904464e-01 1.03315352e-02 8.44676504e+01] [-1.49897306e-01 9.88700482e-01 -1.46808189e-03 -8.89300101e+00] [-1.04348659e-02 -9.72552750e-05 9.99945551e-01 -1.32300992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:-8.90, Z:-1.32 [[ 9.89019339e-01 1.47402520e-01 1.06415944e-02 8.44987378e+01] [-1.47394759e-01 9.89076585e-01 -1.51425284e-03 -8.89819482e+00] [-1.07485566e-02 -7.08899063e-05 9.99942230e-01 -1.32404548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.53, Y:-8.90, Z:-1.32 [[ 9.89252388e-01 1.45785011e-01 1.12446737e-02 8.45307243e+01] [-1.45776217e-01 9.89316293e-01 -1.60215688e-03 -8.90426670e+00] [-1.13581094e-02 -5.42684762e-05 9.99935493e-01 -1.32498202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.56, Y:-8.91, Z:-1.33 [[ 9.89836047e-01 1.41718220e-01 1.18552234e-02 8.45622469e+01] [-1.41708125e-01 9.89907039e-01 -1.69153013e-03 -8.91248319e+00] [-1.19752898e-02 -5.64399244e-06 9.99928294e-01 -1.32617886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:-8.92, Z:-1.33 [[ 9.90088150e-01 1.39982590e-01 1.14162124e-02 8.45948325e+01] [-1.39973091e-01 9.90153965e-01 -1.63081639e-03 -8.91918849e+00] [-1.15320939e-02 1.66894402e-05 9.99933503e-01 -1.32670218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:-8.93, Z:-1.33 [[ 9.90319956e-01 1.38402307e-01 1.05444510e-02 8.46273536e+01] [-1.38394095e-01 9.90376090e-01 -1.50801612e-03 -8.92548052e+00] [-1.06516850e-02 3.41287141e-05 9.99943269e-01 -1.32720002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.66, Y:-8.93, Z:-1.33 [[ 9.90610013e-01 1.36371773e-01 9.72328643e-03 8.46588109e+01] [-1.36364677e-01 9.90657729e-01 -1.39225440e-03 -8.93330069e+00] [-9.82231306e-03 5.32683420e-05 9.99951759e-01 -1.32716165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.69, Y:-8.94, Z:-1.33 [[ 9.90588799e-01 1.36523693e-01 9.75259094e-03 8.46914015e+01] [-1.36516544e-01 9.90636804e-01 -1.39814723e-03 -8.93968992e+00] [-9.85215575e-03 5.35989693e-05 9.99951465e-01 -1.32717681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.72, Y:-8.95, Z:-1.33 [[ 9.90451606e-01 1.37435422e-01 1.08222234e-02 8.47238973e+01] [-1.37426649e-01 9.90510728e-01 -1.55373275e-03 -8.94695414e+00] [-1.09330662e-02 5.16352135e-05 9.99940231e-01 -1.32737789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.76, Y:-8.95, Z:-1.33 [[ 9.90376373e-01 1.37957249e-01 1.10651772e-02 8.47556564e+01] [-1.37948084e-01 9.90438183e-01 -1.59090461e-03 -8.95278757e+00] [-1.11788508e-02 4.91743431e-05 9.99937513e-01 -1.32836824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:-8.96, Z:-1.33 [[ 9.90303160e-01 1.38477985e-01 1.11130169e-02 8.47881040e+01] [-1.38468760e-01 9.90365511e-01 -1.59898649e-03 -8.95899255e+00] [-1.12273731e-02 4.46756932e-05 9.99936970e-01 -1.32929557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:-8.97, Z:-1.33 [[ 9.90257702e-01 1.38825227e-01 1.08277386e-02 8.48190483e+01] [-1.38816466e-01 9.90316896e-01 -1.56012931e-03 -8.96523116e+00] [-1.09394777e-02 4.18616646e-05 9.99940161e-01 -1.32963574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:84.85, Y:-8.97, Z:-1.33 [[ 9.90028076e-01 1.40483132e-01 1.04354015e-02 8.48515834e+01] [-1.40475076e-01 9.90083072e-01 -1.50466073e-03 -8.97426873e+00] [-1.05432938e-02 2.37425464e-05 9.99944418e-01 -1.32869413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:-8.98, Z:-1.33 [[ 9.89887581e-01 1.41460805e-01 1.05554174e-02 8.48845158e+01] [-1.41452597e-01 9.89943857e-01 -1.52395746e-03 -8.97978781e+00] [-1.06648508e-02 1.54553577e-05 9.99943129e-01 -1.32846468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.92, Y:-8.99, Z:-1.33 [[ 9.89406921e-01 1.44757176e-01 1.09226903e-02 8.49172219e+01] [-1.44748564e-01 9.89467210e-01 -1.57907832e-03 -8.98521882e+00] [-1.10362268e-02 -1.86927226e-05 9.99939099e-01 -1.32881973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.95, Y:-8.99, Z:-1.33 [[ 9.89006173e-01 1.47416583e-01 1.16249760e-02 8.49498680e+01] [-1.47406984e-01 9.89074491e-01 -1.68297060e-03 -8.99085630e+00] [-1.17460650e-02 -4.91343364e-05 9.99931011e-01 -1.32959274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.98, Y:-9.00, Z:-1.33 [[ 9.88523013e-01 1.50535688e-01 1.26987571e-02 8.49810959e+01] [-1.50524457e-01 9.88604571e-01 -1.84108104e-03 -8.99640261e+00] [-1.28311978e-02 -9.15225518e-05 9.99917673e-01 -1.32966058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.195769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.01, Y:-9.00, Z:-1.33 [[ 9.87625374e-01 1.56122635e-01 1.48943812e-02 8.50137134e+01] [-1.56107773e-01 9.87737661e-01 -2.16248103e-03 -9.00112026e+00] [-1.50493535e-02 -1.89407532e-04 9.99886734e-01 -1.32889697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:-9.01, Z:-1.33 [[ 9.87275584e-01 1.58362958e-01 1.44255099e-02 8.50466725e+01] [-1.58349216e-01 9.87380944e-01 -2.09713080e-03 -9.00523456e+00] [-1.45755814e-02 -2.13822149e-04 9.99893748e-01 -1.32919459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.255769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.08, Y:-9.01, Z:-1.33 [[ 9.86796938e-01 1.61514502e-01 1.20361101e-02 8.50784780e+01] [-1.61505146e-01 9.86870315e-01 -1.75174013e-03 -9.00820091e+00] [-1.21610113e-02 -2.15281923e-04 9.99926029e-01 -1.33097643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.285769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:85.11, Y:-9.01, Z:-1.33 [[ 9.86583912e-01 1.62882475e-01 1.10220047e-02 8.51106846e+01] [-1.62874702e-01 9.86645455e-01 -1.60521950e-03 -9.01298492e+00] [-1.11362730e-02 -2.11522002e-04 9.99937967e-01 -1.33184145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.315769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:85.14, Y:-9.02, Z:-1.33 [[ 9.86352781e-01 1.64275228e-01 1.10381523e-02 8.51420330e+01] [-1.64267496e-01 9.86414517e-01 -1.60971834e-03 -9.01795482e+00] [-1.11526305e-02 -2.25459479e-04 9.99937782e-01 -1.33245449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.345769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.17, Y:-9.02, Z:-1.33 [[ 9.85897837e-01 1.66934282e-01 1.17643993e-02 8.51749287e+01] [-1.66925661e-01 9.85967988e-01 -1.71787563e-03 -9.02165160e+00] [-1.18860935e-02 -2.70130274e-04 9.99929321e-01 -1.33281461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.375769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.21, Y:-9.02, Z:-1.33 [[ 9.85699779e-01 1.68094886e-01 1.18344759e-02 8.52065549e+01] [-1.68086219e-01 9.85770779e-01 -1.73038190e-03 -9.02466296e+00] [-1.19569489e-02 -2.83575248e-04 9.99928473e-01 -1.33372610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.24, Y:-9.03, Z:-1.33 [[ 9.85432557e-01 1.69710045e-01 1.10080026e-02 8.52393323e+01] [-1.69702627e-01 9.85493999e-01 -1.61130616e-03 -9.02695212e+00] [-1.11217754e-02 -2.80253420e-04 9.99938112e-01 -1.33479365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:85.27, Y:-9.03, Z:-1.34 [[ 9.85342069e-01 1.70251619e-01 1.07421283e-02 8.52723490e+01] [-1.70244566e-01 9.85400583e-01 -1.57435167e-03 -9.03117365e+00] [-1.08533354e-02 -2.77514026e-04 9.99941062e-01 -1.33523861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.30, Y:-9.04, Z:-1.34 [[ 9.85267545e-01 1.70654298e-01 1.11792519e-02 8.53048751e+01] [-1.70646660e-01 9.85330922e-01 -1.64062369e-03 -9.03560762e+00] [-1.12952421e-02 -2.91248734e-04 9.99936164e-01 -1.33532367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.34, Y:-9.04, Z:-1.34 [[ 9.85253572e-01 1.70734973e-01 1.11789196e-02 8.53379954e+01] [-1.70727315e-01 9.85316946e-01 -1.64288453e-03 -9.04061283e+00] [-1.12952768e-02 -2.89889088e-04 9.99936164e-01 -1.33575523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.37, Y:-9.04, Z:-1.33 [[ 9.85149756e-01 1.71248147e-01 1.24108713e-02 8.53696041e+01] [-1.71238734e-01 9.85227875e-01 -1.82505995e-03 -9.04316422e+00] [-1.25400745e-02 -3.27264534e-04 9.99921317e-01 -1.33498241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.555769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.40, Y:-9.05, Z:-1.34 [[ 9.85021080e-01 1.71972809e-01 1.26025839e-02 8.54020381e+01] [-1.71963133e-01 9.85101638e-01 -1.85552794e-03 -9.04701863e+00] [-1.27339264e-02 -3.39445689e-04 9.99918863e-01 -1.33605230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.585769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:85.43, Y:-9.05, Z:-1.34 [[ 9.84828231e-01 1.73101980e-01 1.22089995e-02 8.54340141e+01] [-1.73092958e-01 9.84903847e-01 -1.79983106e-03 -9.05095576e+00] [-1.23362449e-02 -3.40767398e-04 9.99923848e-01 -1.33683762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.615769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:85.47, Y:-9.05, Z:-1.34 [[ 9.84352933e-01 1.75878767e-01 1.07685917e-02 8.54662728e+01] [-1.75871897e-01 9.84411779e-01 -1.58915128e-03 -9.05271586e+00] [-1.08802265e-02 -3.29606921e-04 9.99940754e-01 -1.33816181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.645769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:85.50, Y:-9.05, Z:-1.34 [[ 9.84123138e-01 1.77191378e-01 1.02403601e-02 8.54973077e+01] [-1.77185219e-01 9.84176361e-01 -1.51280856e-03 -9.05444538e+00] [-1.03463770e-02 -3.25650543e-04 9.99946422e-01 -1.33846891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.675769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:85.53, Y:-9.05, Z:-1.34 [[ 9.83753652e-01 1.79219636e-01 1.04438236e-02 8.55286922e+01] [-1.79213323e-01 9.83809025e-01 -1.54483344e-03 -9.05231933e+00] [-1.05515924e-02 -3.51936796e-04 9.99944268e-01 -1.33855467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.705769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:85.56, Y:-9.05, Z:-1.34 [[ 9.83619695e-01 1.79922466e-01 1.09636595e-02 8.55585401e+01] [-1.79915553e-01 9.83680723e-01 -1.62174761e-03 -9.05437382e+00] [-1.10765293e-02 -3.77349965e-04 9.99938582e-01 -1.33879089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.735769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:85.59, Y:-9.06, Z:-1.34 [[ 9.83614485e-01 1.79934842e-01 1.12248182e-02 8.55891886e+01] [-1.79927598e-01 9.83678455e-01 -1.66022462e-03 -9.05631188e+00] [-1.13403441e-02 -3.86633605e-04 9.99935621e-01 -1.33878468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:85.62, Y:-9.05, Z:-1.34 [[ 9.83931538e-01 1.78140180e-01 1.20335049e-02 8.56191725e+01] [-1.78131720e-01 9.84005042e-01 -1.77984295e-03 -9.05494722e+00] [-1.21580910e-02 -3.92305306e-04 9.99926011e-01 -1.33961932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:85.65, Y:-9.06, Z:-1.34 [[ 9.84332122e-01 1.75889363e-01 1.23776393e-02 8.56499139e+01] [-1.75880237e-01 9.84409870e-01 -1.83058923e-03 -9.05694796e+00] [-1.25066515e-02 -3.75074349e-04 9.99921718e-01 -1.34066926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.68, Y:-9.06, Z:-1.34 [[ 9.84783636e-01 1.73327256e-01 1.26037064e-02 8.56801653e+01] [-1.73317584e-01 9.84864224e-01 -1.86402340e-03 -9.05982908e+00] [-1.27360256e-02 -3.48784208e-04 9.99918833e-01 -1.34096706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.71, Y:-9.06, Z:-1.34 [[ 9.85727029e-01 1.67869619e-01 1.27285078e-02 8.57105060e+01] [-1.67859299e-01 9.85809166e-01 -1.88248077e-03 -9.06214717e+00] [-1.28638910e-02 -2.80986210e-04 9.99917217e-01 -1.34053715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.74, Y:-9.07, Z:-1.34 [[ 9.86136658e-01 1.65466685e-01 1.24606537e-02 8.57404876e+01] [-1.65456601e-01 9.86215350e-01 -1.84301235e-03 -9.06543430e+00] [-1.25938451e-02 -2.44235370e-04 9.99920665e-01 -1.34091912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:-9.07, Z:-1.34 [[ 9.86560506e-01 1.62946649e-01 1.21143290e-02 8.57710641e+01] [-1.62936928e-01 9.86634860e-01 -1.79178866e-03 -9.06879887e+00] [-1.22443853e-02 -2.06163623e-04 9.99925013e-01 -1.34163674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.945769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:85.80, Y:-9.07, Z:-1.34 [[ 9.87191063e-01 1.59099805e-01 1.18767050e-02 8.58005579e+01] [-1.59090183e-01 9.87262492e-01 -1.75665234e-03 -9.07110744e+00] [-1.20049085e-02 -1.55315687e-04 9.99927926e-01 -1.34170764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.975769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:85.83, Y:-9.07, Z:-1.34 [[ 9.87263445e-01 1.58641620e-01 1.19885835e-02 8.58314331e+01] [-1.58631784e-01 9.87336221e-01 -1.77305313e-03 -9.07427097e+00] [-1.21180427e-02 -1.51299843e-04 9.99926562e-01 -1.34144756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.86, Y:-9.08, Z:-1.34 [[ 9.87068309e-01 1.59838894e-01 1.21523997e-02 8.58616516e+01] [-1.59828877e-01 9.87143100e-01 -1.79728075e-03 -9.07554876e+00] [-1.22834329e-02 -1.68265534e-04 9.99924542e-01 -1.34206015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.035769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.89, Y:-9.08, Z:-1.34 [[ 9.86932005e-01 1.60720992e-01 1.15749797e-02 8.58923115e+01] [-1.60711966e-01 9.86999865e-01 -1.71185454e-03 -9.07896809e+00] [-1.16996343e-02 -1.70753705e-04 9.99931542e-01 -1.34345922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.065769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.92, Y:-9.08, Z:-1.34 [[ 9.86834026e-01 1.61394281e-01 1.05114974e-02 8.59215828e+01] [-1.61386872e-01 9.86889994e-01 -1.55488532e-03 -9.08198599e+00] [-1.06246412e-02 -1.62003956e-04 9.99943544e-01 -1.34421599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.095769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:85.95, Y:-9.08, Z:-1.35 [[ 9.86875257e-01 1.61178939e-01 9.92859717e-03 8.59511730e+01] [-1.61172320e-01 9.86925188e-01 -1.46848186e-03 -9.08468124e+00] [-1.00354710e-02 -1.51006625e-04 9.99949632e-01 -1.34561155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.125769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:85.98, Y:-9.09, Z:-1.35 [[ 9.87065750e-01 1.60022183e-01 9.70079206e-03 8.59816897e+01] [-1.60015807e-01 9.87113409e-01 -1.43493130e-03 -9.08902176e+00] [-9.80540276e-03 -1.35908534e-04 9.99951917e-01 -1.34571458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.01, Y:-9.09, Z:-1.35 [[ 9.87667664e-01 1.56283330e-01 9.38645880e-03 8.60111396e+01] [-1.56277191e-01 9.87712262e-01 -1.38847503e-03 -9.09439398e+00] [-9.48811595e-03 -9.55375294e-05 9.99954982e-01 -1.34695289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18576923100001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:86.04, Y:-9.10, Z:-1.35 [[ 9.87940206e-01 1.54543615e-01 9.50899323e-03 8.60415515e+01] [-1.54537235e-01 9.87985964e-01 -1.40644825e-03 -9.10017835e+00] [-9.61210944e-03 -8.00067461e-05 9.99953799e-01 -1.34729596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21576923100001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:86.07, Y:-9.11, Z:-1.35 [[ 9.88132134e-01 1.53262298e-01 1.02739224e-02 8.60703930e+01] [-1.53254781e-01 9.88185541e-01 -1.51961591e-03 -9.10549047e+00] [-1.03854414e-02 -7.29464143e-05 9.99946067e-01 -1.34756909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:86.10, Y:-9.11, Z:-1.35 [[ 9.88232964e-01 1.52567775e-01 1.08941576e-02 8.61007277e+01] [-1.52559283e-01 9.88293008e-01 -1.61119503e-03 -9.11059521e+00] [-1.10124362e-02 -6.97688313e-05 9.99939359e-01 -1.34770644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.275769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.13, Y:-9.12, Z:-1.35 [[ 9.87933772e-01 1.54487193e-01 1.09804270e-02 8.61309817e+01] [-1.54478685e-01 9.87994787e-01 -1.62393280e-03 -9.11677747e+00] [-1.10994815e-02 -9.19038702e-05 9.99938395e-01 -1.34729648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.305769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.16, Y:-9.12, Z:-1.35 [[ 9.87538164e-01 1.56994593e-01 1.10033121e-02 8.61610231e+01] [-1.56986204e-01 9.87599455e-01 -1.62747054e-03 -9.12183775e+00] [-1.11223691e-02 -1.20178928e-04 9.99938137e-01 -1.34732718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.335769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:86.19, Y:-9.12, Z:-1.35 [[ 9.86597463e-01 1.62764693e-01 1.15369384e-02 8.61900293e+01] [-1.62755864e-01 9.86664896e-01 -1.70641214e-03 -9.12488015e+00] [-1.16608357e-02 -1.94162476e-04 9.99931991e-01 -1.34713659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.365769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.22, Y:-9.13, Z:-1.35 [[ 9.86165798e-01 1.65339715e-01 1.18236105e-02 8.62200719e+01] [-1.65330628e-01 9.86236648e-01 -1.74865706e-03 -9.12735898e+00] [-1.19500005e-02 -2.30339171e-04 9.99928570e-01 -1.34760586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.395769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.25, Y:-9.13, Z:-1.35 [[ 9.85588436e-01 1.68814242e-01 1.08252888e-02 8.62500271e+01] [-1.68806833e-01 9.85647853e-01 -1.60105461e-03 -9.12795976e+00] [-1.09402035e-02 -2.49401819e-04 9.99940123e-01 -1.34895357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.425769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:86.28, Y:-9.13, Z:-1.35 [[ 9.85402400e-01 1.69952520e-01 9.91212157e-03 8.62787713e+01] [-1.69946369e-01 9.85452223e-01 -1.46582323e-03 -9.13029218e+00] [-1.00170426e-02 -2.40103336e-04 9.99949799e-01 -1.34903070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.31, Y:-9.13, Z:-1.35 [[ 9.85291582e-01 1.70597271e-01 9.85236179e-03 8.63075821e+01] [-1.70591229e-01 9.85340809e-01 -1.45667864e-03 -9.13192671e+00] [-9.95643954e-03 -2.45473304e-04 9.99950403e-01 -1.34995921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:-9.13, Z:-1.35 [[ 9.85178075e-01 1.71221762e-01 1.03570355e-02 8.63361276e+01] [-1.71215124e-01 9.85232479e-01 -1.53078601e-03 -9.13308455e+00] [-1.04661917e-02 -2.65184308e-04 9.99945193e-01 -1.34999037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:-9.13, Z:-1.35 [[ 9.84956188e-01 1.72355203e-01 1.24495246e-02 8.63659829e+01] [-1.72345712e-01 9.85034808e-01 -1.83936746e-03 -9.13019785e+00] [-1.25802396e-02 -3.33925818e-04 9.99920810e-01 -1.34987116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:-9.13, Z:-1.35 [[ 9.84834675e-01 1.72983954e-01 1.33121942e-02 8.63941113e+01] [-1.72973167e-01 9.84924575e-01 -1.96616220e-03 -9.13026005e+00] [-1.34516217e-02 -3.66307686e-04 9.99909456e-01 -1.34966412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:-9.13, Z:-1.35 [[ 9.84594602e-01 1.74407787e-01 1.24657178e-02 8.64235905e+01] [-1.74398452e-01 9.84673445e-01 -1.84042169e-03 -9.12575097e+00] [-1.25956452e-02 -3.61932637e-04 9.99920606e-01 -1.35137497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.45, Y:-9.12, Z:-1.35 [[ 9.84560424e-01 1.74676630e-01 1.13510780e-02 8.64517029e+01] [-1.74668913e-01 9.84625799e-01 -1.67539187e-03 -9.12458353e+00] [-1.14692161e-02 -3.33155928e-04 9.99934171e-01 -1.35188742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:-9.12, Z:-1.35 [[ 9.84593438e-01 1.74531263e-01 1.07051581e-02 8.64815027e+01] [-1.74524397e-01 9.84651583e-01 -1.57944661e-03 -9.12334274e+00] [-1.08165137e-02 -3.13198501e-04 9.99941451e-01 -1.35215534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.665769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.51, Y:-9.12, Z:-1.35 [[ 9.84874394e-01 1.72948832e-01 1.05418479e-02 8.65100777e+01] [-1.72942087e-01 9.84930767e-01 -1.55498748e-03 -9.11517634e+00] [-1.06519236e-02 -2.91661826e-04 9.99943224e-01 -1.35272188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.695769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:86.54, Y:-9.11, Z:-1.35 [[ 9.85178553e-01 1.71209448e-01 1.05139742e-02 8.65383497e+01] [-1.71202652e-01 9.85234617e-01 -1.54974112e-03 -9.11335857e+00] [-1.06240617e-02 -2.73248561e-04 9.99943526e-01 -1.35322877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.725769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:86.57, Y:-9.11, Z:-1.35 [[ 9.85632152e-01 1.68580730e-01 1.04784483e-02 8.65664835e+01] [-1.68573839e-01 9.85687820e-01 -1.54376098e-03 -9.11177985e+00] [-1.05887272e-02 -2.44811803e-04 9.99943908e-01 -1.35382263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.755769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:86.59, Y:-9.11, Z:-1.35 [[ 9.86810724e-01 1.61513886e-01 1.08563152e-02 8.65943970e+01] [-1.61506070e-01 9.86870424e-01 -1.59862415e-03 -9.10556097e+00] [-1.09719764e-02 -1.75821348e-04 9.99939791e-01 -1.35431301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.785769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:86.62, Y:-9.10, Z:-1.35 [[ 9.87562499e-01 1.56819121e-01 1.13169552e-02 8.66229124e+01] [-1.56810329e-01 9.87627332e-01 -1.66561000e-03 -9.10488387e+00] [-1.14381338e-02 -1.29721504e-04 9.99934574e-01 -1.35423087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.815769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.65, Y:-9.10, Z:-1.35 [[ 9.88967748e-01 1.47565213e-01 1.29344987e-02 8.66517772e+01] [-1.47552948e-01 9.89052328e-01 -1.90266659e-03 -9.10040521e+00] [-1.30736634e-02 -2.68475152e-05 9.99914536e-01 -1.35363847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.845769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.68, Y:-9.10, Z:-1.35 [[ 9.89560184e-01 1.43440498e-01 1.39809254e-02 8.66811210e+01] [-1.43425772e-01 9.89658943e-01 -2.05557876e-03 -9.10113830e+00] [-1.41312010e-02 2.88938822e-05 9.99900149e-01 -1.35396450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:-9.10, Z:-1.35 [[ 9.90096138e-01 1.39666029e-01 1.42491446e-02 8.67099136e+01] [-1.39650351e-01 9.90198664e-01 -2.09432366e-03 -9.10233210e+00] [-1.44019898e-02 8.36837144e-05 9.99896282e-01 -1.35445020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:-9.10, Z:-1.36 [[ 9.91017213e-01 1.33211820e-01 1.18108257e-02 8.67392589e+01] [-1.33200595e-01 9.91087579e-01 -1.73548137e-03 -9.10235950e+00] [-1.19367492e-02 1.46682906e-04 9.99928744e-01 -1.35629574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:-9.11, Z:-1.36 [[ 9.91437346e-01 1.30214082e-01 9.81235320e-03 8.67671985e+01] [-1.30206191e-01 9.91485890e-01 -1.44149035e-03 -9.10586687e+00] [-9.91651208e-03 1.51518229e-04 9.99950819e-01 -1.35728082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.80, Y:-9.11, Z:-1.36 [[ 9.91833082e-01 1.27229014e-01 8.93958454e-03 8.67955801e+01] [-1.27222348e-01 9.91873354e-01 -1.31276245e-03 -9.10987841e+00] [-9.03395717e-03 1.64726296e-04 9.99959179e-01 -1.35758409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.82, Y:-9.11, Z:-1.36 [[ 9.92404793e-01 1.22567722e-01 1.04824147e-02 8.68239407e+01] [-1.22558303e-01 9.92460123e-01 -1.53872593e-03 -9.11400244e+00] [-1.05919767e-02 2.42332043e-04 9.99943874e-01 -1.35692034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:-9.12, Z:-1.36 [[ 9.92558241e-01 1.21204990e-01 1.17255471e-02 8.68521615e+01] [-1.21193116e-01 9.92627457e-01 -1.72057459e-03 -9.11826346e+00] [-1.18476423e-02 2.86714891e-04 9.99929773e-01 -1.35677836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.055769231 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:86.88, Y:-9.12, Z:-1.35 [[ 9.92753602e-01 1.19628094e-01 1.13756536e-02 8.68795369e+01] [-1.19616821e-01 9.92818730e-01 -1.66873353e-03 -9.12458369e+00] [-1.14935894e-02 2.95921708e-04 9.99933903e-01 -1.35287484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.085769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:86.91, Y:-9.13, Z:-1.36 [[ 9.92917191e-01 1.18314566e-01 1.08219817e-02 8.69080989e+01] [-1.18304293e-01 9.92976121e-01 -1.58682828e-03 -9.12957168e+00] [-1.09337143e-02 2.95302187e-04 9.99940182e-01 -1.35957761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.115769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:86.94, Y:-9.14, Z:-1.36 [[ 9.93115420e-01 1.16705346e-01 1.00809484e-02 8.69363683e+01] [-1.16696353e-01 9.93166541e-01 -1.47774219e-03 -9.13510317e+00] [-1.01845211e-02 2.91158637e-04 9.99948094e-01 -1.36014363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.145769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:86.96, Y:-9.14, Z:-1.36 [[ 9.93614135e-01 1.12379004e-01 1.00950243e-02 8.69647632e+01] [-1.12369768e-01 9.93665360e-01 -1.47931651e-03 -9.14250974e+00] [-1.01973201e-02 3.35494255e-04 9.99947950e-01 -1.36052908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.175769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.99, Y:-9.15, Z:-1.36 [[ 9.93917537e-01 1.09713177e-01 9.53664260e-03 8.69917295e+01] [-1.09704815e-01 9.93963229e-01 -1.39710617e-03 -9.14885676e+00] [-9.63235303e-03 3.42392712e-04 9.99953549e-01 -1.36039682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.205769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.02, Y:-9.16, Z:-1.36 [[ 9.94207239e-01 1.07038445e-01 9.73333563e-03 8.70200608e+01] [-1.07029613e-01 9.94254812e-01 -1.42528848e-03 -9.15605729e+00] [-9.82997645e-03 3.75276980e-04 9.99951614e-01 -1.36116869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:-9.17, Z:-1.36 [[ 9.94670157e-01 1.02585469e-01 1.03682694e-02 8.70472221e+01] [-1.02575211e-01 9.94724094e-01 -1.51771339e-03 -9.16591693e+00] [-1.04692627e-02 4.46096793e-04 9.99945096e-01 -1.36138852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:-9.17, Z:-1.36 [[ 9.94791793e-01 1.01341913e-01 1.09135462e-02 8.70751376e+01] [-1.01330478e-01 9.94851538e-01 -1.59712542e-03 -9.17232094e+00] [-1.10192140e-02 4.82932402e-04 9.99939170e-01 -1.36164585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.10, Y:-9.18, Z:-1.36 [[ 9.94856175e-01 1.00741450e-01 1.05995851e-02 8.71034344e+01] [-1.00730633e-01 9.94912526e-01 -1.55081262e-03 -9.18164589e+00] [-1.07018911e-02 4.75132589e-04 9.99942620e-01 -1.36210194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.13, Y:-9.19, Z:-1.36 [[ 9.94853660e-01 1.00831468e-01 9.96044761e-03 8.71318331e+01] [-1.00821923e-01 9.94903421e-01 -1.45705305e-03 -9.18790711e+00] [-1.00566002e-02 4.45323074e-04 9.99949332e-01 -1.36236760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:87.16, Y:-9.19, Z:-1.36 [[ 9.94800611e-01 1.01397815e-01 9.49884894e-03 8.71612861e+01] [-1.01389161e-01 9.94845871e-01 -1.38946231e-03 -9.19398485e+00] [-9.59077909e-03 4.19157633e-04 9.99953920e-01 -1.36234627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:87.19, Y:-9.20, Z:-1.36 [[ 9.94666629e-01 1.02702551e-01 9.51228423e-03 8.71902672e+01] [-1.02693934e-01 9.94712029e-01 -1.39120858e-03 -9.19969625e+00] [-9.60486422e-03 4.06934857e-04 9.99953789e-01 -1.36270499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.415769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:87.22, Y:-9.20, Z:-1.36 [[ 9.94667823e-01 1.02690981e-01 9.51232202e-03 8.72201185e+01] [-1.02682366e-01 9.94713223e-01 -1.39095019e-03 -9.20402245e+00] [-9.60487054e-03 4.06785658e-04 9.99953789e-01 -1.36309338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.25, Y:-9.21, Z:-1.36 [[ 9.94353308e-01 1.05591549e-01 1.05793583e-02 8.72477282e+01] [-1.05581057e-01 9.94409497e-01 -1.54688712e-03 -9.21074076e+00] [-1.06835526e-02 4.21172481e-04 9.99942841e-01 -1.36452119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.475769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:87.28, Y:-9.22, Z:-1.36 [[ 9.94218998e-01 1.06854756e-01 1.05187965e-02 8.72753894e+01] [-1.06844459e-01 9.94274558e-01 -1.53766020e-03 -9.21651403e+00] [-1.06228780e-02 4.04895857e-04 9.99943494e-01 -1.36458427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.505769231 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:87.30, Y:-9.22, Z:-1.36 [[ 9.93933163e-01 1.09514269e-01 1.01731095e-02 8.73045703e+01] [-1.09504781e-01 9.93985157e-01 -1.48676006e-03 -9.22337665e+00] [-1.02747413e-02 3.63736009e-04 9.99947147e-01 -1.35936601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.535769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:87.33, Y:-9.23, Z:-1.36 [[ 9.93776734e-01 1.10921231e-01 1.02119613e-02 8.73331939e+01] [-1.10911747e-01 9.93829139e-01 -1.49221741e-03 -9.22755113e+00] [-1.03144633e-02 3.50304477e-04 9.99946743e-01 -1.36474569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.565769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:87.36, Y:-9.23, Z:-1.36 [[ 9.93564406e-01 1.12769143e-01 1.06250071e-02 8.73629141e+01] [-1.12758986e-01 9.93621156e-01 -1.55213993e-03 -9.23232962e+00] [-1.07322654e-02 3.44085960e-04 9.99942348e-01 -1.36446808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.595769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:87.39, Y:-9.24, Z:-1.36 [[ 9.92986525e-01 1.17629708e-01 1.18749001e-02 8.73918610e+01] [-1.17617372e-01 9.93057474e-01 -1.73440879e-03 -9.23658787e+00] [-1.19964763e-02 3.25550017e-04 9.99927987e-01 -1.36451134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.625769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:87.42, Y:-9.24, Z:-1.36 [[ 9.92661225e-01 1.20261953e-01 1.26789354e-02 8.74201178e+01] [-1.20248108e-01 9.92742144e-01 -1.85152157e-03 -9.24064050e+00] [-1.28095811e-02 3.13315679e-04 9.99917905e-01 -1.36465035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65576923100001 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:87.45, Y:-9.24, Z:-1.36 [[ 9.92116049e-01 1.24562449e-01 1.37819587e-02 8.74483462e+01] [-1.24546511e-01 9.92211731e-01 -2.01206728e-03 -9.24377880e+00] [-1.39252492e-02 2.79709365e-04 9.99903000e-01 -1.36421704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68576923100001 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:87.48, Y:-9.25, Z:-1.36 [[ 9.91895751e-01 1.26350994e-01 1.33508367e-02 8.74778591e+01] [-1.26336206e-01 9.91985567e-01 -1.94868082e-03 -9.24814674e+00] [-1.34900551e-02 2.46194168e-04 9.99908975e-01 -1.36475206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71576923100001 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:87.51, Y:-9.25, Z:-1.37 [[ 9.91739678e-01 1.27676179e-01 1.22964892e-02 8.75063131e+01] [-1.27663740e-01 9.91815885e-01 -1.79452453e-03 -9.25265224e+00] [-1.24249713e-02 2.09885380e-04 9.99922785e-01 -1.36518533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74576923100001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:87.53, Y:-9.26, Z:-1.37 [[ 9.91728599e-01 1.27802791e-01 1.18672812e-02 8.75343537e+01] [-1.27791218e-01 9.91799580e-01 -1.73148012e-03 -9.25974946e+00] [-1.19912525e-02 2.00624038e-04 9.99928082e-01 -1.36728505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77576923100001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:87.56, Y:-9.27, Z:-1.37 [[ 9.91891899e-01 1.26456716e-01 1.26158225e-02 8.75620578e+01] [-1.26443535e-01 9.91972099e-01 -1.84021244e-03 -9.26636466e+00] [-1.27472511e-02 2.30102625e-04 9.99918724e-01 -1.36779891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.805769231 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:87.59, Y:-9.27, Z:-1.37 [[ 9.92147596e-01 1.24301972e-01 1.38624798e-02 8.75922611e+01] [-1.24285855e-01 9.92244395e-01 -2.02155297e-03 -9.27350041e+00] [-1.40062509e-02 2.82768780e-04 9.99901868e-01 -1.36813669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.835769231 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:87.62, Y:-9.28, Z:-1.37 [[ 9.92448133e-01 1.21882526e-01 1.38330456e-02 8.76205187e+01] [-1.21866242e-01 9.92544483e-01 -2.01724787e-03 -9.28458855e+00] [-1.39757803e-02 3.16232602e-04 9.99902284e-01 -1.36753327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.865769231 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:87.65, Y:-9.29, Z:-1.37 [[ 9.92467026e-01 1.21877582e-01 1.24521834e-02 8.76505383e+01] [-1.21864388e-01 9.92545099e-01 -1.81574547e-03 -9.29273059e+00] [-1.25806523e-02 2.84589798e-04 9.99920820e-01 -1.36789312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.895769231 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:87.68, Y:-9.30, Z:-1.37 [[ 9.92240782e-01 1.23949551e-01 9.73346958e-03 8.76790554e+01] [-1.23941589e-01 9.92288500e-01 -1.41927005e-03 -9.30323136e+00] [-9.83432782e-03 2.01875931e-04 9.99951621e-01 -1.36905181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.925769231 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:87.71, Y:-9.31, Z:-1.37 [[ 9.91988300e-01 1.26001420e-01 9.10248921e-03 8.77092755e+01] [-1.25994542e-01 9.92030047e-01 -1.32742137e-03 -9.31033114e+00] [-9.19719977e-03 1.69922507e-04 9.99957690e-01 -1.37017114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.955769231 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:87.74, Y:-9.32, Z:-1.37 [[ 9.91670165e-01 1.28468464e-01 9.28109123e-03 8.77391866e+01] [-1.28461421e-01 9.91713583e-01 -1.35346701e-03 -9.31709445e+00] [-9.37806207e-03 1.49930678e-04 9.99956014e-01 -1.37069770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.985769231 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:87.77, Y:-9.33, Z:-1.37 [[ 9.90934192e-01 1.33971609e-01 1.00516528e-02 8.77676950e+01] [-1.33963631e-01 9.90985165e-01 -1.46587250e-03 -9.32635607e+00] [-1.01574241e-02 1.06027263e-04 9.99948406e-01 -1.36995244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01576923100001 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:87.80, Y:-9.33, Z:-1.37 [[ 9.90549249e-01 1.36769075e-01 1.03152665e-02 8.77977537e+01] [-1.36760826e-01 9.90602955e-01 -1.50415081e-03 -9.33216619e+00] [-1.04240548e-02 7.92110906e-05 9.99945665e-01 -1.36912050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04576923100001 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:87.83, Y:-9.34, Z:-1.37 [[ 9.90137562e-01 1.39694037e-01 1.06387834e-02 8.78273142e+01] [-1.39685432e-01 9.90194715e-01 -1.55135084e-03 -9.33672797e+00] [-1.07511815e-02 4.99676987e-05 9.99942203e-01 -1.36951470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07576923100001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:87.86, Y:-9.34, Z:-1.37 [[ 9.89313850e-01 1.45414839e-01 1.06127866e-02 8.78564834e+01] [-1.45406605e-01 9.89370772e-01 -1.54745705e-03 -9.34001043e+00] [-1.07250041e-02 -1.22485866e-05 9.99942485e-01 -1.37026280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10576923100001 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:87.89, Y:-9.34, Z:-1.37 [[ 9.89018942e-01 1.47436129e-01 1.02039693e-02 8.78852616e+01] [-1.47428627e-01 9.89071578e-01 -1.48764423e-03 -9.34385467e+00] [-1.03117885e-02 -3.30488620e-05 9.99946832e-01 -1.37150062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13576923100001 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:87.91, Y:-9.35, Z:-1.37 [[ 9.88641805e-01 1.49940588e-01 1.02568140e-02 8.79135309e+01] [-1.49933146e-01 9.88695007e-01 -1.49500233e-03 -9.34668342e+00] [-1.03650223e-02 -5.98145931e-05 9.99946280e-01 -1.37156990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.165769231 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:87.94, Y:-9.35, Z:-1.37 [[ 9.88548391e-01 1.50507971e-01 1.09283327e-02 8.79422432e+01] [-1.50499565e-01 9.88608793e-01 -1.59231769e-03 -9.34929631e+00] [-1.10435023e-02 -7.06262228e-05 9.99939016e-01 -1.37149441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.195769231 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:87.97, Y:-9.35, Z:-1.37 [[ 9.88426339e-01 1.51263593e-01 1.15194379e-02 8.79709132e+01] [-1.51254308e-01 9.88493459e-01 -1.67803837e-03 -9.35213016e+00] [-1.16407152e-02 -8.37472939e-05 9.99932241e-01 -1.37195052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.225769231 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:88.00, Y:-9.35, Z:-1.37 [[ 9.88441063e-01 1.51215184e-01 1.08734830e-02 8.80003987e+01] [-1.51206914e-01 9.88500866e-01 -1.58344021e-03 -9.35470031e+00] [-1.09878875e-02 -7.90084901e-05 9.99939628e-01 -1.37279639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.255769231 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:88.03, Y:-9.36, Z:-1.37 [[ 9.88553514e-01 1.50534059e-01 1.00721153e-02 8.80298433e+01] [-1.50526929e-01 9.88604821e-01 -1.46653509e-03 -9.35758157e+00] [-1.01781053e-02 -6.63761743e-05 9.99948200e-01 -1.37336635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.285769231 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:88.06, Y:-9.36, Z:-1.37 [[ 9.88672889e-01 1.49792224e-01 9.39191832e-03 8.80593559e+01] [-1.49785993e-01 9.88717496e-01 -1.36728879e-03 -9.35929995e+00] [-9.49076319e-03 -5.49764588e-05 9.99954960e-01 -1.37415171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.315769231 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:88.09, Y:-9.36, Z:-1.37 [[ 9.88949149e-01 1.47934535e-01 9.74445478e-03 8.80874645e+01] [-1.47927739e-01 9.88997155e-01 -1.41847227e-03 -9.35812748e+00] [-9.84707908e-03 -3.86782276e-05 9.99951516e-01 -1.37456654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.345769231 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:88.12, Y:-9.36, Z:-1.37 [[ 9.89192241e-01 1.46248402e-01 1.04936170e-02 8.81153536e+01] [-1.46240434e-01 9.89247898e-01 -1.52683184e-03 -9.36021716e+00] [-1.06040853e-02 -2.42608975e-05 9.99943775e-01 -1.37491550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.375769231 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:88.14, Y:-9.36, Z:-1.38 [[ 9.89831605e-01 1.41868734e-01 1.03274532e-02 8.81446522e+01] [-1.41860785e-01 9.89885479e-01 -1.50196219e-03 -9.36164998e+00] [-1.04360774e-02 2.16290261e-05 9.99945542e-01 -1.37504232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40576923100001 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:88.17, Y:-9.36, Z:-1.38 [[ 9.90183151e-01 1.39438011e-01 9.71437561e-03 8.81733446e+01] [-1.39430862e-01 9.90230801e-01 -1.41262053e-03 -9.36332204e+00] [-9.81644694e-03 4.42692849e-05 9.99951817e-01 -1.37531331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43576923100001 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:88.20, Y:-9.36, Z:-1.38 [[ 9.90476656e-01 1.37317305e-01 9.99762800e-03 8.82019549e+01] [-1.37309629e-01 9.90527109e-01 -1.45347166e-03 -9.36455148e+00] [-1.01025084e-02 6.68591574e-05 9.99948966e-01 -1.37589012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46576923100001 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:88.23, Y:-9.36, Z:-1.38 [[ 9.90898696e-01 1.34077081e-01 1.19628861e-02 8.82310043e+01] [-1.34065863e-01 9.90970899e-01 -1.73848564e-03 -9.36427348e+00] [-1.20879631e-02 1.18848513e-04 9.99926931e-01 -1.37536833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49576923100001 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:88.26, Y:-9.37, Z:-1.38 [[ 9.91062999e-01 1.32846211e-01 1.20836906e-02 8.82594190e+01] [-1.32834677e-01 9.91136654e-01 -1.75574974e-03 -9.36702814e+00] [-1.22098334e-02 1.34925463e-04 9.99925448e-01 -1.37614215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52576923100001 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:88.29, Y:-9.37, Z:-1.38 [[ 9.91226928e-01 1.31647829e-01 1.17484769e-02 8.82878836e+01] [-1.31636848e-01 9.91296539e-01 -1.70651660e-03 -9.36988958e+00] [-1.18708837e-02 1.45012740e-04 9.99929528e-01 -1.37655880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.555769231 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:88.32, Y:-9.37, Z:-1.38 [[ 9.91519415e-01 1.29519013e-01 1.06806288e-02 8.83157693e+01] [-1.29509818e-01 9.91576927e-01 -1.55099223e-03 -9.37005054e+00] [-1.07915481e-02 1.54592617e-04 9.99941758e-01 -1.37650616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.585769231 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:88.34, Y:-9.37, Z:-1.38 [[ 9.91702762e-01 1.28135774e-01 1.03370394e-02 8.83442292e+01] [-1.28127092e-01 9.91756622e-01 -1.50049990e-03 -9.37231019e+00] [-1.04440950e-02 1.63595099e-04 9.99945446e-01 -1.37699626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.615769231 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:88.37, Y:-9.38, Z:-1.38 [[ 9.91933609e-01 1.26327070e-01 1.04492139e-02 8.83717919e+01] [-1.26318103e-01 9.91988628e-01 -1.51633629e-03 -9.37533149e+00] [-1.05570557e-02 1.84180042e-04 9.99944256e-01 -1.37753192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.645769231 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:88.40, Y:-9.38, Z:-1.38 [[ 9.92433883e-01 1.22198137e-01 1.19416867e-02 8.83997811e+01] [-1.22186138e-01 9.92505692e-01 -1.73207042e-03 -9.37856530e+00] [-1.20638477e-02 2.59856798e-04 9.99927195e-01 -1.37743234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.675769231 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:88.43, Y:-9.38, Z:-1.38 [[ 9.92625072e-01 1.20605814e-01 1.22353247e-02 8.84296472e+01] [-1.20593105e-01 9.92700436e-01 -1.77393725e-03 -9.38227444e+00] [-1.23599593e-02 2.85358796e-04 9.99923572e-01 -1.37782203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.705769231 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:88.46, Y:-9.39, Z:-1.38 [[ 9.92911655e-01 1.18364957e-01 1.07787861e-02 8.84575744e+01] [-1.18354964e-01 9.92970121e-01 -1.56257594e-03 -9.38656017e+00] [-1.08879667e-02 2.75777027e-04 9.99940686e-01 -1.37907582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.735769231 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:88.49, Y:-9.39, Z:-1.38 [[ 9.92949223e-01 1.18134490e-01 9.80214387e-03 8.84855108e+01] [-1.18126217e-01 9.92997572e-01 -1.42076827e-03 -9.39109076e+00] [-9.90134680e-03 2.52860576e-04 9.99950948e-01 -1.37911018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76576923100001 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:88.51, Y:-9.40, Z:-1.38 [[ 9.92877593e-01 1.18774119e-01 9.31636693e-03 8.85138292e+01] [-1.18766679e-01 9.92921273e-01 -1.34983920e-03 -9.39502661e+00] [-9.41074488e-03 2.33751133e-04 9.99955691e-01 -1.37948750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79576923100001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:88.54, Y:-9.40, Z:-1.38 [[ 9.92449060e-01 1.22334419e-01 8.89682291e-03 8.85416449e+01] [-1.22327779e-01 9.92488919e-01 -1.28872503e-03 -9.39702269e+00] [-8.98765357e-03 1.90665356e-04 9.99959592e-01 -1.37961843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82576923100001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:88.57, Y:-9.40, Z:-1.38 [[ 9.92176553e-01 1.24525001e-01 8.90013096e-03 8.85702847e+01] [-1.24518449e-01 9.92216456e-01 -1.28868231e-03 -9.39984178e+00] [-8.99132957e-03 1.70369869e-04 9.99959563e-01 -1.37994095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:88.60, Y:-9.40, Z:-1.38 [[ 9.91947535e-01 1.26351670e-01 8.68008525e-03 8.85976333e+01] [-1.26345511e-01 9.91985500e-01 -1.25647174e-03 -9.40255871e+00] [-8.76927602e-03 1.49664242e-04 9.99961538e-01 -1.38028202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:88.63, Y:-9.40, Z:-1.38 [[ 9.91648983e-01 1.28611427e-01 9.56012259e-03 8.86253459e+01] [-1.28604067e-01 9.91695054e-01 -1.38321413e-03 -9.40406108e+00] [-9.65862343e-03 1.42192231e-04 9.99953344e-01 -1.38120285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.915769231 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:88.65, Y:-9.41, Z:-1.38 [[ 9.91573184e-01 1.29135390e-01 1.03281817e-02 8.86536259e+01] [-1.29126836e-01 9.91626961e-01 -1.49366298e-03 -9.40720745e+00] [-1.04345881e-02 1.47430744e-04 9.99945547e-01 -1.38180759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.945769231 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:88.68, Y:-9.41, Z:-1.38 [[ 9.91530287e-01 1.29430705e-01 1.07415953e-02 8.86817168e+01] [-1.29421474e-01 9.91588458e-01 -1.55298555e-03 -9.40943086e+00] [-1.08522459e-02 1.49639116e-04 9.99941101e-01 -1.38148487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.975769231 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:88.71, Y:-9.41, Z:-1.38 [[ 9.91525879e-01 1.29427149e-01 1.11823067e-02 8.87108464e+01] [-1.29417153e-01 9.91588921e-01 -1.61606334e-03 -9.41258592e+00] [-1.12974139e-02 1.55186323e-04 9.99936170e-01 -1.38146440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.005769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:88.74, Y:-9.41, Z:-1.38 [[ 9.91489257e-01 1.29700727e-01 1.12594079e-02 8.87391058e+01] [-1.29690615e-01 9.91553175e-01 -1.62668106e-03 -9.41437749e+00] [-1.13752834e-02 1.52597258e-04 9.99935288e-01 -1.38123587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.035769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:88.77, Y:-9.42, Z:-1.38 [[ 9.91531273e-01 1.29371567e-01 1.13460298e-02 8.87679130e+01] [-1.29361287e-01 9.91596174e-01 -1.63842699e-03 -9.41720975e+00] [-1.14626456e-02 1.56814585e-04 9.99934289e-01 -1.38209316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.065769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.80, Y:-9.42, Z:-1.38 [[ 9.91593488e-01 1.28871765e-01 1.15940726e-02 8.87968262e+01] [-1.28861002e-01 9.91661253e-01 -1.67369837e-03 -9.42074894e+00] [-1.17130851e-02 1.65604589e-04 9.99931386e-01 -1.38273634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.095769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:88.82, Y:-9.43, Z:-1.38 [[ 9.91823340e-01 1.27034911e-01 1.21898897e-02 8.88245179e+01] [-1.27022882e-01 9.91898227e-01 -1.75910941e-03 -9.42571699e+00] [-1.23145982e-02 1.96330855e-04 9.99924153e-01 -1.38278196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.125769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:88.85, Y:-9.43, Z:-1.38 [[ 9.91991178e-01 1.25816700e-01 1.11202794e-02 8.88527602e+01] [-1.25806620e-01 9.92053487e-01 -1.60415125e-03 -9.43046677e+00] [-1.12337410e-02 1.92299121e-04 9.99936881e-01 -1.38287240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15576923100001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:88.88, Y:-9.44, Z:-1.38 [[ 9.92090155e-01 1.25192003e-01 9.16988744e-03 8.88807926e+01] [-1.25185125e-01 9.92132519e-01 -1.32246563e-03 -9.43586567e+00] [-9.26330564e-03 1.64071625e-04 9.99957081e-01 -1.38346012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:88.91, Y:-9.44, Z:-1.38 [[ 9.92022583e-01 1.25751715e-01 8.81479172e-03 8.89086146e+01] [-1.25745385e-01 9.92061733e-01 -1.27090230e-03 -9.44037613e+00] [-8.90463570e-03 1.52344403e-04 9.99960341e-01 -1.38386081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21576923100001 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:88.94, Y:-9.44, Z:-1.38 [[ 9.91850521e-01 1.27087116e-01 9.02270139e-03 8.89358192e+01] [-1.27080544e-01 9.91891549e-01 -1.30032079e-03 -9.44499479e+00] [-9.11479528e-03 1.43114046e-04 9.99958449e-01 -1.38434378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24576923100001 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:88.96, Y:-9.45, Z:-1.38 [[ 9.91644825e-01 1.28653251e-01 9.42776699e-03 8.89643364e+01] [-1.28646153e-01 9.91689630e-01 -1.35806704e-03 -9.44953498e+00] [-9.52413851e-03 1.33874198e-04 9.99954635e-01 -1.38438245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27576923100001 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:88.99, Y:-9.45, Z:-1.38 [[ 9.91273243e-01 1.31466104e-01 9.69643836e-03 8.89918551e+01] [-1.31458734e-01 9.91320660e-01 -1.39632580e-03 -9.45383437e+00] [-9.79584919e-03 1.09458891e-04 9.99952014e-01 -1.38434104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.305769231 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:89.02, Y:-9.46, Z:-1.38 [[ 9.91277778e-01 1.31431896e-01 9.69652955e-03 8.90208956e+01] [-1.31424530e-01 9.91325196e-01 -1.39569220e-03 -9.45792823e+00] [-9.79585253e-03 1.09156820e-04 9.99952014e-01 -1.38471868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.335769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:89.05, Y:-9.46, Z:-1.39 [[ 9.91152541e-01 1.32377221e-01 9.63911774e-03 8.90498473e+01] [-1.32369990e-01 9.91199406e-01 -1.38712878e-03 -9.46236805e+00] [-9.73791203e-03 9.89262916e-05 9.99952581e-01 -1.38509310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.365769231 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:89.08, Y:-9.47, Z:-1.39 [[ 9.91050630e-01 1.33152889e-01 9.43168777e-03 8.90783746e+01] [-1.33146005e-01 9.91095505e-01 -1.35685008e-03 -9.46723822e+00] [-9.52837186e-03 8.89155743e-05 9.99954600e-01 -1.38537604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.395769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:89.11, Y:-9.47, Z:-1.39 [[ 9.90895513e-01 1.34347793e-01 8.76085279e-03 8.91060956e+01] [-1.34341904e-01 9.90934239e-01 -1.26002969e-03 -9.47251084e+00] [-8.85071120e-03 7.16081245e-05 9.99960829e-01 -1.38597025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.425769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:89.13, Y:-9.48, Z:-1.39 [[ 9.90746981e-01 1.35458448e-01 8.45152959e-03 8.91332202e+01] [-1.35453012e-01 9.90783026e-01 -1.21494402e-03 -9.47601664e+00] [-8.53820650e-03 5.89169795e-05 9.99963547e-01 -1.38548463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.455769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.16, Y:-9.48, Z:-1.38 [[ 9.90214555e-01 1.39212133e-01 9.75277849e-03 8.91624812e+01] [-1.39205081e-01 9.90262582e-01 -1.40146793e-03 -9.47684245e+00] [-9.85291294e-03 3.01176216e-05 9.99951458e-01 -1.38494385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.485769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:89.19, Y:-9.48, Z:-1.39 [[ 9.89817057e-01 1.41936071e-01 1.07863379e-02 8.91903610e+01] [-1.41927614e-01 9.89875826e-01 -1.54942598e-03 -9.47919619e+00] [-1.08970546e-02 2.76906145e-06 9.99940625e-01 -1.38546154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.22, Y:-9.48, Z:-1.39 [[ 9.89482830e-01 1.44199287e-01 1.14146650e-02 8.92192125e+01] [-1.44189975e-01 9.89548667e-01 -1.63894107e-03 -9.48190790e+00] [-1.15317007e-02 -2.41762105e-05 9.99933507e-01 -1.38627569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:89.25, Y:-9.48, Z:-1.39 [[ 9.89193093e-01 1.46133708e-01 1.19148814e-02 8.92471706e+01] [-1.46123709e-01 9.89264847e-01 -1.71016325e-03 -9.48423376e+00] [-1.20368859e-02 -4.93649922e-05 9.99927553e-01 -1.38677247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57576923100001 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:89.28, Y:-9.48, Z:-1.39 [[ 9.88613044e-01 1.50053038e-01 1.13284950e-02 8.92750467e+01] [-1.50044264e-01 9.88677944e-01 -1.62534536e-03 -9.48341576e+00] [-1.14441211e-02 -9.29380595e-05 9.99934510e-01 -1.38687306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:89.30, Y:-9.48, Z:-1.39 [[ 9.88530115e-01 1.50670690e-01 1.03225273e-02 8.93028546e+01] [-1.50663443e-01 9.88584005e-01 -1.48061644e-03 -9.48450122e+00] [-1.04277709e-02 -9.15935747e-05 9.99945625e-01 -1.38764218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63576923100001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:89.33, Y:-9.48, Z:-1.39 [[ 9.88572163e-01 1.50468537e-01 9.18134057e-03 8.93301639e+01] [-1.50462805e-01 9.88614795e-01 -1.31592315e-03 -9.48457296e+00] [-9.27481416e-03 -8.05652567e-05 9.99956985e-01 -1.38932453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.665769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.36, Y:-9.49, Z:-1.39 [[ 9.88746408e-01 1.49309186e-01 9.34387981e-03 8.93585257e+01] [-1.49303206e-01 9.88790555e-01 -1.33817205e-03 -9.48648123e+00] [-9.43894149e-03 -7.19584107e-05 9.99955450e-01 -1.39009331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.695769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:89.39, Y:-9.49, Z:-1.39 [[ 9.89119263e-01 1.46800690e-01 9.62502049e-03 8.93863692e+01] [-1.46794233e-01 9.89166091e-01 -1.37783006e-03 -9.48573948e+00] [-9.72301029e-03 -5.00592378e-05 9.99952729e-01 -1.39025368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.725769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.41, Y:-9.49, Z:-1.39 [[ 9.89349712e-01 1.45269365e-01 9.16293548e-03 8.94141661e+01] [-1.45263456e-01 9.89392142e-01 -1.31064353e-03 -9.48715010e+00] [-9.25613272e-03 -3.43548795e-05 9.99957160e-01 -1.39078944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.755769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:89.44, Y:-9.49, Z:-1.39 [[ 9.89578959e-01 1.43729688e-01 8.67531402e-03 8.94417017e+01] [-1.43724337e-01 9.89616985e-01 -1.24033386e-03 -9.48894466e+00] [-8.76351090e-03 -1.94454703e-05 9.99961600e-01 -1.39114694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.785769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.47, Y:-9.49, Z:-1.39 [[ 9.89805758e-01 1.42152120e-01 8.79409330e-03 8.94687909e+01] [-1.42146564e-01 9.89844824e-01 -1.25673131e-03 -9.49094209e+00] [-8.88343475e-03 -6.13026011e-06 9.99960541e-01 -1.39229376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.815769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:89.50, Y:-9.49, Z:-1.39 [[ 9.90276085e-01 1.38817747e-01 9.10541664e-03 8.94967821e+01] [-1.38811658e-01 9.90317945e-01 -1.30039577e-03 -9.49199629e+00] [-9.19777550e-03 2.38128528e-05 9.99957699e-01 -1.39264123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.845769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.52, Y:-9.49, Z:-1.39 [[ 9.90481981e-01 1.37350891e-01 8.95419484e-03 8.95236140e+01] [-1.37344948e-01 9.90522454e-01 -1.27823724e-03 -9.49474572e+00] [-9.04489807e-03 3.62575252e-05 9.99959093e-01 -1.39276706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.875769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.55, Y:-9.50, Z:-1.39 [[ 9.90749858e-01 1.35465139e-01 7.99462959e-03 8.95518566e+01] [-1.35460345e-01 9.90782112e-01 -1.14066861e-03 -9.49644635e+00] [-8.07545682e-03 4.71619840e-05 9.99967392e-01 -1.39251034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:89.58, Y:-9.50, Z:-1.39 [[ 9.90793554e-01 1.35161800e-01 7.70853031e-03 8.95789728e+01] [-1.35157337e-01 9.90823539e-01 -1.09948028e-03 -9.49877163e+00] [-7.78640102e-03 4.74935485e-05 9.99969684e-01 -1.39248399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.61, Y:-9.50, Z:-1.39 [[ 9.90848463e-01 1.34766084e-01 7.57794565e-03 8.96073067e+01] [-1.34761765e-01 9.90877440e-01 -1.08003325e-03 -9.50103856e+00] [-7.65436724e-03 4.89319591e-05 9.99970704e-01 -1.39337748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:89.64, Y:-9.50, Z:-1.39 [[ 9.90969432e-01 1.33847800e-01 8.02193996e-03 8.96350118e+01] [-1.33842934e-01 9.91001899e-01 -1.14277077e-03 -9.50100577e+00] [-8.10271508e-03 5.87709120e-05 9.99967171e-01 -1.39393675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.66, Y:-9.50, Z:-1.39 [[ 9.90968864e-01 1.33830142e-01 8.37881144e-03 8.96626238e+01] [-1.33824839e-01 9.91004283e-01 -1.19285422e-03 -9.50346726e+00] [-8.46307788e-03 6.07882954e-05 9.99964186e-01 -1.39433633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:89.69, Y:-9.51, Z:-1.39 [[ 9.90864560e-01 1.34547261e-01 9.19007413e-03 8.96900073e+01] [-1.34540919e-01 9.90907176e-01 -1.30768936e-03 -9.50590947e+00] [-9.28245643e-03 5.93020224e-05 9.99956915e-01 -1.39376103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.055769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.72, Y:-9.51, Z:-1.39 [[ 9.90854227e-01 1.34554330e-01 1.01505290e-02 8.97175605e+01] [-1.34546603e-01 9.90906216e-01 -1.44342680e-03 -9.50926835e+00] [-1.02524416e-02 6.45063450e-05 9.99947440e-01 -1.39373430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.085769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:89.74, Y:-9.51, Z:-1.39 [[ 9.90811600e-01 1.34765014e-01 1.14352216e-02 8.97441806e+01] [-1.34755231e-01 9.90877584e-01 -1.62526127e-03 -9.51163280e+00] [-1.15499331e-02 6.93717841e-05 9.99933295e-01 -1.39375268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.115769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.77, Y:-9.51, Z:-1.39 [[ 9.90557944e-01 1.36569276e-01 1.19913263e-02 8.97717804e+01] [-1.36558663e-01 9.90630522e-01 -1.70332870e-03 -9.51155085e+00] [-1.21115962e-02 4.97262903e-05 9.99926651e-01 -1.39399004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.145769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:89.80, Y:-9.51, Z:-1.40 [[ 9.90437289e-01 1.37492593e-01 1.13913571e-02 8.97994726e+01] [-1.37483086e-01 9.90502794e-01 -1.61726919e-03 -9.51394099e+00] [-1.15055335e-02 3.56847921e-05 9.99933809e-01 -1.39503464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.175769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:89.83, Y:-9.52, Z:-1.40 [[ 9.90416178e-01 1.37746616e-01 1.00828828e-02 8.98265940e+01] [-1.37739185e-01 9.90467500e-01 -1.43102221e-03 -9.51577400e+00] [-1.01838862e-02 2.84994918e-05 9.99948142e-01 -1.39609577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.205769231 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:89.85, Y:-9.52, Z:-1.40 [[ 9.90449531e-01 1.37542303e-01 9.58343283e-03 8.98542573e+01] [-1.37535590e-01 9.90495893e-01 -1.35919398e-03 -9.51853484e+00] [-9.67929753e-03 2.81499506e-05 9.99953154e-01 -1.39589729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.235769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:89.88, Y:-9.52, Z:-1.40 [[ 9.90440817e-01 1.37624797e-01 9.29537615e-03 8.98810796e+01] [-1.37618491e-01 9.90484434e-01 -1.31771313e-03 -9.52127605e+00] [-9.38827539e-03 2.59012221e-05 9.99955929e-01 -1.39592643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:89.91, Y:-9.52, Z:-1.40 [[ 9.90418421e-01 1.37829944e-01 8.61734192e-03 8.99084084e+01] [-1.37824539e-01 9.90455908e-01 -1.22082979e-03 -9.52492401e+00] [-8.70336412e-03 2.14511382e-05 9.99962125e-01 -1.39636730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.94, Y:-9.53, Z:-1.40 [[ 9.90453318e-01 1.37601902e-01 8.24261471e-03 8.99365154e+01] [-1.37596953e-01 9.90487615e-01 -1.16727964e-03 -9.52872635e+00] [-8.32482769e-03 2.19773281e-05 9.99965348e-01 -1.39686682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.96, Y:-9.53, Z:-1.40 [[ 9.90650997e-01 1.36145368e-01 8.66258008e-03 8.99629528e+01] [-1.36139851e-01 9.90688870e-01 -1.22613586e-03 -9.53224849e+00] [-8.74885439e-03 3.53503556e-05 9.99961727e-01 -1.39801391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:89.99, Y:-9.54, Z:-1.40 [[ 9.90743305e-01 1.35420316e-01 9.43616893e-03 8.99909385e+01] [-1.35413745e-01 9.90788240e-01 -1.33471887e-03 -9.53670224e+00] [-9.52999326e-03 4.45768033e-05 9.99954588e-01 -1.39818998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.02, Y:-9.54, Z:-1.40 [[ 9.90819007e-01 1.34802608e-01 1.02933460e-02 9.00182168e+01] [-1.34794765e-01 9.90872471e-01 -1.45516136e-03 -9.54124450e+00] [-1.03955527e-02 5.43123817e-05 9.99945963e-01 -1.39841112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.415769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.05, Y:-9.55, Z:-1.40 [[ 9.90865042e-01 1.34474616e-01 1.01511738e-02 9.00452714e+01] [-1.34466978e-01 9.90917037e-01 -1.43436638e-03 -9.54546240e+00] [-1.02518570e-02 5.62658371e-05 9.99947447e-01 -1.39837556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:90.07, Y:-9.55, Z:-1.40 [[ 9.90823192e-01 1.34915340e-01 8.20081763e-03 9.00716479e+01] [-1.34910374e-01 9.90857129e-01 -1.15829244e-03 -9.54976964e+00] [-8.28211003e-03 4.12876352e-05 9.99965702e-01 -1.39950175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.475769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:90.10, Y:-9.55, Z:-1.40 [[ 9.90731961e-01 1.35647833e-01 7.06020245e-03 9.00992727e+01] [-1.35644175e-01 9.90757117e-01 -9.96658691e-04 -9.55423866e+00] [-7.13014042e-03 2.97462798e-05 9.99974580e-01 -1.40045850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.505769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.13, Y:-9.56, Z:-1.40 [[ 9.90522896e-01 1.37195383e-01 6.46680820e-03 9.01255067e+01] [-1.37192349e-01 9.90544005e-01 -9.12591769e-04 -9.55908488e+00] [-6.53086148e-03 1.67464356e-05 9.99978674e-01 -1.40075728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.535769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.15, Y:-9.56, Z:-1.40 [[ 9.90407750e-01 1.38016927e-01 6.61942425e-03 9.01533963e+01] [-1.38013771e-01 9.90429870e-01 -9.33504953e-04 -9.56267423e+00] [-6.68491499e-03 1.09788396e-05 9.99977656e-01 -1.40048665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.565769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.18, Y:-9.57, Z:-1.40 [[ 9.90240838e-01 1.39174191e-01 7.32303965e-03 9.01812179e+01] [-1.39170364e-01 9.90267915e-01 -1.03214015e-03 -9.56623410e+00] [-7.39541848e-03 2.91723255e-06 9.99972654e-01 -1.40075177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.595769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:90.21, Y:-9.57, Z:-1.40 [[ 9.89869062e-01 1.41706532e-01 8.85991241e-03 9.02085126e+01] [-1.41701038e-01 9.89908712e-01 -1.24798511e-03 -9.57147694e+00] [-8.94735212e-03 -2.01169347e-05 9.99959971e-01 -1.40093282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.625769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.24, Y:-9.58, Z:-1.40 [[ 9.89711501e-01 1.42753820e-01 9.61725666e-03 9.02362676e+01] [-1.42747403e-01 9.89758226e-01 -1.35389381e-03 -9.57582234e+00] [-9.71203240e-03 -3.28741349e-05 9.99952837e-01 -1.40074317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:90.26, Y:-9.58, Z:-1.40 [[ 9.89523202e-01 1.44002172e-01 1.03541212e-02 9.02636177e+01] [-1.43994811e-01 9.89577370e-01 -1.45678950e-03 -9.57890909e+00] [-1.04559849e-02 -4.94127181e-05 9.99945333e-01 -1.40089668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:90.29, Y:-9.58, Z:-1.40 [[ 9.89091539e-01 1.46951516e-01 1.01576900e-02 9.02901984e+01] [-1.46944595e-01 9.89143693e-01 -1.42844916e-03 -9.58010940e+00] [-1.02573278e-02 -7.97506761e-05 9.99947389e-01 -1.40121057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:90.32, Y:-9.58, Z:-1.40 [[ 9.88838062e-01 1.48691826e-01 9.48829180e-03 9.03175477e+01] [-1.48685875e-01 9.88883579e-01 -1.33352351e-03 -9.58332120e+00] [-9.58110000e-03 -9.21361581e-05 9.99954096e-01 -1.40162116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74576923100001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:90.34, Y:-9.59, Z:-1.40 [[ 9.88299264e-01 1.52270991e-01 8.83797078e-03 9.03442238e+01] [-1.52265974e-01 9.88338773e-01 -1.24175338e-03 -9.58508069e+00] [-8.92399222e-03 -1.18498277e-04 9.99960173e-01 -1.40121694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.37, Y:-9.59, Z:-1.40 [[ 9.88040298e-01 1.53941243e-01 8.85795730e-03 9.03724656e+01] [-1.53936282e-01 9.88079994e-01 -1.24325169e-03 -9.58671508e+00] [-8.94375811e-03 -1.35178243e-04 9.99959995e-01 -1.40133334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.40, Y:-9.59, Z:-1.40 [[ 9.87796458e-01 1.55490717e-01 8.98856471e-03 9.03999786e+01] [-1.55485679e-01 9.87837342e-01 -1.26096378e-03 -9.58825330e+00] [-9.07530803e-03 -1.52017526e-04 9.99958807e-01 -1.40169863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.835769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.43, Y:-9.59, Z:-1.40 [[ 9.87526252e-01 1.57150176e-01 9.78389104e-03 9.04278880e+01] [-1.57144297e-01 9.87574700e-01 -1.37158562e-03 -9.58838247e+00] [-9.87786818e-03 -1.83005876e-04 9.99951196e-01 -1.40290538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.865769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:90.45, Y:-9.59, Z:-1.40 [[ 9.87517320e-01 1.57147337e-01 1.06891357e-02 9.04544902e+01] [-1.57140327e-01 9.87575149e-01 -1.49775536e-03 -9.58999752e+00] [-1.07916931e-02 -2.00634927e-04 9.99941748e-01 -1.40269153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.48, Y:-9.59, Z:-1.40 [[ 9.87496080e-01 1.57210972e-01 1.16705805e-02 9.04823335e+01] [-1.57202641e-01 9.87565016e-01 -1.63353300e-03 -9.59158091e+00] [-1.17822663e-02 -2.21538638e-04 9.99930562e-01 -1.40238489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-9.59, Z:-1.40 [[ 9.87462661e-01 1.57397998e-01 1.19734468e-02 9.05108858e+01] [-1.57389254e-01 9.87535223e-01 -1.67503290e-03 -9.59144454e+00] [-1.20878473e-02 -2.30459403e-04 9.99926913e-01 -1.40353682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:-9.59, Z:-1.40 [[ 9.87462748e-01 1.57456106e-01 1.11756910e-02 9.05389190e+01] [-1.57448500e-01 9.87525963e-01 -1.56268267e-03 -9.59372451e+00] [-1.12823390e-02 -2.16504867e-04 9.99936329e-01 -1.40452604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-9.59, Z:-1.41 [[ 9.87715002e-01 1.55990495e-01 9.27580053e-03 9.05656326e+01] [-1.55985195e-01 9.87758542e-01 -1.29655247e-03 -9.59466799e+00] [-9.36450107e-03 -1.66263229e-04 9.99956138e-01 -1.40575251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.59, Y:-9.60, Z:-1.41 [[ 9.87976846e-01 1.54393409e-01 8.02670916e-03 9.05920628e+01] [-1.54389392e-01 9.88009442e-01 -1.12142523e-03 -9.59718470e+00] [-8.10360510e-03 -1.31296582e-04 9.99967157e-01 -1.40622611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:90.62, Y:-9.60, Z:-1.41 [[ 9.88354700e-01 1.51994909e-01 7.24811538e-03 9.06185349e+01] [-1.51991572e-01 9.88381271e-01 -1.01214418e-03 -9.60016472e+00] [-7.31774226e-03 -1.01294994e-04 9.99973220e-01 -1.40671807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.65, Y:-9.60, Z:-1.41 [[ 9.88771231e-01 1.49265290e-01 7.16426097e-03 9.06465163e+01] [-1.49261964e-01 9.88797182e-01 -9.99787759e-04 -9.60411468e+00] [-7.23323467e-03 -8.07902892e-05 9.99973837e-01 -1.40743007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.67, Y:-9.61, Z:-1.41 [[ 9.89457284e-01 1.44574571e-01 8.51335111e-03 9.06736094e+01] [-1.44569707e-01 9.89493906e-01 -1.18728795e-03 -9.61028822e+00] [-8.59556069e-03 -5.60019668e-05 9.99963056e-01 -1.40700604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.70, Y:-9.61, Z:-1.41 [[ 9.89756602e-01 1.42452492e-01 9.44231483e-03 9.07014784e+01] [-1.42446419e-01 9.89801640e-01 -1.31607324e-03 -9.61466529e+00] [-9.53349661e-03 -4.24317491e-05 9.99954554e-01 -1.40684904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.165769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.73, Y:-9.62, Z:-1.41 [[ 9.90166709e-01 1.39508360e-01 1.03588320e-02 9.07290862e+01] [-1.39500898e-01 9.90220893e-01 -1.44299862e-03 -9.61963098e+00] [-1.04588423e-02 -1.62571781e-05 9.99945305e-01 -1.40744266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.195769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.76, Y:-9.62, Z:-1.41 [[ 9.90174975e-01 1.39449675e-01 1.03589383e-02 9.07573196e+01] [-1.39442217e-01 9.90229159e-01 -1.44223496e-03 -9.62343180e+00] [-1.04588420e-02 -1.64083721e-05 9.99945305e-01 -1.40780955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.225769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.79, Y:-9.63, Z:-1.41 [[ 9.90286854e-01 1.38670013e-01 1.01279080e-02 9.07852309e+01] [-1.38662850e-01 9.90338643e-01 -1.40950696e-03 -9.62821127e+00] [-1.02255150e-02 -8.54837458e-06 9.99947718e-01 -1.40869022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.255769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.81, Y:-9.63, Z:-1.41 [[ 9.90361355e-01 1.38200324e-01 9.22266977e-03 9.08114371e+01] [-1.38194369e-01 9.90404296e-01 -1.28297781e-03 -9.63349217e+00] [-9.31147971e-03 -3.90939324e-06 9.99956647e-01 -1.40908689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.285769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.84, Y:-9.64, Z:-1.41 [[ 9.90410663e-01 1.37879544e-01 8.71491709e-03 9.08390019e+01] [-1.37874221e-01 9.90449005e-01 -1.21160892e-03 -9.63756882e+00] [-8.79873705e-03 -1.57200510e-06 9.99961290e-01 -1.40928051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.315769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.87, Y:-9.64, Z:-1.41 [[ 9.90488761e-01 1.37342824e-01 8.30444986e-03 9.08656060e+01] [-1.37337974e-01 9.90523573e-01 -1.15422593e-03 -9.64105667e+00] [-8.38427800e-03 2.73149171e-06 9.99964851e-01 -1.40959888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:-9.64, Z:-1.41 [[ 9.90562955e-01 1.36816504e-01 8.14097786e-03 9.08930401e+01] [-1.36811835e-01 9.90596408e-01 -1.13036265e-03 -9.64483547e+00] [-8.21907569e-03 5.91325161e-06 9.99966223e-01 -1.40943502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.375769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.92, Y:-9.65, Z:-1.41 [[ 9.90759270e-01 1.35343373e-01 8.84538718e-03 9.09200292e+01] [-1.35337808e-01 9.90798754e-01 -1.22750432e-03 -9.64862047e+00] [-8.93013318e-03 1.90459749e-05 9.99960125e-01 -1.40965226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.95, Y:-9.65, Z:-1.41 [[ 9.90884495e-01 1.34360276e-01 9.75882754e-03 9.09473202e+01] [-1.34353463e-01 9.90932548e-01 -1.35331309e-03 -9.65229115e+00] [-9.85217136e-03 2.98446825e-05 9.99951466e-01 -1.40988371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.97, Y:-9.66, Z:-1.41 [[ 9.91263732e-01 1.31430797e-01 1.10525573e-02 9.09734093e+01] [-1.31421886e-01 9.91325346e-01 -1.53182877e-03 -9.65739097e+00] [-1.11580097e-02 6.58983786e-05 9.99937745e-01 -1.41000270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:-9.66, Z:-1.41 [[ 9.91548638e-01 1.29217686e-01 1.15796588e-02 9.10008321e+01] [-1.29207766e-01 9.91616247e-01 -1.60385459e-03 -9.66268445e+00] [-1.16898242e-02 9.41179929e-05 9.99931667e-01 -1.41089471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:-9.67, Z:-1.41 [[ 9.91829783e-01 1.26992403e-01 1.21082718e-02 9.10284678e+01] [-1.26981402e-01 9.91903682e-01 -1.67616989e-03 -9.66792323e+00] [-1.22231002e-02 1.24949892e-04 9.99925287e-01 -1.41151573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:91.06, Y:-9.67, Z:-1.41 [[ 9.92219749e-01 1.23871092e-01 1.24868618e-02 9.10554436e+01] [-1.23859157e-01 9.92298304e-01 -1.72766310e-03 -9.67483530e+00] [-1.26046993e-02 1.67609268e-04 9.99920544e-01 -1.41101285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.555769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:91.08, Y:-9.68, Z:-1.41 [[ 9.92346243e-01 1.22940706e-01 1.15981255e-02 9.10835602e+01] [-1.22930354e-01 9.92414004e-01 -1.60406074e-03 -9.68118636e+00] [-1.17073465e-02 1.66021983e-04 9.99931453e-01 -1.40665644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.11, Y:-9.69, Z:-1.41 [[ 9.92504299e-01 1.21827922e-01 9.65268789e-03 9.11103553e+01] [-1.21820701e-01 9.92551226e-01 -1.33467329e-03 -9.69184910e+00] [-9.74338767e-03 1.48771769e-04 9.99952521e-01 -1.41276795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.615769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.14, Y:-9.70, Z:-1.41 [[ 9.92522283e-01 1.21648944e-01 1.00524855e-02 9.11383462e+01] [-1.21641111e-01 9.92573176e-01 -1.38928030e-03 -9.69908147e+00] [-1.01468320e-02 1.56096148e-04 9.99948507e-01 -1.41302306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.645769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:91.17, Y:-9.71, Z:-1.41 [[ 9.92476822e-01 1.21915538e-01 1.12409591e-02 9.11658606e+01] [-1.21905766e-01 9.92540464e-01 -1.55294486e-03 -9.70597967e+00] [-1.13464349e-02 1.70924041e-04 9.99935613e-01 -1.41321764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.675769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.19, Y:-9.72, Z:-1.41 [[ 9.92232124e-01 1.23738905e-01 1.28099514e-02 9.11921294e+01] [-1.23726380e-01 9.92314796e-01 -1.76878808e-03 -9.71698429e+00] [-1.29303722e-02 1.70119443e-04 9.99916385e-01 -1.41302750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.705769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.22, Y:-9.73, Z:-1.41 [[ 9.92078851e-01 1.25033942e-01 1.20857993e-02 9.12202012e+01] [-1.25022897e-01 9.92152454e-01 -1.66812573e-03 -9.72532497e+00] [-1.21995278e-02 1.43910620e-04 9.99925573e-01 -1.41331159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.735769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.25, Y:-9.73, Z:-1.41 [[ 9.91941945e-01 1.26191019e-01 1.12696460e-02 9.12469025e+01] [-1.26181495e-01 9.92005954e-01 -1.55502554e-03 -9.73317137e+00] [-1.13757862e-02 1.20474279e-04 9.99935286e-01 -1.41471503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.27, Y:-9.74, Z:-1.41 [[ 9.91600325e-01 1.28932345e-01 1.02589203e-02 9.12743162e+01] [-1.28924606e-01 9.91653389e-01 -1.41495955e-03 -9.74352798e+00] [-1.03557271e-02 8.04471022e-05 9.99946375e-01 -1.41487757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:-9.75, Z:-1.41 [[ 9.91250845e-01 1.31527006e-01 1.10638139e-02 9.13009060e+01] [-1.31518173e-01 9.91312586e-01 -1.52542883e-03 -9.75296421e+00] [-1.11683330e-02 5.69900342e-05 9.99937631e-01 -1.41407934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:-9.76, Z:-1.41 [[ 9.91105988e-01 1.32581746e-01 1.14455973e-02 9.13289120e+01] [-1.32572370e-01 9.91172073e-01 -1.57735862e-03 -9.75944544e+00] [-1.15536853e-02 4.59596110e-05 9.99933253e-01 -1.41472868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.36, Y:-9.77, Z:-1.41 [[ 9.90950613e-01 1.33746384e-01 1.13484735e-02 9.13565144e+01] [-1.33737249e-01 9.91015592e-01 -1.56345749e-03 -9.76590106e+00] [-1.14556210e-02 3.15955240e-05 9.99934382e-01 -1.41494915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.38, Y:-9.77, Z:-1.42 [[ 9.90829555e-01 1.34660423e-01 1.11068997e-02 9.13849437e+01] [-1.34651738e-01 9.90891805e-01 -1.52951731e-03 -9.77172702e+00] [-1.12117013e-02 1.99276177e-05 9.99937147e-01 -1.41547420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:-9.78, Z:-1.42 [[ 9.90508520e-01 1.36915773e-01 1.21219731e-02 9.14134879e+01] [-1.36905604e-01 9.90582693e-01 -1.66868625e-03 -9.77826898e+00] [-1.22362862e-02 -6.71808806e-06 9.99925134e-01 -1.41598519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.44, Y:-9.78, Z:-1.42 [[ 9.90483531e-01 1.37068109e-01 1.24381778e-02 9.14412499e+01] [-1.37057422e-01 9.90561625e-01 -1.71160872e-03 -9.78292845e+00] [-1.25553885e-02 -9.42432299e-06 9.99921178e-01 -1.41617958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.47, Y:-9.79, Z:-1.42 [[ 9.90502229e-01 1.36851552e-01 1.33036458e-02 9.14687039e+01] [-1.36839318e-01 9.90591567e-01 -1.82986020e-03 -9.78881665e+00] [-1.34288986e-02 -7.98121924e-06 9.99909828e-01 -1.41638797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:-9.79, Z:-1.42 [[ 9.90554825e-01 1.36468591e-01 1.33214905e-02 9.14968689e+01] [-1.36456300e-01 9.90644398e-01 -1.83156313e-03 -9.79367719e+00] [-1.34468107e-02 -3.53760229e-06 9.99909588e-01 -1.41674876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.035769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.53, Y:-9.80, Z:-1.42 [[ 9.90595047e-01 1.36200636e-01 1.30705403e-02 9.15255559e+01] [-1.36188788e-01 9.90681274e-01 -1.79647958e-03 -9.79879395e+00] [-1.31934212e-02 -4.77276172e-07 9.99912963e-01 -1.41690670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.065769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.55, Y:-9.81, Z:-1.42 [[ 9.90726598e-01 1.35250339e-01 1.29674556e-02 9.15535110e+01] [-1.35238603e-01 9.90811458e-01 -1.78172617e-03 -9.80561873e+00] [-1.30892826e-02 1.15029354e-05 9.99914332e-01 -1.41836742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:-9.81, Z:-1.42 [[ 9.90853069e-01 1.34392328e-01 1.22023717e-02 9.15806865e+01] [-1.34381878e-01 9.90928202e-01 -1.67604176e-03 -9.81157979e+00] [-1.23169214e-02 2.09334933e-05 9.99924144e-01 -1.41870386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.61, Y:-9.82, Z:-1.42 [[ 9.90960222e-01 1.33642390e-01 1.17281879e-02 9.16090513e+01] [-1.33632692e-01 9.91029622e-01 -1.61020271e-03 -9.82026791e+00] [-1.18381729e-02 2.83775201e-05 9.99929926e-01 -1.41940710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:-9.83, Z:-1.42 [[ 9.90872073e-01 1.34317387e-01 1.14618676e-02 9.16365037e+01] [-1.34308175e-01 9.90938363e-01 -1.57312627e-03 -9.82603820e+00] [-1.15693025e-02 1.93443754e-05 9.99933073e-01 -1.41946039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.66, Y:-9.83, Z:-1.42 [[ 9.90721538e-01 1.35403000e-01 1.16987771e-02 9.16644740e+01] [-1.35393489e-01 9.90790607e-01 -1.60485591e-03 -9.83179718e+00] [-1.18083408e-02 6.02705992e-06 9.99930279e-01 -1.41939075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:-9.84, Z:-1.42 [[ 9.90242678e-01 1.38811230e-01 1.22833213e-02 9.16912367e+01] [-1.38801015e-01 9.90318858e-01 -1.68441258e-03 -9.83902185e+00] [-1.23982201e-02 -3.69602466e-05 9.99923138e-01 -1.41882632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.72, Y:-9.84, Z:-1.42 [[ 9.90041283e-01 1.40250511e-01 1.21676408e-02 9.17196952e+01] [-1.40240605e-01 9.90116049e-01 -1.66779981e-03 -9.84396069e+00] [-1.22812862e-02 -5.52066394e-05 9.99924581e-01 -1.41899170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.75, Y:-9.85, Z:-1.42 [[ 9.89811248e-01 1.41875020e-01 1.20487705e-02 9.17471447e+01] [-1.41865434e-01 9.89884576e-01 -1.65094170e-03 -9.84845080e+00] [-1.21611195e-02 -7.51833901e-05 9.99926048e-01 -1.42015862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.77, Y:-9.85, Z:-1.42 [[ 9.89247929e-01 1.45857880e-01 1.06777141e-02 9.17749634e+01] [-1.45850590e-01 9.89305548e-01 -1.46246456e-03 -9.85285775e+00] [-1.07768338e-02 -1.10610867e-04 9.99941922e-01 -1.42185423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.335769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.80, Y:-9.86, Z:-1.42 [[ 9.88937040e-01 1.48003719e-01 9.92119490e-03 9.18031178e+01] [-1.47997539e-01 9.88986796e-01 -1.35832513e-03 -9.85579150e+00] [-1.00129679e-02 -1.25014391e-04 9.99949861e-01 -1.42271476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.83, Y:-9.86, Z:-1.42 [[ 9.88275618e-01 1.52434411e-01 8.66332431e-03 9.18318403e+01] [-1.52429873e-01 9.88313578e-01 -1.18559497e-03 -9.85693748e+00] [-8.74280651e-03 -1.48854826e-04 9.99961770e-01 -1.42268533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.395769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.86, Y:-9.86, Z:-1.42 [[ 9.87943262e-01 1.54584944e-01 8.46210252e-03 9.18599542e+01] [-1.54580696e-01 9.87979488e-01 -1.15773801e-03 -9.85979331e+00] [-8.53935258e-03 -1.64298226e-04 9.99963526e-01 -1.42309862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.89, Y:-9.86, Z:-1.42 [[ 9.87642983e-01 1.56479414e-01 8.69090056e-03 9.18887541e+01] [-1.56475012e-01 9.87681203e-01 -1.18839717e-03 -9.86266970e+00] [-8.76979881e-03 -1.86196648e-04 9.99961527e-01 -1.42343379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.92, Y:-9.86, Z:-1.42 [[ 9.87280895e-01 1.58702105e-01 9.49079466e-03 9.19164731e+01] [-1.58696963e-01 9.87326486e-01 -1.29729863e-03 -9.86293625e+00] [-9.57639697e-03 -2.25362138e-04 9.99954120e-01 -1.42431070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.95, Y:-9.86, Z:-1.43 [[ 9.87232296e-01 1.58948607e-01 1.03794738e-02 9.19452244e+01] [-1.58942478e-01 9.87286827e-01 -1.41804697e-03 -9.86479383e+00] [-1.04729144e-02 -2.49797521e-04 9.99945126e-01 -1.42513961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.97, Y:-9.87, Z:-1.43 [[ 9.87312960e-01 1.58396352e-01 1.11226782e-02 9.19726036e+01] [-1.58389284e-01 9.87375576e-01 -1.51904064e-03 -9.86675728e+00] [-1.12228713e-02 -2.61944529e-04 9.99936987e-01 -1.42528991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:-9.87, Z:-1.42 [[ 9.87553046e-01 1.56776696e-01 1.26510763e-02 9.20014746e+01] [-1.56767430e-01 9.87634037e-01 -1.72693510e-03 -9.86886981e+00] [-1.27653768e-02 -2.77836706e-04 9.99918481e-01 -1.42421717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:-9.87, Z:-1.42 [[ 9.87662870e-01 1.56092589e-01 1.25362742e-02 9.20296136e+01] [-1.56083444e-01 9.87742392e-01 -1.71068804e-03 -9.87198551e+00] [-1.26496352e-02 -2.67121786e-04 9.99919954e-01 -1.42415613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.06, Y:-9.87, Z:-1.43 [[ 9.87793612e-01 1.55324967e-01 1.17445355e-02 9.20585482e+01] [-1.55316893e-01 9.87863400e-01 -1.60200335e-03 -9.87278657e+00] [-1.18508279e-02 -2.41676086e-04 9.99929747e-01 -1.42511496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.09, Y:-9.87, Z:-1.43 [[ 9.87792929e-01 1.55326003e-01 1.17882540e-02 9.20858875e+01] [-1.55317876e-01 9.87863236e-01 -1.60743099e-03 -9.87497453e+00] [-1.18948586e-02 -2.43117607e-04 9.99929224e-01 -1.42605325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.11, Y:-9.88, Z:-1.43 [[ 9.87801689e-01 1.55248218e-01 1.20753385e-02 9.21142523e+01] [-1.55239694e-01 9.87875462e-01 -1.64577681e-03 -9.87796535e+00] [-1.21844346e-02 -2.48870742e-04 9.99925736e-01 -1.42642195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:-9.88, Z:-1.43 [[ 9.87926651e-01 1.54374644e-01 1.30154649e-02 9.21418456e+01] [-1.54364674e-01 9.88012350e-01 -1.77325753e-03 -9.88066379e+00] [-1.31331860e-02 -2.57279616e-04 9.99913723e-01 -1.42561248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.725769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.17, Y:-9.88, Z:-1.43 [[ 9.88049434e-01 1.53519030e-01 1.37921141e-02 9.21692517e+01] [-1.53507763e-01 9.88145657e-01 -1.87823389e-03 -9.88294414e+00] [-1.39169623e-02 -2.61408657e-04 9.99903120e-01 -1.42555566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.755769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.20, Y:-9.88, Z:-1.43 [[ 9.88364032e-01 1.51452501e-01 1.40953851e-02 9.21980359e+01] [-1.51440534e-01 9.88464508e-01 -1.91872366e-03 -9.88294997e+00] [-1.42233834e-02 -2.38215194e-04 9.99898814e-01 -1.42586704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.785769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.23, Y:-9.88, Z:-1.43 [[ 9.88488347e-01 1.50732153e-01 1.30615972e-02 9.22263186e+01] [-1.50721822e-01 9.88574617e-01 -1.77742064e-03 -9.88499472e+00] [-1.31802779e-02 -2.11708140e-04 9.99913114e-01 -1.42686424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.815769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.26, Y:-9.89, Z:-1.43 [[ 9.88618723e-01 1.49978072e-01 1.18152156e-02 9.22552666e+01] [-1.49969572e-01 9.88689306e-01 -1.60717108e-03 -9.88703777e+00] [-1.19226177e-02 -1.83043395e-04 9.99928906e-01 -1.42790011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.845769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.28, Y:-9.89, Z:-1.43 [[ 9.89050713e-01 1.47141991e-01 1.13102785e-02 9.22846958e+01] [-1.47134022e-01 9.89115369e-01 -1.53799816e-03 -9.88608816e+00] [-1.14134744e-02 -1.42968585e-04 9.99934854e-01 -1.42767872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.875769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.31, Y:-9.89, Z:-1.43 [[ 9.89325276e-01 1.45190931e-01 1.24535910e-02 9.23130721e+01] [-1.45181124e-01 9.89403647e-01 -1.69282627e-03 -9.88706735e+00] [-1.25674114e-02 -1.33270520e-04 9.99921018e-01 -1.42725829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.34, Y:-9.89, Z:-1.43 [[ 9.89914436e-01 1.40887212e-01 1.48392318e-02 9.23418924e+01] [-1.40872818e-01 9.90025648e-01 -2.01612378e-03 -9.88651380e+00] [-1.49752661e-02 -9.46543571e-05 9.99887860e-01 -1.42705680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.37, Y:-9.89, Z:-1.43 [[ 9.90299144e-01 1.38093039e-01 1.54246010e-02 9.23704612e+01] [-1.38077159e-01 9.90419259e-01 -2.09491802e-03 -9.88861547e+00] [-1.55661155e-02 -5.51895655e-05 9.99878839e-01 -1.42813482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.40, Y:-9.89, Z:-1.43 [[ 9.90747758e-01 1.34851994e-01 1.52911871e-02 9.23979668e+01] [-1.34836013e-01 9.90865753e-01 -2.07607232e-03 -9.89099049e+00] [-1.54314761e-02 -4.93869994e-06 9.99880928e-01 -1.42905641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:92.43, Y:-9.89, Z:-1.43 [[ 9.91650106e-01 1.28269463e-01 1.33045662e-02 9.24272340e+01] [-1.28256780e-01 9.91739350e-01 -1.80569298e-03 -9.89311363e+00] [-1.34262771e-02 8.42148140e-05 9.99909860e-01 -1.43038419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.46, Y:-9.90, Z:-1.43 [[ 9.92048966e-01 1.25177955e-01 1.30126162e-02 9.24552699e+01] [-1.25165565e-01 9.92134298e-01 -1.76548337e-03 -9.89660327e+00] [-1.31312624e-02 1.22714496e-04 9.99913774e-01 -1.43109254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.055769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.48, Y:-9.90, Z:-1.43 [[ 9.92373161e-01 1.22568509e-01 1.31327977e-02 9.24842428e+01] [-1.22555671e-01 9.92460042e-01 -1.78098418e-03 -9.90084060e+00] [-1.32520696e-02 1.57902068e-04 9.99912175e-01 -1.43067610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.085769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.51, Y:-9.90, Z:-1.43 [[ 9.92377062e-01 1.22536912e-01 1.31328727e-02 9.25133156e+01] [-1.22524078e-01 9.92463944e-01 -1.78043092e-03 -9.90469331e+00] [-1.32520712e-02 1.57765689e-04 9.99912175e-01 -1.43105374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:-9.91, Z:-1.43 [[ 9.92868762e-01 1.18417844e-01 1.37417523e-02 9.25413665e+01] [-1.18403405e-01 9.92963829e-01 -1.86249136e-03 -9.90869419e+00] [-1.38656152e-02 2.22139234e-04 9.99903843e-01 -1.43047150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.145769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.57, Y:-9.91, Z:-1.43 [[ 9.93058862e-01 1.16809097e-01 1.37743350e-02 9.25703035e+01] [-1.16794444e-01 9.93154356e-01 -1.86617088e-03 -9.91282077e+00] [-1.38980266e-02 2.44451718e-04 9.99903388e-01 -1.43093385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.175769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.60, Y:-9.92, Z:-1.43 [[ 9.93427215e-01 1.13745742e-01 1.28169455e-02 9.25983777e+01] [-1.13732808e-01 9.93509857e-01 -1.73589056e-03 -9.91879445e+00] [-1.29312119e-02 2.66773723e-04 9.99916353e-01 -1.43251069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.205769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:92.63, Y:-9.92, Z:-1.43 [[ 9.93585324e-01 1.12391175e-01 1.25071125e-02 9.26258122e+01] [-1.12378759e-01 9.93664001e-01 -1.69334484e-03 -9.92452070e+00] [-1.26181845e-02 2.76948790e-04 9.99920349e-01 -1.43271666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.235769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:92.65, Y:-9.93, Z:-1.43 [[ 9.93709325e-01 1.11296442e-01 1.24450688e-02 9.26545482e+01] [-1.11284073e-01 9.93787210e-01 -1.68420139e-03 -9.93004310e+00] [-1.25551958e-02 2.88668685e-04 9.99921139e-01 -1.43283749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:92.68, Y:-9.94, Z:-1.43 [[ 9.93806892e-01 1.10409460e-01 1.25543525e-02 9.26823066e+01] [-1.10396808e-01 9.93886140e-01 -1.69843916e-03 -9.93527639e+00] [-1.26651207e-02 3.01960096e-04 9.99919749e-01 -1.43293061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.71, Y:-9.94, Z:-1.43 [[ 9.93998290e-01 1.08728686e-01 1.20612214e-02 9.27099994e+01] [-1.08716894e-01 9.94071414e-01 -1.63103405e-03 -9.94380524e+00] [-1.21670556e-02 3.09986530e-04 9.99925931e-01 -1.43334103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32576923100001 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:92.74, Y:-9.95, Z:-1.43 [[ 9.94163573e-01 1.07263197e-01 1.15497866e-02 9.27377498e+01] [-1.07252291e-01 9.94230611e-01 -1.56138076e-03 -9.95073454e+00] [-1.16506300e-02 3.13526813e-04 9.99932080e-01 -1.43407804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35576923100001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:92.77, Y:-9.96, Z:-1.43 [[ 9.94444980e-01 1.04523608e-01 1.24095845e-02 9.27665755e+01] [-1.04510810e-01 9.94522336e-01 -1.67717624e-03 -9.96180112e+00] [-1.25169135e-02 3.70923761e-04 9.99921592e-01 -1.43432671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:92.80, Y:-9.97, Z:-1.43 [[ 9.94542101e-01 1.03480959e-01 1.33304200e-02 9.27961590e+01] [-1.03466101e-01 9.94631349e-01 -1.80133408e-03 -9.96986283e+00] [-1.34452574e-02 4.12255991e-04 9.99909523e-01 -1.43429007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.415769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.83, Y:-9.98, Z:-1.43 [[ 9.94645087e-01 1.02406267e-01 1.39322089e-02 9.28270820e+01] [-1.02389932e-01 9.94742558e-01 -1.88268140e-03 -9.97794958e+00] [-1.40517595e-02 4.46081891e-04 9.99901170e-01 -1.43440116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:92.86, Y:-9.99, Z:-1.43 [[ 9.94724517e-01 1.01760818e-01 1.29564948e-02 9.28557072e+01] [-1.01746632e-01 9.94808804e-01 -1.75111562e-03 -9.99013097e+00] [-1.30674301e-02 4.23597924e-04 9.99914528e-01 -1.43438825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.475769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.89, Y:-10.00, Z:-1.44 [[ 9.94705034e-01 1.02050715e-01 1.21469259e-02 9.28866850e+01] [-1.02038267e-01 9.94779119e-01 -1.64182677e-03 -9.99834328e+00] [-1.22510579e-02 3.93682088e-04 9.99924875e-01 -1.43503226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.505769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:92.92, Y:-10.01, Z:-1.44 [[ 9.94653471e-01 1.02616042e-01 1.15939850e-02 9.29160716e+01] [-1.02604736e-01 9.94720972e-01 -1.56736086e-03 -1.00066791e+01] [-1.16936164e-02 3.69383146e-04 9.99931559e-01 -1.43580311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.535769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:92.95, Y:-10.02, Z:-1.44 [[ 9.94537415e-01 1.03612950e-01 1.26367043e-02 9.29457255e+01] [-1.03599597e-01 9.94617617e-01 -1.70848279e-03 -1.00209580e+01] [-1.27457096e-02 3.89992585e-04 9.99918694e-01 -1.43691087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.565769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:92.98, Y:-10.03, Z:-1.44 [[ 9.94446976e-01 1.04389315e-01 1.33447881e-02 9.29772776e+01] [-1.04374488e-01 9.94536429e-01 -1.80463511e-03 -1.00295580e+01] [-1.34602626e-02 4.01758497e-04 9.99909326e-01 -1.43631320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.595769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.01, Y:-10.04, Z:-1.44 [[ 9.94089468e-01 1.07665798e-01 1.39357331e-02 9.30084455e+01] [-1.07649914e-01 9.94187072e-01 -1.88709012e-03 -1.00398255e+01] [-1.40579007e-02 3.75755942e-04 9.99901112e-01 -1.43628360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.625769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.04, Y:-10.05, Z:-1.44 [[ 9.93802486e-01 1.10399432e-01 1.29839920e-02 9.30401543e+01] [-1.10385851e-01 9.93887250e-01 -1.76024651e-03 -1.00465673e+01] [-1.30989544e-02 3.16088355e-04 9.99914155e-01 -1.43683697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.07, Y:-10.05, Z:-1.44 [[ 9.93489234e-01 1.13272741e-01 1.21830882e-02 9.30720248e+01] [-1.13260974e-01 9.93563897e-01 -1.65371865e-03 -1.00536978e+01] [-1.22919978e-02 2.63083234e-04 9.99924416e-01 -1.43791707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.10, Y:-10.06, Z:-1.44 [[ 9.93029271e-01 1.17232449e-01 1.22237162e-02 9.31034092e+01] [-1.17220879e-01 9.93104479e-01 -1.66125103e-03 -1.00634991e+01] [-1.23341799e-02 2.16796149e-04 9.99923908e-01 -1.44017836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.14, Y:-10.07, Z:-1.44 [[ 9.92871957e-01 1.18534319e-01 1.24455940e-02 9.31350709e+01] [-1.18522417e-01 9.92949935e-01 -1.69214009e-03 -1.00696554e+01] [-1.25584284e-02 2.04996561e-04 9.99921119e-01 -1.44077080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.17, Y:-10.08, Z:-1.44 [[ 9.92617219e-01 1.20683676e-01 1.21040334e-02 9.31660802e+01] [-1.20672554e-01 9.92690999e-01 -1.64770307e-03 -1.00774423e+01] [-1.22144158e-02 1.74913818e-04 9.99925386e-01 -1.44138243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.20, Y:-10.08, Z:-1.44 [[ 9.92482987e-01 1.21817875e-01 1.17441787e-02 9.31983539e+01] [-1.21807460e-01 9.92552457e-01 -1.60076972e-03 -1.00847525e+01] [-1.18517158e-02 1.58208137e-04 9.99929753e-01 -1.44149065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.805769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:93.23, Y:-10.09, Z:-1.44 [[ 9.92367095e-01 1.22760881e-01 1.17181710e-02 9.32297645e+01] [-1.22750550e-01 9.92436267e-01 -1.59956028e-03 -1.00923066e+01] [-1.18259013e-02 1.48939056e-04 9.99930060e-01 -1.44266946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.835769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:93.26, Y:-10.10, Z:-1.44 [[ 9.92181999e-01 1.24273214e-01 1.14476325e-02 9.32611838e+01] [-1.24263431e-01 9.92248029e-01 -1.56471639e-03 -1.01004336e+01] [-1.15533432e-02 1.29961342e-04 9.99933249e-01 -1.44312343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.865769231 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:93.29, Y:-10.11, Z:-1.44 [[ 9.92013078e-01 1.25608614e-01 1.15121279e-02 9.32933674e+01] [-1.25598787e-01 9.92079867e-01 -1.57554634e-03 -1.01064863e+01] [-1.16188525e-02 1.17053274e-04 9.99932492e-01 -1.44362665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.895769231 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:93.32, Y:-10.11, Z:-1.44 [[ 9.91507243e-01 1.29530052e-01 1.16341060e-02 9.33243411e+01] [-1.29520258e-01 9.91575494e-01 -1.59455894e-03 -1.01147940e+01] [-1.17426377e-02 7.41643314e-05 9.99931050e-01 -1.44414949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.925769231 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:93.36, Y:-10.12, Z:-1.44 [[ 9.91215996e-01 1.31782682e-01 1.11433075e-02 9.33562358e+01] [-1.31773820e-01 9.91278630e-01 -1.52906851e-03 -1.01209986e+01] [-1.12476274e-02 4.72409673e-05 9.99936742e-01 -1.44428076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.955769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:93.39, Y:-10.13, Z:-1.45 [[ 9.90946696e-01 1.33824341e-01 1.07559672e-02 9.33881917e+01] [-1.33816184e-01 9.91005068e-01 -1.47780439e-03 -1.01260083e+01] [-1.08569842e-02 2.51028947e-05 9.99941061e-01 -1.44533345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.985769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:93.42, Y:-10.13, Z:-1.45 [[ 9.90641251e-01 1.36141185e-01 9.77188468e-03 9.34201916e+01] [-1.36134550e-01 9.90689446e-01 -1.34405257e-03 -1.01303534e+01] [-9.86388393e-03 1.18279401e-06 9.99951351e-01 -1.44685099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01576923100001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:93.45, Y:-10.14, Z:-1.45 [[ 9.90564830e-01 1.36724252e-01 9.36994435e-03 9.34506094e+01] [-1.36718162e-01 9.90609145e-01 -1.29052165e-03 -1.01357465e+01] [-9.45839817e-03 -2.69620731e-06 9.99955268e-01 -1.44705814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04576923100001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:93.48, Y:-10.14, Z:-1.45 [[ 9.90610008e-01 1.36339635e-01 1.01644626e-02 9.34824353e+01] [-1.36332438e-01 9.90662154e-01 -1.40082136e-03 -1.01423649e+01] [-1.02605359e-02 1.92169288e-06 9.99947359e-01 -1.44642764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:93.51, Y:-10.15, Z:-1.45 [[ 9.90687587e-01 1.35692130e-01 1.12138736e-02 9.35147085e+01] [-1.35683306e-01 9.90751051e-01 -1.54753216e-03 -1.01465783e+01] [-1.13201450e-02 1.15854561e-05 9.99935925e-01 -1.44621061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:93.55, Y:-10.15, Z:-1.45 [[ 9.90759449e-01 1.35089069e-01 1.21102600e-02 9.35461904e+01] [-1.35078705e-01 9.90833459e-01 -1.67343918e-03 -1.01495033e+01] [-1.22253142e-02 2.21374296e-05 9.99925268e-01 -1.44667095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:93.58, Y:-10.15, Z:-1.45 [[ 9.90774116e-01 1.35012116e-01 1.17635273e-02 9.35786448e+01] [-1.35002311e-01 9.90843947e-01 -1.62727347e-03 -1.01518974e+01] [-1.18755215e-02 2.41570569e-05 9.99929483e-01 -1.44798730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.165769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.61, Y:-10.16, Z:-1.45 [[ 9.90782449e-01 1.35022150e-01 1.09158988e-02 9.36091039e+01] [-1.35013689e-01 9.90842580e-01 -1.51172459e-03 -1.01556397e+01] [-1.10200537e-02 2.39944230e-05 9.99939277e-01 -1.44854775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.195769231 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:93.64, Y:-10.16, Z:-1.45 [[ 9.90853952e-01 1.34487662e-01 1.10233961e-02 9.36413570e+01] [-1.34478982e-01 9.90915268e-01 -1.52832172e-03 -1.01592961e+01] [-1.11287919e-02 3.19285257e-05 9.99938073e-01 -1.44870523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.225769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:93.67, Y:-10.16, Z:-1.45 [[ 9.90947303e-01 1.33767949e-01 1.13832303e-02 9.36720592e+01] [-1.33758620e-01 9.91012681e-01 -1.58034435e-03 -1.01632937e+01] [-1.14923250e-02 4.34327834e-05 9.99933960e-01 -1.44823363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.255769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:93.70, Y:-10.17, Z:-1.45 [[ 9.91056057e-01 1.32967490e-01 1.12932797e-02 9.37024753e+01] [-1.32958245e-01 9.91120398e-01 -1.56884809e-03 -1.01681174e+01] [-1.14016056e-02 5.32817507e-05 9.99934998e-01 -1.44876287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.285769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:93.73, Y:-10.18, Z:-1.45 [[ 9.91291047e-01 1.31265448e-01 1.05566679e-02 9.37340919e+01] [-1.31257258e-01 9.91347254e-01 -1.46794394e-03 -1.01751339e+01] [-1.06580140e-02 6.95204048e-05 9.99943199e-01 -1.44905281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.315769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:93.77, Y:-10.18, Z:-1.45 [[ 9.91406566e-01 1.30384545e-01 1.06249884e-02 9.37659037e+01] [-1.30376180e-01 9.91463496e-01 -1.47916204e-03 -1.01802080e+01] [-1.07271480e-02 8.12055625e-05 9.99942459e-01 -1.44951360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.345769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:93.80, Y:-10.19, Z:-1.45 [[ 9.91597829e-01 1.28854343e-01 1.14150633e-02 9.37982947e+01] [-1.28844563e-01 9.91663525e-01 -1.59115396e-03 -1.01862947e+01] [-1.15249290e-02 1.07015978e-04 9.99933580e-01 -1.45019752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.375769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.83, Y:-10.19, Z:-1.45 [[ 9.91572645e-01 1.29025672e-01 1.16647026e-02 9.38306422e+01] [-1.29015444e-01 9.91641248e-01 -1.62824422e-03 -1.01931288e+01] [-1.17772856e-02 1.09595640e-04 9.99930639e-01 -1.45056341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:93.86, Y:-10.20, Z:-1.45 [[ 9.91473960e-01 1.29747175e-01 1.20439362e-02 9.38631509e+01] [-1.29736295e-01 9.91547104e-01 -1.68367020e-03 -1.02008109e+01] [-1.21605815e-02 1.06779508e-04 9.99926052e-01 -1.45096793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:93.89, Y:-10.21, Z:-1.45 [[ 9.91356364e-01 1.30625709e-01 1.22263682e-02 9.38940558e+01] [-1.30614532e-01 9.91431750e-01 -1.71170479e-03 -1.02076691e+01] [-1.23452023e-02 9.99680709e-05 9.99923790e-01 -1.45140149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46576923100001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:93.93, Y:-10.22, Z:-1.45 [[ 9.91117030e-01 1.32510610e-01 1.13124260e-02 9.39260972e+01] [-1.32501151e-01 9.91181584e-01 -1.58494193e-03 -1.02158370e+01] [-1.14226899e-02 7.19534767e-05 9.99934756e-01 -1.45177139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49576923100001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:93.96, Y:-10.22, Z:-1.45 [[ 9.91014744e-01 1.33350484e-01 1.03646278e-02 9.39581357e+01] [-1.33342570e-01 9.91068941e-01 -1.45399045e-03 -1.02226169e+01] [-1.04659510e-02 5.88798718e-05 9.99945229e-01 -1.45227879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:93.99, Y:-10.23, Z:-1.45 [[ 9.90866550e-01 1.34547963e-01 8.96250320e-03 9.39885303e+01] [-1.34542081e-01 9.90907081e-01 -1.25877709e-03 -1.02334878e+01] [-9.05037378e-03 4.14462788e-05 9.99959044e-01 -1.45331711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.555769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:94.02, Y:-10.24, Z:-1.45 [[ 9.90750139e-01 1.35390199e-01 9.14631744e-03 9.40199785e+01] [-1.35384093e-01 9.90792356e-01 -1.28633523e-03 -1.02417104e+01] [-9.23625859e-03 3.61709201e-05 9.99957344e-01 -1.45411234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.585769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:94.05, Y:-10.25, Z:-1.45 [[ 9.90670583e-01 1.35932509e-01 9.70308231e-03 9.40526488e+01] [-1.35925644e-01 9.90718099e-01 -1.36652228e-03 -1.02495291e+01] [-9.79877407e-03 3.48757022e-05 9.99951990e-01 -1.45374340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.615769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.08, Y:-10.26, Z:-1.45 [[ 9.90458779e-01 1.37423054e-01 1.03107311e-02 9.40835220e+01] [-1.37415361e-01 9.90512445e-01 -1.45430814e-03 -1.02590360e+01] [-1.04127629e-02 2.35794334e-05 9.99945785e-01 -1.45394508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.645769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:94.11, Y:-10.27, Z:-1.45 [[ 9.90264104e-01 1.38869413e-01 9.60682846e-03 9.41146550e+01] [-1.38862787e-01 9.90310702e-01 -1.35662020e-03 -1.02659349e+01] [-9.70213809e-03 9.38131913e-06 9.99952933e-01 -1.45417510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.675769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:94.15, Y:-10.27, Z:-1.45 [[ 9.89869073e-01 1.41632935e-01 9.96648075e-03 9.41467460e+01] [-1.41625925e-01 9.89919245e-01 -1.40927628e-03 -1.02749178e+01] [-1.00656110e-02 -1.65130440e-05 9.99949340e-01 -1.45425588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.705769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.18, Y:-10.28, Z:-1.45 [[ 9.89693481e-01 1.42770743e-01 1.11053643e-02 9.41787441e+01] [-1.42762083e-01 9.89755785e-01 -1.57271264e-03 -1.02811990e+01] [-1.12161360e-02 -2.89215042e-05 9.99937097e-01 -1.45434780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.735769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.21, Y:-10.29, Z:-1.46 [[ 9.89646540e-01 1.43064254e-01 1.15041532e-02 9.42110815e+01] [-1.43054955e-01 9.89713402e-01 -1.63146442e-03 -1.02877418e+01] [-1.16192188e-02 -3.11530035e-05 9.99932494e-01 -1.45571465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76576923100001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:94.24, Y:-10.30, Z:-1.46 [[ 9.89963484e-01 1.40968402e-01 1.00105116e-02 9.42416706e+01] [-1.40961238e-01 9.90014096e-01 -1.42123760e-03 -1.02969553e+01] [-1.01108972e-02 -4.12077904e-06 9.99948884e-01 -1.45702883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:94.27, Y:-10.30, Z:-1.46 [[ 9.90129178e-01 1.39884512e-01 8.74837443e-03 9.42732288e+01] [-1.39878986e-01 9.90167826e-01 -1.24344038e-03 -1.03045363e+01] [-8.83629694e-03 7.45286520e-06 9.99960959e-01 -1.45726116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:94.30, Y:-10.31, Z:-1.46 [[ 9.90267463e-01 1.38992732e-01 7.16739710e-03 9.43049046e+01] [-1.38988994e-01 9.90293401e-01 -1.01952458e-03 -1.03135128e+01] [-7.23953256e-03 1.34127066e-05 9.99973794e-01 -1.45705438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:94.34, Y:-10.32, Z:-1.46 [[ 9.90126930e-01 1.40010303e-01 6.76586426e-03 9.43373064e+01] [-1.40006988e-01 9.90150047e-01 -9.63534982e-04 -1.03197401e+01] [-6.83412563e-03 6.75366027e-06 9.99976647e-01 -1.45751753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:94.37, Y:-10.33, Z:-1.46 [[ 9.89943803e-01 1.41286249e-01 7.03294264e-03 9.43695750e+01] [-1.41282689e-01 9.89968785e-01 -1.00297978e-03 -1.03255114e+01] [-7.10410094e-03 -7.39434129e-07 9.99974766e-01 -1.45781009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.40, Y:-10.33, Z:-1.46 [[ 9.89434913e-01 1.44643219e-01 9.84339977e-03 9.44022735e+01] [-1.44636383e-01 9.89483875e-01 -1.40655113e-03 -1.03320580e+01] [-9.94333342e-03 -3.20229466e-05 9.99950563e-01 -1.45667654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.945769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:94.43, Y:-10.34, Z:-1.46 [[ 9.89078569e-01 1.46997911e-01 1.07330488e-02 9.44347429e+01] [-1.46989899e-01 9.89136801e-01 -1.53587174e-03 -1.03366309e+01] [-1.08422234e-02 -5.85519329e-05 9.99941220e-01 -1.45641350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.975769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.47, Y:-10.34, Z:-1.46 [[ 9.88259057e-01 1.52437867e-01 1.03311711e-02 9.44669952e+01] [-1.52430720e-01 9.88313050e-01 -1.48033819e-03 -1.03405719e+01] [-1.04360908e-02 -1.11830235e-04 9.99945536e-01 -1.45557858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.005769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.50, Y:-10.35, Z:-1.46 [[ 9.88247170e-01 1.52514921e-01 1.03309942e-02 9.45001303e+01] [-1.52507765e-01 9.88301162e-01 -1.48157142e-03 -1.03454722e+01] [-1.04360954e-02 -1.11398077e-04 9.99945536e-01 -1.45601005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.035769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:94.53, Y:-10.35, Z:-1.46 [[ 9.87786652e-01 1.55460820e-01 1.04625172e-02 9.45332972e+01] [-1.55453640e-01 9.87842048e-01 -1.50104634e-03 -1.03500510e+01] [-1.05686683e-02 -1.43722837e-04 9.99944140e-01 -1.45710283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.065769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.57, Y:-10.35, Z:-1.46 [[ 9.86934870e-01 1.60731392e-01 1.11795620e-02 9.45665791e+01] [-1.60723507e-01 9.86998164e-01 -1.60609699e-03 -1.03522203e+01] [-1.12923574e-02 -2.11705280e-04 9.99936217e-01 -1.45649701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.095769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.60, Y:-10.35, Z:-1.46 [[ 9.86511802e-01 1.63279528e-01 1.15870354e-02 9.45996511e+01] [-1.63271207e-01 9.86579817e-01 -1.66688257e-03 -1.03541141e+01] [-1.17037031e-02 -2.47429932e-04 9.99931479e-01 -1.45654513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.125769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:94.63, Y:-10.36, Z:-1.46 [[ 9.86038423e-01 1.66105108e-01 1.17183952e-02 9.46315786e+01] [-1.66096769e-01 9.86108013e-01 -1.68803881e-03 -1.03560646e+01] [-1.18359953e-02 -2.81916458e-04 9.99929912e-01 -1.45659472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.66, Y:-10.35, Z:-1.46 [[ 9.85270197e-01 1.70681978e-01 1.05024285e-02 9.46649524e+01] [-1.70675523e-01 9.85326125e-01 -1.51447075e-03 -1.03540638e+01] [-1.06068101e-02 -3.00344587e-04 9.99943701e-01 -1.45622135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.70, Y:-10.35, Z:-1.46 [[ 9.84951015e-01 1.72571469e-01 9.51770335e-03 9.46974420e+01] [-1.72566240e-01 9.84996957e-01 -1.37410205e-03 -1.03544783e+01] [-9.61203964e-03 -2.89011067e-04 9.99953762e-01 -1.45673187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.73, Y:-10.35, Z:-1.46 [[ 9.84619141e-01 1.74533380e-01 7.95280558e-03 9.47293438e+01] [-1.74529779e-01 9.84651225e-01 -1.14996028e-03 -1.03506187e+01] [-8.03144620e-03 -2.55728495e-04 9.99967715e-01 -1.45861093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:94.76, Y:-10.35, Z:-1.46 [[ 9.84618022e-01 1.74559474e-01 7.50602269e-03 9.47598429e+01] [-1.74556266e-01 9.84646602e-01 -1.08558023e-03 -1.03519337e+01] [-7.58027806e-03 -2.41341432e-04 9.99971240e-01 -1.45903319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.79, Y:-10.35, Z:-1.46 [[ 9.84754386e-01 1.73791301e-01 7.44192249e-03 9.47916603e+01] [-1.73788125e-01 9.84782478e-01 -1.07633037e-03 -1.03535095e+01] [-7.51573173e-03 -2.33396708e-04 9.99971729e-01 -1.45912314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.305769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.82, Y:-10.36, Z:-1.46 [[ 9.84922767e-01 1.72821542e-01 7.73678418e-03 9.48223330e+01] [-1.72818077e-01 9.84953126e-01 -1.11923674e-03 -1.03550240e+01] [-7.81379798e-03 -2.34694415e-04 9.99969444e-01 -1.45892034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.335769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:94.85, Y:-10.35, Z:-1.46 [[ 9.85561183e-01 1.69107285e-01 8.47829917e-03 9.48544396e+01] [-1.69102986e-01 9.85597624e-01 -1.22657123e-03 -1.03520529e+01] [-8.56361364e-03 -2.24844717e-04 9.99963306e-01 -1.45806975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:-10.35, Z:-1.46 [[ 9.86319340e-01 1.64619509e-01 8.63580313e-03 9.48851702e+01] [-1.64614875e-01 9.86357127e-01 -1.24962669e-03 -1.03501300e+01] [-8.72369889e-03 -1.89050677e-04 9.99961930e-01 -1.45882716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.92, Y:-10.35, Z:-1.46 [[ 9.86754724e-01 1.61996378e-01 8.50223007e-03 9.49161723e+01] [-1.61991787e-01 9.86791339e-01 -1.23045243e-03 -1.03520295e+01] [-8.58925584e-03 -1.63136694e-04 9.99963098e-01 -1.45992543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.425769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.95, Y:-10.35, Z:-1.46 [[ 9.87178767e-01 1.59379642e-01 8.72996116e-03 9.49461890e+01] [-1.59374700e-01 9.87217356e-01 -1.26340993e-03 -1.03544055e+01] [-8.81973100e-03 -1.44123480e-04 9.99961095e-01 -1.46085899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.455769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:94.98, Y:-10.36, Z:-1.46 [[ 9.87594047e-01 1.56754559e-01 9.27394494e-03 9.49764603e+01] [-1.56748866e-01 9.87637581e-01 -1.34213589e-03 -1.03571441e+01] [-9.36968247e-03 -1.28194935e-04 9.99956095e-01 -1.46077090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.485769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.01, Y:-10.36, Z:-1.46 [[ 9.88472601e-01 1.51133206e-01 8.98173687e-03 9.50065223e+01] [-1.51127634e-01 9.88513403e-01 -1.29980226e-03 -1.03590293e+01] [-9.07501057e-03 -7.25697254e-05 9.99958819e-01 -1.46030730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:95.04, Y:-10.36, Z:-1.46 [[ 9.88934954e-01 1.48130192e-01 8.06865454e-03 9.50372094e+01] [-1.48125595e-01 9.88967868e-01 -1.16768834e-03 -1.03626956e+01] [-8.15260998e-03 -4.04064389e-05 9.99966766e-01 -1.46065364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:95.07, Y:-10.37, Z:-1.46 [[ 9.89767950e-01 1.42512417e-01 7.04385089e-03 9.50670704e+01] [-1.42508770e-01 9.89793014e-01 -1.01957987e-03 -1.03660441e+01] [-7.11725720e-03 5.33695144e-06 9.99974672e-01 -1.46219817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.10, Y:-10.37, Z:-1.46 [[ 9.90066168e-01 1.40407518e-01 7.39671070e-03 9.50970375e+01] [-1.40403436e-01 9.90093798e-01 -1.07081681e-03 -1.03699885e+01] [-7.47378812e-03 2.16558961e-05 9.99972071e-01 -1.46219873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.13, Y:-10.37, Z:-1.46 [[ 9.90254545e-01 1.39014350e-01 8.42297240e-03 9.51283484e+01] [-1.39009008e-01 9.90290366e-01 -1.21927982e-03 -1.03744381e+01] [-8.51068581e-03 3.65283530e-05 9.99963783e-01 -1.46167085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:-10.38, Z:-1.46 [[ 9.90369687e-01 1.38081640e-01 1.00669491e-02 9.51594297e+01] [-1.38073961e-01 9.90420849e-01 -1.45720266e-03 -1.03791465e+01] [-1.01717293e-02 5.31857964e-05 9.99948265e-01 -1.46106593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.19, Y:-10.38, Z:-1.46 [[ 9.90360092e-01 1.38163946e-01 9.87985998e-03 9.51904578e+01] [-1.38156534e-01 9.90409371e-01 -1.43208552e-03 -1.03836356e+01] [-9.98296849e-03 5.33131413e-05 9.99950168e-01 -1.46170091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.695769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.22, Y:-10.39, Z:-1.46 [[ 9.90170987e-01 1.39709303e-01 6.53659811e-03 9.52208704e+01] [-1.39706092e-01 9.90192562e-01 -9.47529952e-04 -1.03887670e+01] [-6.60486958e-03 2.50140910e-05 9.99978187e-01 -1.46345025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.725769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:95.25, Y:-10.39, Z:-1.46 [[ 9.90006397e-01 1.40937202e-01 4.90303689e-03 9.52500843e+01] [-1.40935409e-01 9.90018538e-01 -7.11063965e-04 -1.03935459e+01] [-4.95431278e-03 1.29463620e-05 9.99987727e-01 -1.46466547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.755769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:95.28, Y:-10.40, Z:-1.46 [[ 9.89877123e-01 1.41841860e-01 4.91601950e-03 9.52801246e+01] [-1.41840070e-01 9.89889330e-01 -7.12789848e-04 -1.03994886e+01] [-4.96741869e-03 8.28581568e-06 9.99987662e-01 -1.46433589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.785769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:95.31, Y:-10.40, Z:-1.46 [[ 9.89886162e-01 1.41722884e-01 6.32530162e-03 9.53090096e+01] [-1.41719917e-01 9.89906371e-01 -9.17202278e-04 -1.04049543e+01] [-6.39144492e-03 1.15046249e-05 9.99979574e-01 -1.46395545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.815769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:95.34, Y:-10.41, Z:-1.46 [[ 9.89938950e-01 1.41288361e-01 7.64679558e-03 9.53402417e+01] [-1.41284013e-01 9.89968484e-01 -1.10852049e-03 -1.04112698e+01] [-7.72670767e-03 1.69976440e-05 9.99970148e-01 -1.46414509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.845769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.37, Y:-10.42, Z:-1.47 [[ 9.90010133e-01 1.40798051e-01 7.47295329e-03 9.53702218e+01] [-1.40793884e-01 9.90038337e-01 -1.08349309e-03 -1.04208401e+01] [-7.55106396e-03 2.05230219e-05 9.99971490e-01 -1.46602443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.875769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.40, Y:-10.43, Z:-1.47 [[ 9.90002667e-01 1.40896616e-01 6.54690566e-03 9.54012355e+01] [-1.40893425e-01 9.90024314e-01 -9.48438023e-04 -1.04280177e+01] [-6.61522750e-03 1.65402112e-05 9.99978119e-01 -1.46602566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:95.43, Y:-10.44, Z:-1.47 [[ 9.89735165e-01 1.42749177e-01 6.85386587e-03 9.54316524e+01] [-1.42745714e-01 9.89758896e-01 -9.94254594e-04 -1.04359188e+01] [-6.92560374e-03 5.68875743e-06 9.99976018e-01 -1.46548744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:-10.44, Z:-1.46 [[ 9.89456769e-01 1.44639968e-01 7.38791163e-03 9.54627772e+01] [-1.44635983e-01 9.89484350e-01 -1.07376731e-03 -1.04416786e+01] [-7.46553261e-03 -6.11152855e-06 9.99972133e-01 -1.46498084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:-10.45, Z:-1.47 [[ 9.89038388e-01 1.47439882e-01 8.03419565e-03 9.54923747e+01] [-1.47435259e-01 9.89071019e-01 -1.16797267e-03 -1.04470907e+01] [-8.11859583e-03 -2.93539021e-05 9.99967043e-01 -1.46531462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.52, Y:-10.45, Z:-1.46 [[ 9.88001621e-01 1.54242198e-01 7.88295323e-03 9.55221073e+01] [-1.54237962e-01 9.88033065e-01 -1.14613376e-03 -1.04519446e+01] [-7.96540063e-03 -8.34686329e-05 9.99968272e-01 -1.46487118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:-10.46, Z:-1.47 [[ 9.87434671e-01 1.57831617e-01 7.87089113e-03 9.55526796e+01] [-1.57827508e-01 9.87466034e-01 -1.14438000e-03 -1.04559426e+01] [-7.95285699e-03 -1.12242639e-04 9.99968369e-01 -1.46562289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.055769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.58, Y:-10.45, Z:-1.47 [[ 9.86689679e-01 1.62568066e-01 3.88594918e-03 9.55825184e+01] [-1.62507078e-01 9.86624748e-01 -1.27693126e-02 -1.04546486e+01] [-5.90985609e-03 1.19678547e-02 9.99910918e-01 -1.46521477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.61, Y:-10.47, Z:-1.47 [[ 9.86730837e-01 1.61935594e-01 1.17948574e-02 9.56114268e+01] [-1.62062263e-01 9.86722379e-01 1.07130366e-02 -1.04692617e+01] [-9.90342782e-03 -1.24823849e-02 9.99873048e-01 -1.46543526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.115769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.64, Y:-10.47, Z:-1.47 [[ 9.87365598e-01 1.58110747e-01 1.04960850e-02 9.56425509e+01] [-1.58103449e-01 9.87421373e-01 -1.52679128e-03 -1.04697795e+01] [-1.06054608e-02 -1.51966049e-04 9.99943749e-01 -1.46722875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.145769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.67, Y:-10.48, Z:-1.47 [[ 9.87813944e-01 1.55293324e-01 1.03728442e-02 9.56737233e+01] [-1.55286029e-01 9.87868397e-01 -1.50995264e-03 -1.04754574e+01] [-1.04814906e-02 -1.19205517e-04 9.99945061e-01 -1.46828298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.175769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.71, Y:-10.48, Z:-1.47 [[ 9.88571459e-01 1.50431120e-01 9.84625848e-03 9.57052203e+01] [-1.50424307e-01 9.88620490e-01 -1.43308337e-03 -1.04836517e+01] [-9.94979322e-03 -6.44112915e-05 9.99950498e-01 -1.46859763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.205769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.74, Y:-10.49, Z:-1.47 [[ 9.88751677e-01 1.49261364e-01 9.54806792e-03 9.57370651e+01] [-1.49254890e-01 9.88797776e-01 -1.39113517e-03 -1.04902525e+01] [-9.64875106e-03 -4.96085948e-05 9.99953448e-01 -1.46845552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.235769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.77, Y:-10.50, Z:-1.47 [[ 9.88717749e-01 1.49498892e-01 9.34314505e-03 9.57674384e+01] [-1.49492686e-01 9.88761892e-01 -1.36301359e-03 -1.04955580e+01] [-9.44191480e-03 -4.90961179e-05 9.99955423e-01 -1.46866378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:-10.50, Z:-1.47 [[ 9.88172849e-01 1.53103103e-01 8.59423180e-03 9.57982551e+01] [-1.53097980e-01 9.88210218e-01 -1.25473445e-03 -1.04986226e+01] [-8.68501141e-03 -7.58650079e-05 9.99962282e-01 -1.46862955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.83, Y:-10.50, Z:-1.47 [[ 9.87802172e-01 1.55484480e-01 8.45249447e-03 9.58282621e+01] [-1.55479610e-01 9.87838331e-01 -1.23428184e-03 -1.05011255e+01] [-8.54160970e-03 -9.49642664e-05 9.99963515e-01 -1.46923816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.86, Y:-10.50, Z:-1.47 [[ 9.87182300e-01 1.59411504e-01 7.68625589e-03 9.58593648e+01] [-1.59407596e-01 9.87212216e-01 -1.12239886e-03 -1.05021876e+01] [-7.76688900e-03 -1.17235286e-04 9.99969830e-01 -1.46954200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.89, Y:-10.51, Z:-1.47 [[ 9.87004239e-01 1.60515976e-01 7.56664693e-03 9.58893896e+01] [-1.60512219e-01 9.87033234e-01 -1.10517525e-03 -1.05051430e+01] [-7.64593028e-03 -1.23726633e-04 9.99970762e-01 -1.46989103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:95.92, Y:-10.51, Z:-1.47 [[ 9.86947951e-01 1.60847247e-01 7.86804770e-03 9.59198968e+01] [-1.60843194e-01 9.86979304e-01 -1.14935816e-03 -1.05080349e+01] [-7.95047134e-03 -1.31165243e-04 9.99968386e-01 -1.47008025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.95, Y:-10.51, Z:-1.47 [[ 9.87071529e-01 1.59999243e-01 9.48891633e-03 9.59494138e+01] [-1.59993309e-01 9.87117126e-01 -1.38609330e-03 -1.05087186e+01] [-9.58844569e-03 -1.49989892e-04 9.99954019e-01 -1.46966174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:-10.51, Z:-1.47 [[ 9.87164596e-01 1.59368038e-01 1.03869420e-02 9.59798748e+01] [-1.59360892e-01 9.87219228e-01 -1.51743644e-03 -1.05116715e+01] [-1.04960197e-02 -1.57312813e-04 9.99944903e-01 -1.46962951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:-10.51, Z:-1.47 [[ 9.87245349e-01 1.58858583e-01 1.05152891e-02 9.60099256e+01] [-1.58851230e-01 9.87301335e-01 -1.53615795e-03 -1.05148142e+01] [-1.06257908e-02 -1.53801812e-04 9.99943533e-01 -1.47028826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.505769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.04, Y:-10.52, Z:-1.47 [[ 9.87316323e-01 1.58520522e-01 8.81600440e-03 9.60396666e+01] [-1.58515338e-01 9.87355675e-01 -1.28813244e-03 -1.05158549e+01] [-8.90872740e-03 -1.25677727e-04 9.99960309e-01 -1.47161014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.535769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.07, Y:-10.52, Z:-1.47 [[ 9.87259421e-01 1.58931059e-01 7.73008602e-03 9.60697872e+01] [-1.58927088e-01 9.87289677e-01 -1.12921520e-03 -1.05187219e+01] [-7.81130149e-03 -1.13691721e-04 9.99969485e-01 -1.47186433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.565769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.10, Y:-10.52, Z:-1.47 [[ 9.87220787e-01 1.59188724e-01 7.35313313e-03 9.61002915e+01] [-1.59185138e-01 9.87248164e-01 -1.07414971e-03 -1.05217959e+01] [-7.43035970e-03 -1.10086588e-04 9.99972388e-01 -1.47136167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:-10.53, Z:-1.47 [[ 9.87269018e-01 1.58871601e-01 7.72666165e-03 9.61297753e+01] [-1.58867632e-01 9.87299246e-01 -1.12865157e-03 -1.05261667e+01] [-7.80783790e-03 -1.13233712e-04 9.99969512e-01 -1.47217128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-10.53, Z:-1.47 [[ 9.87360833e-01 1.58295498e-01 7.81801227e-03 9.61599631e+01] [-1.58291416e-01 9.87391778e-01 -1.14215438e-03 -1.05303511e+01] [-7.90023894e-03 -1.09805729e-04 9.99968787e-01 -1.47248597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.19, Y:-10.53, Z:-1.47 [[ 9.87314382e-01 1.58552454e-01 8.45161297e-03 9.61889146e+01] [-1.58547692e-01 9.87350548e-01 -1.23477251e-03 -1.05329776e+01] [-8.54048091e-03 -1.20875068e-04 9.99963522e-01 -1.47265704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.22, Y:-10.54, Z:-1.47 [[ 9.87249729e-01 1.58922682e-01 9.03067705e-03 9.62187327e+01] [-1.58917262e-01 9.87291023e-01 -1.31930178e-03 -1.05363706e+01] [-9.12557336e-03 -1.32650147e-04 9.99958352e-01 -1.47270086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:-10.54, Z:-1.47 [[ 9.87161784e-01 1.59431659e-01 9.65184433e-03 9.62487647e+01] [-1.59425493e-01 9.87208957e-01 -1.40979703e-03 -1.05392841e+01] [-9.75315346e-03 -1.47052295e-04 9.99952426e-01 -1.47248868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.28, Y:-10.54, Z:-1.47 [[ 9.87207791e-01 1.59155729e-01 9.49905382e-03 9.62781227e+01] [-1.59149748e-01 9.87253480e-01 -1.38713261e-03 -1.05425352e+01] [-9.59874404e-03 -1.42383902e-04 9.99953921e-01 -1.47310498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.31, Y:-10.55, Z:-1.47 [[ 9.87302709e-01 1.58596871e-01 8.96621274e-03 9.63085834e+01] [-1.58591518e-01 9.87343413e-01 -1.30946779e-03 -1.05459557e+01] [-9.06040858e-03 -1.29124184e-04 9.99958945e-01 -1.47430723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-10.55, Z:-1.48 [[ 9.87471928e-01 1.57578619e-01 8.25655514e-03 9.63380965e+01] [-1.57574043e-01 9.87506439e-01 -1.20588128e-03 -1.05496736e+01] [-8.34342247e-03 -1.10244867e-04 9.99965187e-01 -1.47546357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.835769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.37, Y:-10.55, Z:-1.48 [[ 9.87585153e-01 1.56871030e-01 8.18818059e-03 9.63667175e+01] [-1.56866505e-01 9.87619091e-01 -1.19590760e-03 -1.05538792e+01] [-8.27440673e-03 -1.03390684e-04 9.99965761e-01 -1.47589942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:-10.56, Z:-1.48 [[ 9.87882086e-01 1.55010460e-01 7.79369321e-03 9.63959812e+01] [-1.55006305e-01 9.87912825e-01 -1.13799247e-03 -1.05586355e+01] [-7.87589021e-03 -8.38692174e-05 9.99968981e-01 -1.47651205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.43, Y:-10.56, Z:-1.48 [[ 9.87883915e-01 1.54998804e-01 7.79372894e-03 9.64258344e+01] [-1.54994651e-01 9.87914654e-01 -1.13774770e-03 -1.05629535e+01] [-7.87588856e-03 -8.40236447e-05 9.99968981e-01 -1.47690685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.925769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:96.45, Y:-10.57, Z:-1.48 [[ 9.87972390e-01 1.54468053e-01 7.08355330e-03 9.64545840e+01] [-1.54464609e-01 9.87997781e-01 -1.03400305e-03 -1.05679420e+01] [-7.15825538e-03 -7.25918308e-05 9.99974377e-01 -1.47789758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.955769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.48, Y:-10.57, Z:-1.48 [[ 9.87935900e-01 1.54740253e-01 6.17344092e-03 9.64838431e+01] [-1.54737643e-01 9.87955186e-01 -9.01178007e-04 -1.05735376e+01] [-6.23853149e-03 -6.49575910e-05 9.99980538e-01 -1.47947304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.985769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.51, Y:-10.58, Z:-1.48 [[ 9.87790669e-01 1.55669600e-01 6.04724801e-03 9.65134560e+01] [-1.55667113e-01 9.87809177e-01 -8.82618480e-04 -1.05783044e+01] [-6.11092394e-03 -6.95153396e-05 9.99981326e-01 -1.47982252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.54, Y:-10.58, Z:-1.48 [[ 9.87553904e-01 1.57151630e-01 6.37586591e-03 9.65415741e+01] [-1.57148897e-01 9.87574482e-01 -9.30490825e-04 -1.05832607e+01] [-6.44287062e-03 -8.30504476e-05 9.99979241e-01 -1.47913376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.57, Y:-10.59, Z:-1.48 [[ 9.87036874e-01 1.60326963e-01 7.31265182e-03 9.65704025e+01] [-1.60323458e-01 9.87063955e-01 -1.06681524e-03 -1.05897031e+01] [-7.38909427e-03 -1.19403641e-04 9.99972693e-01 -1.47759993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.60, Y:-10.59, Z:-1.48 [[ 9.86773195e-01 1.61945885e-01 7.22438073e-03 9.65995870e+01] [-1.61942510e-01 9.86799632e-01 -1.05369294e-03 -1.05944992e+01] [-7.29965748e-03 -1.30178400e-04 9.99973349e-01 -1.47787500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:-10.60, Z:-1.48 [[ 9.86265337e-01 1.65002221e-01 7.41296365e-03 9.66285059e+01] [-1.64998753e-01 9.86293183e-01 -1.08123747e-03 -1.05982088e+01] [-7.48976209e-03 -1.56742720e-04 9.99971939e-01 -1.47864839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.66, Y:-10.60, Z:-1.48 [[ 9.86082238e-01 1.66015619e-01 8.97962592e-03 9.66575598e+01] [-1.66010576e-01 9.86123103e-01 -1.30926951e-03 -1.06019651e+01] [-9.07237576e-03 -1.99665463e-04 9.99958825e-01 -1.47923662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:-10.60, Z:-1.48 [[ 9.85797455e-01 1.67544596e-01 1.14971885e-02 9.66864393e+01] [-1.67536437e-01 9.85864460e-01 -1.67599136e-03 -1.06048769e+01] [-1.16154728e-02 -2.74009974e-04 9.99932501e-01 -1.47821893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:-10.61, Z:-1.48 [[ 9.85770704e-01 1.67686126e-01 1.17252448e-02 9.67163165e+01] [-1.67677653e-01 9.85840395e-01 -1.70895778e-03 -1.06079441e+01] [-1.18457885e-02 -2.81421027e-04 9.99929797e-01 -1.47903489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.225769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.75, Y:-10.61, Z:-1.48 [[ 9.85791190e-01 1.67627770e-01 1.08009517e-02 9.67453755e+01] [-1.67620580e-01 9.85850325e-01 -1.57401939e-03 -1.06109859e+01] [-1.09119711e-02 -2.58807334e-04 9.99940429e-01 -1.47966200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:-10.61, Z:-1.48 [[ 9.85879409e-01 1.67311413e-01 6.97721504e-03 9.67739812e+01] [-1.67308404e-01 9.85904085e-01 -1.01680007e-03 -1.06130269e+01] [-7.04898707e-03 -1.64904457e-04 9.99975142e-01 -1.48199399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:-10.62, Z:-1.48 [[ 9.85952065e-01 1.66934470e-01 5.60422673e-03 9.68035497e+01] [-1.66932524e-01 9.85967984e-01 -8.16531951e-04 -1.06160686e+01] [-5.66189546e-03 -1.30466348e-04 9.99983963e-01 -1.48259039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.315769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.83, Y:-10.62, Z:-1.48 [[ 9.86037124e-01 1.66424563e-01 5.80130918e-03 9.68327670e+01] [-1.66422469e-01 9.86054181e-01 -8.45182415e-04 -1.06169972e+01] [-5.86106428e-03 -1.32086961e-04 9.99982815e-01 -1.48221908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:-10.62, Z:-1.48 [[ 9.85941962e-01 1.67056195e-01 3.26736432e-03 9.68622346e+01] [-1.67014657e-01 9.85899791e-01 -1.03781732e-02 -1.06156014e+01] [-4.95503192e-03 9.68657869e-03 9.99940807e-01 -1.48171393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.375769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.89, Y:-10.62, Z:-1.48 [[ 9.85597027e-01 1.68748694e-01 1.10624535e-02 9.68885303e+01] [-1.68843396e-01 9.85608224e-01 8.26653878e-03 -1.06241925e+01] [-9.50827756e-03 -1.00152983e-02 9.99904639e-01 -1.48151174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.92, Y:-10.62, Z:-1.48 [[ 9.85353530e-01 1.70245746e-01 9.73684961e-03 9.69172200e+01] [-1.70240050e-01 9.85401602e-01 -1.41690172e-03 -1.06210961e+01] [-9.83592870e-03 -2.61452650e-04 9.99951592e-01 -1.48256179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.95, Y:-10.62, Z:-1.48 [[ 9.85118424e-01 1.71673542e-01 8.35973219e-03 9.69458118e+01] [-1.71669398e-01 9.85153866e-01 -1.21609573e-03 -1.06215621e+01] [-8.44439394e-03 -2.37111880e-04 9.99964317e-01 -1.48337701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.98, Y:-10.62, Z:-1.49 [[ 9.84794371e-01 1.73567924e-01 7.36353933e-03 9.69750462e+01] [-1.73564764e-01 9.84821875e-01 -1.07088267e-03 -1.06196493e+01] [-7.43764549e-03 -2.23451746e-04 9.99972315e-01 -1.48513364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.00, Y:-10.62, Z:-1.48 [[ 9.84804766e-01 1.73497196e-01 7.63522139e-03 9.70035441e+01] [-1.73493798e-01 9.84834336e-01 -1.11022906e-03 -1.06205883e+01] [-7.71204982e-03 -2.31304687e-04 9.99970235e-01 -1.48477100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.03, Y:-10.62, Z:-1.48 [[ 9.85066027e-01 1.71988043e-01 8.06449021e-03 9.70324515e+01] [-1.71984206e-01 9.85099010e-01 -1.17214126e-03 -1.06169992e+01] [-8.14591560e-03 -2.32328414e-04 9.99966794e-01 -1.48456264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.555769231 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:97.06, Y:-10.62, Z:-1.48 [[ 9.85160625e-01 1.71483185e-01 7.21531418e-03 9.70615820e+01] [-1.71480103e-01 9.85187026e-01 -1.04824443e-03 -1.06173710e+01] [-7.28819021e-03 -2.04593688e-04 9.99973420e-01 -1.47969185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.585769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.09, Y:-10.62, Z:-1.49 [[ 9.85257685e-01 1.70962910e-01 6.24314117e-03 9.70906142e+01] [-1.70960593e-01 9.85277450e-01 -9.06789833e-04 -1.06170244e+01] [-6.30625364e-03 -1.73909467e-04 9.99980100e-01 -1.48579327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.12, Y:-10.61, Z:-1.49 [[ 9.85445320e-01 1.69910253e-01 5.29409270e-03 9.71182678e+01] [-1.69908572e-01 9.85459530e-01 -7.69056589e-04 -1.06123266e+01] [-5.34778470e-03 -1.41648513e-04 9.99985690e-01 -1.48661794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.645769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.15, Y:-10.61, Z:-1.49 [[ 9.85654059e-01 1.68678025e-01 5.81372418e-03 9.71467175e+01] [-1.68675980e-01 9.85671193e-01 -8.43840513e-04 -1.06114701e+01] [-5.87275780e-03 -1.48900797e-04 9.99982744e-01 -1.48684225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.675769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.17, Y:-10.61, Z:-1.49 [[ 9.86308605e-01 1.64702807e-01 8.26570449e-03 9.71744509e+01] [-1.64698541e-01 9.86343223e-01 -1.19886185e-03 -1.06073834e+01] [-8.35027752e-03 -1.78901711e-04 9.99965120e-01 -1.48663207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:-10.61, Z:-1.49 [[ 9.86750260e-01 1.61976666e-01 9.35324565e-03 9.72025248e+01] [-1.61971089e-01 9.86794573e-01 -1.35569873e-03 -1.06089270e+01] [-9.44932361e-03 -1.77219306e-04 9.99955338e-01 -1.48674647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:-10.61, Z:-1.49 [[ 9.87690957e-01 1.56167185e-01 8.85347942e-03 9.72294936e+01] [-1.56161959e-01 9.87730630e-01 -1.28273704e-03 -1.06094787e+01] [-8.94517424e-03 -1.15628919e-04 9.99959984e-01 -1.48759253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:-10.61, Z:-1.49 [[ 9.88138577e-01 1.53353185e-01 8.05930905e-03 9.72572445e+01] [-1.53348766e-01 9.88171440e-01 -1.16705724e-03 -1.06117985e+01] [-8.14295097e-03 -8.26708175e-05 9.99966842e-01 -1.48830190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.29, Y:-10.61, Z:-1.49 [[ 9.88545240e-01 1.50727225e-01 7.72084249e-03 9.72860979e+01] [-1.50723094e-01 9.88575389e-01 -1.11743788e-03 -1.06147070e+01] [-7.80106318e-03 -5.90713734e-05 9.99969569e-01 -1.48869757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:-10.62, Z:-1.49 [[ 9.89310318e-01 1.45491671e-01 9.86250049e-03 9.73132314e+01] [-1.45484677e-01 9.89359476e-01 -1.42678627e-03 -1.06194939e+01] [-9.96514384e-03 -2.33083232e-05 9.99950346e-01 -1.48874302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:-10.63, Z:-1.49 [[ 9.89755388e-01 1.42379183e-01 1.06037979e-02 9.73411431e+01] [-1.42370927e-01 9.89812188e-01 -1.53330396e-03 -1.06250839e+01] [-1.07140789e-02 7.92332677e-06 9.99942603e-01 -1.48906611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:-10.63, Z:-1.49 [[ 9.90589172e-01 1.36582716e-01 8.84608990e-03 9.73685782e+01] [-1.36576741e-01 9.90628668e-01 -1.27887301e-03 -1.06332174e+01] [-8.93786221e-03 5.86676270e-05 9.99960055e-01 -1.48920455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:-10.64, Z:-1.49 [[ 9.90882137e-01 1.34521029e-01 7.52885220e-03 9.73968816e+01] [-1.34516644e-01 9.90910737e-01 -1.08806161e-03 -1.06397760e+01] [-7.60678765e-03 6.53848845e-05 9.99971066e-01 -1.48995881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.945769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.43, Y:-10.65, Z:-1.49 [[ 9.91078262e-01 1.33111883e-01 6.71596026e-03 9.74251662e+01] [-1.33108364e-01 9.91101015e-01 -9.70332240e-04 -1.06468840e+01] [-6.78535778e-03 6.77247078e-05 9.99976977e-01 -1.49009580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:-10.66, Z:-1.49 [[ 9.91266666e-01 1.31653660e-01 7.59671246e-03 9.74534787e+01] [-1.31632601e-01 9.91293372e-01 -3.21074472e-03 -1.06566035e+01] [-7.95327701e-03 2.18272919e-03 9.99965990e-01 -1.48926883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:-10.67, Z:-1.49 [[ 9.91258722e-01 1.31560836e-01 9.89409582e-03 9.74799705e+01] [-1.31573851e-01 9.91306143e-01 6.73299713e-04 -1.06650723e+01] [-9.71949809e-03 -1.96921850e-03 9.99950826e-01 -1.48929792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:-10.67, Z:-1.49 [[ 9.91246268e-01 1.31663355e-01 9.77742177e-03 9.75074502e+01] [-1.31655842e-01 9.91294481e-01 -1.41092842e-03 -1.06733840e+01] [-9.87807181e-03 1.11322834e-04 9.99951204e-01 -1.48980217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.065769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:-10.68, Z:-1.49 [[ 9.91162186e-01 1.32330104e-01 9.28783190e-03 9.75367116e+01] [-1.32323358e-01 9.91205697e-01 -1.33977108e-03 -1.06807526e+01] [-9.38344394e-03 9.89333270e-05 9.99955970e-01 -1.49066249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.095769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:97.57, Y:-10.69, Z:-1.49 [[ 9.91051492e-01 1.33212497e-01 8.44817668e-03 9.75652144e+01] [-1.33206950e-01 9.91087496e-01 -1.21841208e-03 -1.06876093e+01] [-8.53518998e-03 8.21532550e-05 9.99963571e-01 -1.49083689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.125769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.59, Y:-10.70, Z:-1.49 [[ 9.90664957e-01 1.36104557e-01 7.64799186e-03 9.75928813e+01] [-1.36100096e-01 9.90694477e-01 -1.10310501e-03 -1.06954433e+01] [-7.72696091e-03 5.19150536e-05 9.99970145e-01 -1.49135786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.62, Y:-10.70, Z:-1.49 [[ 9.90466206e-01 1.37531758e-01 7.85555916e-03 9.76209267e+01] [-1.37527100e-01 9.90497357e-01 -1.13268056e-03 -1.07009307e+01] [-7.93669013e-03 4.15295446e-05 9.99968503e-01 -1.49196759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.65, Y:-10.71, Z:-1.49 [[ 9.90191632e-01 1.39457558e-01 8.49246821e-03 9.76488753e+01] [-1.39452189e-01 9.90228049e-01 -1.22405554e-03 -1.07078126e+01] [-8.58018402e-03 2.77562697e-05 9.99963189e-01 -1.49219409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:-10.71, Z:-1.49 [[ 9.90168654e-01 1.39614531e-01 8.59180994e-03 9.76775252e+01] [-1.39609045e-01 9.90205929e-01 -1.23790055e-03 -1.07121151e+01] [-8.68049005e-03 2.62359392e-05 9.99962323e-01 -1.49288614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:-10.72, Z:-1.49 [[ 9.90124442e-01 1.39936421e-01 8.44914763e-03 9.77064477e+01] [-1.39931129e-01 9.90160491e-01 -1.21710107e-03 -1.07167729e+01] [-8.53632893e-03 2.27827453e-05 9.99963565e-01 -1.49341870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.74, Y:-10.72, Z:-1.49 [[ 9.89949863e-01 1.41161894e-01 8.51993339e-03 9.77356973e+01] [-1.41156564e-01 9.89986525e-01 -1.22679048e-03 -1.07221722e+01] [-8.60779532e-03 1.18165489e-05 9.99962952e-01 -1.49424216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.305769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.76, Y:-10.73, Z:-1.49 [[ 9.89805713e-01 1.42135383e-01 9.06545085e-03 9.77647086e+01] [-1.42129392e-01 9.89847227e-01 -1.30510265e-03 -1.07267908e+01] [-9.15891265e-03 3.33104798e-06 9.99958056e-01 -1.49407982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.79, Y:-10.73, Z:-1.49 [[ 9.89469670e-01 1.44421347e-01 9.60448940e-03 9.77930670e+01] [-1.44414730e-01 9.89516283e-01 -1.38253839e-03 -1.07301062e+01] [-9.70346671e-03 -1.90499405e-05 9.99952920e-01 -1.49339153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:-10.73, Z:-1.49 [[ 9.89394813e-01 1.44938132e-01 9.53106250e-03 9.78216357e+01] [-1.44931645e-01 9.89440720e-01 -1.37143560e-03 -1.07336467e+01] [-9.62919465e-03 -2.44612942e-05 9.99953638e-01 -1.49341416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.395769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:97.85, Y:-10.74, Z:-1.49 [[ 9.89389372e-01 1.45000039e-01 9.14657052e-03 9.78502373e+01] [-1.44994070e-01 9.89431649e-01 -1.31597034e-03 -1.07378364e+01] [-9.24072210e-03 -2.41914160e-05 9.99957303e-01 -1.49385229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.425769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.88, Y:-10.74, Z:-1.49 [[ 9.89456485e-01 1.44549941e-01 9.00989313e-03 9.78789592e+01] [-1.44544134e-01 9.89497506e-01 -1.29580645e-03 -1.07432050e+01] [-9.10257553e-03 -2.01831099e-05 9.99958570e-01 -1.49473225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.455769231 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:97.91, Y:-10.75, Z:-1.49 [[ 9.89583988e-01 1.43653314e-01 9.34105693e-03 9.79083579e+01] [-1.43647035e-01 9.89628074e-01 -1.34319846e-03 -1.07478779e+01] [-9.43712709e-03 -1.26074377e-05 9.99955469e-01 -1.49025052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:-10.75, Z:-1.50 [[ 9.89609326e-01 1.43474821e-01 9.39990495e-03 9.79370956e+01] [-1.43468457e-01 9.89653968e-01 -1.35137401e-03 -1.07526859e+01] [-9.49654137e-03 -1.12575387e-05 9.99954907e-01 -1.49509023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:-10.76, Z:-1.50 [[ 9.89599909e-01 1.43534510e-01 9.47973764e-03 9.79665938e+01] [-1.43528041e-01 9.89645312e-01 -1.36277133e-03 -1.07568120e+01] [-9.57718264e-03 -1.20097940e-05 9.99954138e-01 -1.49568242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:-10.76, Z:-1.50 [[ 9.89670475e-01 1.43033310e-01 9.68624463e-03 9.79950354e+01] [-1.43026534e-01 9.89717875e-01 -1.39225294e-03 -1.07618494e+01] [-9.78578800e-03 -7.51836462e-06 9.99952118e-01 -1.49622091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:-10.77, Z:-1.50 [[ 9.89720397e-01 1.42706958e-01 9.39464953e-03 9.80228202e+01] [-1.42700573e-01 9.89764984e-01 -1.35000973e-03 -1.07665026e+01] [-9.49115093e-03 -4.48969918e-06 9.99954958e-01 -1.49651932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:-10.77, Z:-1.50 [[ 9.89779592e-01 1.42318884e-01 9.03853899e-03 9.80517351e+01] [-1.42312961e-01 9.89820860e-01 -1.29847883e-03 -1.07709426e+01] [-9.13133250e-03 -1.09339913e-06 9.99958309e-01 -1.49684634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:-10.78, Z:-1.50 [[ 9.89804611e-01 1.42150480e-01 8.94832953e-03 9.80807060e+01] [-1.42144669e-01 9.89845059e-01 -1.28530884e-03 -1.07766515e+01] [-9.04016704e-03 2.47280234e-07 9.99959137e-01 -1.49766221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:-10.78, Z:-1.50 [[ 9.89825916e-01 1.41969029e-01 9.45781197e-03 9.81102025e+01] [-1.41962532e-01 9.89871100e-01 -1.35824320e-03 -1.07826911e+01] [-9.55484321e-03 1.76938881e-06 9.99954351e-01 -1.49824624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:-10.79, Z:-1.50 [[ 9.90036607e-01 1.40477901e-01 9.66829126e-03 9.81398571e+01] [-1.40471043e-01 9.90083814e-01 -1.38815173e-03 -1.07900809e+01] [-9.76742333e-03 1.62060748e-05 9.99952297e-01 -1.49839355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.725769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:-10.79, Z:-1.50 [[ 9.90180410e-01 1.39453665e-01 9.76887087e-03 9.81697383e+01] [-1.39446614e-01 9.90228597e-01 -1.40259273e-03 -1.07949260e+01] [-9.86901200e-03 2.65838792e-05 9.99951300e-01 -1.49914295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:-10.80, Z:-1.50 [[ 9.90345092e-01 1.38280927e-01 9.74600176e-03 9.81986508e+01] [-1.38273852e-01 9.90393045e-01 -1.39934827e-03 -1.07998132e+01] [-9.84587554e-03 3.82204838e-05 9.99951527e-01 -1.49944507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:-10.81, Z:-1.50 [[ 9.90631475e-01 1.36204200e-01 9.88416273e-03 9.82283827e+01] [-1.36196821e-01 9.90680782e-01 -1.41898928e-03 -1.08071300e+01] [-9.98532237e-03 5.95039062e-05 9.99950144e-01 -1.49974899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.815769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:-10.81, Z:-1.50 [[ 9.90765989e-01 1.35233580e-01 9.72800687e-03 9.82572993e+01] [-1.35226384e-01 9.90813743e-01 -1.39676213e-03 -1.08134114e+01] [-9.82753205e-03 6.83812219e-05 9.99951706e-01 -1.50003388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:-10.82, Z:-1.50 [[ 9.90764449e-01 1.35244856e-01 9.72803346e-03 9.82879815e+01] [-1.35237662e-01 9.90812204e-01 -1.39657690e-03 -1.08178231e+01] [-9.82753412e-03 6.80822429e-05 9.99951706e-01 -1.50043995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:-10.83, Z:-1.50 [[ 9.91096853e-01 1.32850030e-01 8.82600338e-03 9.83185550e+01] [-1.32844013e-01 9.91136147e-01 -1.26711622e-03 -1.08268256e+01] [-8.91610741e-03 8.33531868e-05 9.99960247e-01 -1.50196813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:-10.83, Z:-1.50 [[ 9.91290622e-01 1.31421243e-01 8.44749177e-03 9.83491196e+01] [-1.31415678e-01 9.91326610e-01 -1.21296585e-03 -1.08334094e+01] [-8.53363286e-03 9.22688080e-05 9.99963584e-01 -1.50205812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.38, Y:-10.84, Z:-1.50 [[ 9.91406814e-01 1.30556109e-01 8.22381317e-03 9.83799360e+01] [-1.30550808e-01 9.91440918e-01 -1.18041372e-03 -1.08401571e+01] [-8.30753510e-03 9.66447513e-05 9.99965487e-01 -1.50222837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:-10.85, Z:-1.50 [[ 9.91426625e-01 1.30415373e-01 8.06713231e-03 9.84107845e+01] [-1.30410253e-01 9.91459440e-01 -1.15978981e-03 -1.08485503e+01] [-8.14948890e-03 9.78097367e-05 9.99966788e-01 -1.50173765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:-10.86, Z:-1.50 [[ 9.91250755e-01 1.31675121e-01 9.14347171e-03 9.84411122e+01] [-1.31668594e-01 9.91292920e-01 -1.31478705e-03 -1.08550161e+01] [-9.23698351e-03 9.93755870e-05 9.99957333e-01 -1.50224628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:-10.86, Z:-1.50 [[ 9.91108651e-01 1.32691562e-01 9.82813549e-03 9.84707019e+01] [-1.32684068e-01 9.91157374e-01 -1.41352589e-03 -1.08606245e+01] [-9.92879193e-03 9.69207445e-05 9.99950704e-01 -1.50253218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:-10.87, Z:-1.50 [[ 9.90950997e-01 1.33804322e-01 1.06078006e-02 9.85015589e+01] [-1.33795655e-01 9.91007767e-01 -1.52576825e-03 -1.08666023e+01] [-1.07165671e-02 9.26839501e-05 9.99942572e-01 -1.50341746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:-10.87, Z:-1.50 [[ 9.90807053e-01 1.34859986e-01 1.06849556e-02 9.85333619e+01] [-1.34851254e-01 9.90864662e-01 -1.53678807e-03 -1.08723597e+01] [-1.07945961e-02 8.17807967e-05 9.99941733e-01 -1.50352973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:-10.88, Z:-1.50 [[ 9.90420376e-01 1.37674025e-01 1.06462381e-02 9.85647613e+01] [-1.37665500e-01 9.90477592e-01 -1.53298019e-03 -1.08770220e+01] [-1.07559118e-02 5.26751242e-05 9.99942152e-01 -1.50412561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:-10.88, Z:-1.50 [[ 9.90170321e-01 1.39495430e-01 1.01862602e-02 9.85967075e+01] [-1.39487706e-01 9.90222714e-01 -1.46836026e-03 -1.08805040e+01] [-1.02914958e-02 3.30686789e-05 9.99947041e-01 -1.50419959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:-10.88, Z:-1.50 [[ 9.90098065e-01 1.40025304e-01 9.93659479e-03 9.86279576e+01] [-1.40017964e-01 9.90147925e-01 -1.43405143e-03 -1.08847377e+01] [-1.00395022e-02 2.85497766e-05 9.99949603e-01 -1.50451620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.205769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.66, Y:-10.89, Z:-1.50 [[ 9.90108176e-01 1.39998173e-01 9.29034780e-03 9.86587654e+01] [-1.39991738e-01 9.90151761e-01 -1.34260949e-03 -1.08889440e+01] [-9.38681712e-03 2.87567035e-05 9.99955942e-01 -1.50471669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:-10.89, Z:-1.51 [[ 9.90203519e-01 1.39327654e-01 9.20844823e-03 9.86893356e+01] [-1.39321300e-01 9.90246335e-01 -1.33098365e-03 -1.08935606e+01] [-9.30407494e-03 3.50117128e-05 9.99956716e-01 -1.50576691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:-10.90, Z:-1.51 [[ 9.90248418e-01 1.38971288e-01 9.74946580e-03 9.87200279e+01] [-1.38964146e-01 9.90296410e-01 -1.40943143e-03 -1.08983853e+01] [-9.85073149e-03 4.08610510e-05 9.99951480e-01 -1.50635689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:-10.90, Z:-1.51 [[ 9.90311431e-01 1.38556531e-01 9.23892622e-03 9.87523493e+01] [-1.38550104e-01 9.90354525e-01 -1.33528075e-03 -1.09030877e+01] [-9.33482426e-03 4.22896084e-05 9.99956429e-01 -1.50627523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:-10.91, Z:-1.51 [[ 9.90318344e-01 1.38498276e-01 9.37040084e-03 9.87841353e+01] [-1.38491646e-01 9.90362674e-01 -1.35592689e-03 -1.09072784e+01] [-9.46788876e-03 4.50770422e-05 9.99955178e-01 -1.50702293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-10.91, Z:-1.51 [[ 9.90243015e-01 1.39017789e-01 9.63456482e-03 9.88148477e+01] [-1.39010787e-01 9.90289883e-01 -1.39590588e-03 -1.09113928e+01] [-9.73506782e-03 4.29776098e-05 9.99952612e-01 -1.50660482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:-10.91, Z:-1.51 [[ 9.90107888e-01 1.39883053e-01 1.09133253e-02 9.88454646e+01] [-1.39874097e-01 9.90168031e-01 -1.58348352e-03 -1.09143936e+01] [-1.10275283e-02 4.13280090e-05 9.99939194e-01 -1.50659000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:-10.92, Z:-1.51 [[ 9.90064527e-01 1.40170789e-01 1.11527133e-02 9.88765176e+01] [-1.40161452e-01 9.90127339e-01 -1.61833491e-03 -1.09183927e+01] [-1.12694496e-02 3.90755078e-05 9.99936497e-01 -1.50656350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:-10.92, Z:-1.51 [[ 9.90185145e-01 1.39358706e-01 1.06079919e-02 9.89066780e+01] [-1.39350210e-01 9.90241965e-01 -1.53955383e-03 -1.09215250e+01] [-1.07190290e-02 4.62174280e-05 9.99942548e-01 -1.50768604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:-10.93, Z:-1.51 [[ 9.90339737e-01 1.38256850e-01 1.05947957e-02 9.89374401e+01] [-1.38248311e-01 9.90396405e-01 -1.53773495e-03 -1.09257119e+01] [-1.07056499e-02 5.81674187e-05 9.99942691e-01 -1.50831313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:-10.93, Z:-1.51 [[ 9.90550277e-01 1.36717032e-01 1.08904751e-02 9.89690929e+01] [-1.36707917e-01 9.90610139e-01 -1.58059227e-03 -1.09305947e+01] [-1.10043089e-02 7.68419377e-05 9.99939448e-01 -1.50938106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.535769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:-10.94, Z:-1.51 [[ 9.90988844e-01 1.33518514e-01 1.06732112e-02 9.90001928e+01] [-1.33509552e-01 9.91046313e-01 -1.55101757e-03 -1.09365981e+01] [-1.07847362e-02 1.12065464e-04 9.99941837e-01 -1.50981679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.565769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:-10.94, Z:-1.51 [[ 9.91112516e-01 1.32609118e-01 1.05262787e-02 9.90321086e+01] [-1.32600337e-01 9.91168405e-01 -1.53085549e-03 -1.09424629e+01] [-1.06363203e-02 1.21461919e-04 9.99943425e-01 -1.51033876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:-10.95, Z:-1.51 [[ 9.91164928e-01 1.32169059e-01 1.11097292e-02 9.90624296e+01] [-1.32159228e-01 9.91227180e-01 -1.61774680e-03 -1.09486745e+01] [-1.12260816e-02 1.35200653e-04 9.99936976e-01 -1.51042190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:-10.95, Z:-1.51 [[ 9.91061258e-01 1.32957677e-01 1.09470723e-02 9.90945904e+01] [-1.32948161e-01 9.91121708e-01 -1.59574750e-03 -1.09543456e+01] [-1.10620479e-02 1.26090404e-04 9.99938806e-01 -1.51142355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:-10.96, Z:-1.51 [[ 9.90814491e-01 1.34856826e-01 1.00140597e-02 9.91260363e+01] [-1.34848945e-01 9.90865090e-01 -1.46116772e-03 -1.09603703e+01] [-1.01196306e-02 9.73607753e-05 9.99948790e-01 -1.51311334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:-10.97, Z:-1.51 [[ 9.90670570e-01 1.35921990e-01 9.85059515e-03 9.91566034e+01] [-1.35914399e-01 9.90719539e-01 -1.43915826e-03 -1.09653725e+01] [-9.95479034e-03 8.68940105e-05 9.99950446e-01 -1.51321605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:-10.97, Z:-1.51 [[ 9.90503979e-01 1.37136184e-01 9.77420893e-03 9.91888131e+01] [-1.37128763e-01 9.90552200e-01 -1.42866138e-03 -1.09707422e+01] [-9.87778533e-03 7.47696068e-05 9.99951211e-01 -1.51337537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:-10.98, Z:-1.51 [[ 9.90110763e-01 1.39996415e-01 9.03770157e-03 9.92204033e+01] [-1.39990176e-01 9.90152010e-01 -1.32236542e-03 -1.09769401e+01] [-9.13382478e-03 4.40987981e-05 9.99958285e-01 -1.51312944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:-10.98, Z:-1.51 [[ 9.89918836e-01 1.41378550e-01 8.53248569e-03 9.92515751e+01] [-1.41373029e-01 9.89955607e-01 -1.24983758e-03 -1.09805101e+01] [-8.62348228e-03 3.09744116e-05 9.99962817e-01 -1.51259407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:-10.98, Z:-1.51 [[ 9.89502418e-01 1.44273992e-01 8.36546274e-03 9.92825401e+01] [-1.44268771e-01 9.89537779e-01 -1.22738797e-03 -1.09798064e+01] [-8.45502158e-03 7.62833922e-06 9.99964256e-01 -1.51337045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:-10.98, Z:-1.51 [[ 9.89292495e-01 1.45690703e-01 8.63587110e-03 9.93122670e+01] [-1.45685193e-01 9.89330187e-01 -1.26711452e-03 -1.09816346e+01] [-8.72833477e-03 -4.57166228e-06 9.99961907e-01 -1.51407995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:-10.98, Z:-1.51 [[ 9.89043888e-01 1.47267871e-01 1.02157640e-02 9.93428383e+01] [-1.47260246e-01 9.89096645e-01 -1.49874294e-03 -1.09820706e+01] [-1.03250945e-02 -2.20533788e-05 9.99946695e-01 -1.51406782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:-10.98, Z:-1.51 [[ 9.89070387e-01 1.47076706e-01 1.04025212e-02 9.93723916e+01] [-1.47068789e-01 9.89125089e-01 -1.52617260e-03 -1.09838996e+01] [-1.05138592e-02 -2.03940787e-05 9.99944728e-01 -1.51408703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:-10.99, Z:-1.51 [[ 9.89219909e-01 1.46070108e-01 1.03679553e-02 9.94032395e+01] [-1.46062190e-01 9.89274241e-01 -1.52094623e-03 -1.09860580e+01] [-1.04789159e-02 -9.81596005e-06 9.99945095e-01 -1.51457659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:-10.99, Z:-1.52 [[ 9.89730416e-01 1.42639636e-01 9.36147067e-03 9.94332337e+01] [-1.42633027e-01 9.89774688e-01 -1.37325437e-03 -1.09872413e+01] [-9.46162722e-03 2.38967193e-05 9.99955238e-01 -1.51563867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:-10.99, Z:-1.52 [[ 9.90001204e-01 1.40769090e-01 9.03771915e-03 9.94640410e+01] [-1.40762851e-01 9.90042455e-01 -1.32591468e-03 -1.09907114e+01] [-9.13437345e-03 4.04820144e-05 9.99958280e-01 -1.51624799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:-10.99, Z:-1.52 [[ 9.90303844e-01 1.38577430e-01 9.72583008e-03 9.94937677e+01] [-1.38570099e-01 9.90351600e-01 -1.42690574e-03 -1.09922863e+01] [-9.82972831e-03 6.53610019e-05 9.99951685e-01 -1.51556117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:-11.00, Z:-1.52 [[ 9.90253708e-01 1.38869865e-01 1.06186339e-02 9.95243760e+01] [-1.38861145e-01 9.90310636e-01 -1.55772105e-03 -1.09952383e+01] [-1.07320666e-02 6.80233961e-05 9.99942407e-01 -1.51554421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:-11.00, Z:-1.51 [[ 9.89909498e-01 1.41139668e-01 1.26007705e-02 9.95537621e+01] [-1.41127572e-01 9.89989693e-01 -1.84849883e-03 -1.09969890e+01] [-1.27355294e-02 5.15304040e-05 9.99918899e-01 -1.51455523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:-11.00, Z:-1.52 [[ 9.89652715e-01 1.42872554e-01 1.32263380e-02 9.95840764e+01] [-1.42859384e-01 9.89741094e-01 -1.94010116e-03 -1.09996118e+01] [-1.33678374e-02 3.05198857e-05 9.99910646e-01 -1.51515845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:-11.00, Z:-1.52 [[ 9.89400756e-01 1.44599039e-01 1.33140080e-02 9.96143291e+01] [-1.44585850e-01 9.89490332e-01 -1.95296101e-03 -1.10019300e+01] [-1.34564785e-02 7.24393758e-06 9.99909457e-01 -1.51549474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:-11.00, Z:-1.52 [[ 9.89080544e-01 1.46759050e-01 1.34706753e-02 9.96436339e+01] [-1.46745749e-01 9.89172270e-01 -1.97592854e-03 -1.10001142e+01] [-1.36148039e-02 -2.24118723e-05 9.99907314e-01 -1.51647538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:-11.00, Z:-1.52 [[ 9.89075366e-01 1.46801128e-01 1.33921285e-02 9.96731354e+01] [-1.46787991e-01 9.89166027e-01 -1.96406411e-03 -1.10013486e+01] [-1.35353654e-02 -2.31962022e-05 9.99908392e-01 -1.51709692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.225769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.70, Y:-11.00, Z:-1.52 [[ 9.89436073e-01 1.44501119e-01 1.16483530e-02 9.97028751e+01] [-1.44491024e-01 9.89504637e-01 -1.70808710e-03 -1.10018123e+01] [-1.17729198e-02 6.96054258e-06 9.99930697e-01 -1.51810705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:-11.00, Z:-1.52 [[ 9.89831058e-01 1.41853947e-01 1.05798908e-02 9.97318409e+01] [-1.41845470e-01 9.89887598e-01 -1.55120281e-03 -1.10043393e+01] [-1.06929470e-02 3.47191352e-05 9.99942828e-01 -1.51871730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:-11.01, Z:-1.52 [[ 9.90248122e-01 1.38948709e-01 1.00951686e-02 9.97614736e+01] [-1.38940844e-01 9.90299577e-01 -1.47973878e-03 -1.10068968e+01] [-1.02028490e-02 6.26772987e-05 9.99947948e-01 -1.51928642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.315769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:-11.00, Z:-1.52 [[ 9.91055714e-01 1.33307716e-01 6.13389836e-03 9.97908054e+01] [-1.33234978e-01 9.91022977e-01 -1.10408174e-02 -1.10040048e+01] [-7.55066037e-03 1.01248154e-02 9.99920235e-01 -1.51813926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:-11.02, Z:-1.52 [[ 9.91254555e-01 1.31374686e-01 1.24539182e-02 9.98182482e+01] [-1.31482863e-01 9.91283670e-01 8.30310543e-03 -1.10166686e+01] [-1.12545479e-02 -9.86796790e-03 9.99887973e-01 -1.51951140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.375769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.85, Y:-11.02, Z:-1.52 [[ 9.91641371e-01 1.28450041e-01 1.21646210e-02 9.98474524e+01] [-1.28437828e-01 9.91715960e-01 -1.78317830e-03 -1.10181742e+01] [-1.22928981e-02 2.05875876e-04 9.99924418e-01 -1.52022601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:-11.02, Z:-1.52 [[ 9.91820007e-01 1.27079820e-01 1.19913492e-02 9.98778813e+01] [-1.27067850e-01 9.91892470e-01 -1.75792423e-03 -1.10231999e+01] [-1.21175257e-02 2.19829458e-04 9.99926556e-01 -1.52056990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:-11.03, Z:-1.52 [[ 9.91938314e-01 1.26293969e-01 1.04026604e-02 9.99071287e+01] [-1.26284918e-01 9.91992840e-01 -1.52505399e-03 -1.10297029e+01] [-1.05119698e-02 1.99060363e-04 9.99944728e-01 -1.52216155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:-11.04, Z:-1.52 [[ 9.91878650e-01 1.26780664e-01 1.01689348e-02 9.99358790e+01] [-1.26772042e-01 9.91930757e-01 -1.49067127e-03 -1.10362172e+01] [-1.02758675e-02 1.89428368e-04 9.99947184e-01 -1.52236199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.97, Y:-11.04, Z:-1.52 [[ 9.91704945e-01 1.28092328e-01 1.06609964e-02 9.99654607e+01] [-1.28082928e-01 9.91762230e-01 -1.56264238e-03 -1.10424956e+01] [-1.07733361e-02 1.84188532e-04 9.99941949e-01 -1.52267480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:-11.05, Z:-1.52 [[ 9.91151981e-01 1.32322633e-01 1.04149219e-02 9.99943884e+01] [-1.32313896e-01 9.91206690e-01 -1.52660404e-03 -1.10487841e+01] [-1.05253446e-02 1.35057725e-04 9.99944598e-01 -1.52225745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:-11.05, Z:-1.52 [[ 9.90807185e-01 1.34948105e-01 9.49369825e-03 1.00023499e+02] [-1.34940966e-01 9.90852663e-01 -1.39151532e-03 -1.10535876e+01] [-9.59463855e-03 9.76345640e-05 9.99953966e-01 -1.52301898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:-11.06, Z:-1.52 [[ 9.90001106e-01 1.40732105e-01 9.60654117e-03 1.00051654e+02] [-1.40725068e-01 9.90047712e-01 -1.40800108e-03 -1.10589578e+01] [-9.70908507e-03 4.20414735e-05 9.99952865e-01 -1.52370020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.615769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.08, Y:-11.06, Z:-1.52 [[ 9.89591345e-01 1.43500381e-01 1.07986425e-02 1.00080361e+02] [-1.43491664e-01 9.89650262e-01 -1.58170459e-03 -1.10634366e+01] [-1.09138546e-02 1.57259840e-05 9.99940442e-01 -1.52004664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.645769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.11, Y:-11.07, Z:-1.52 [[ 9.88837956e-01 1.48434585e-01 1.29101261e-02 1.00107806e+02] [-1.48422556e-01 9.88922227e-01 -1.89022228e-03 -1.10660621e+01] [-1.30476851e-02 -4.70303885e-05 9.99914874e-01 -1.52440130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.675769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:100.14, Y:-11.07, Z:-1.52 [[ 9.88538486e-01 1.50383472e-01 1.32843225e-02 1.00135777e+02] [-1.50370923e-01 9.88627739e-01 -1.94418461e-03 -1.10703467e+01] [-1.34256229e-02 -7.56745188e-05 9.99909869e-01 -1.52483320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.705769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:100.17, Y:-11.07, Z:-1.53 [[ 9.88296965e-01 1.51991095e-01 1.29543657e-02 1.00165233e+02] [-1.51979306e-01 9.88381858e-01 -1.89543841e-03 -1.10748519e+01] [-1.30919498e-02 -9.55394827e-05 9.99914292e-01 -1.52512399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.735769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:100.20, Y:-11.08, Z:-1.53 [[ 9.88298823e-01 1.51979013e-01 1.29544121e-02 1.00195084e+02] [-1.51967226e-01 9.88383716e-01 -1.89512146e-03 -1.10791797e+01] [-1.30919487e-02 -9.56997675e-05 9.99914292e-01 -1.52551924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.22, Y:-11.08, Z:-1.53 [[ 9.88042176e-01 1.53722172e-01 1.19227946e-02 1.00223612e+02] [-1.53712316e-01 9.88114104e-01 -1.74409438e-03 -1.10812294e+01] [-1.20491875e-02 -1.09441583e-04 9.99927400e-01 -1.52641504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:100.25, Y:-11.08, Z:-1.53 [[ 9.88002492e-01 1.53906195e-01 1.28046211e-02 1.00252525e+02] [-1.53894850e-01 9.88085456e-01 -1.87257892e-03 -1.10833465e+01] [-1.29402614e-02 -1.20452602e-04 9.99916264e-01 -1.52736063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:100.28, Y:-11.09, Z:-1.53 [[ 9.87997274e-01 1.53859794e-01 1.37313548e-02 1.00280998e+02] [-1.53846752e-01 9.88092681e-01 -2.00740742e-03 -1.10868717e+01] [-1.38767105e-02 -1.29211276e-04 9.99903705e-01 -1.52701685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:100.31, Y:-11.09, Z:-1.53 [[ 9.87939642e-01 1.54183638e-01 1.42362172e-02 1.00310192e+02] [-1.54169661e-01 9.88042199e-01 -2.08066762e-03 -1.10898607e+01] [-1.43867883e-02 -1.39218769e-04 9.99896495e-01 -1.52711325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:100.34, Y:-11.09, Z:-1.53 [[ 9.87844705e-01 1.54839574e-01 1.36947054e-02 1.00338477e+02] [-1.54826712e-01 9.87939616e-01 -2.00088443e-03 -1.10922591e+01] [-1.38393581e-02 -1.43743117e-04 9.99904221e-01 -1.52748055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91576923100001 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:100.37, Y:-11.09, Z:-1.53 [[ 9.87544952e-01 1.56854419e-01 1.23149583e-02 1.00367860e+02] [-1.56844181e-01 9.87621723e-01 -1.79876539e-03 -1.10921391e+01] [-1.24446646e-02 -1.55167861e-04 9.99922550e-01 -1.52933053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.945769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:100.40, Y:-11.09, Z:-1.53 [[ 9.87412260e-01 1.57572390e-01 1.37102643e-02 1.00396319e+02] [-1.57559781e-01 9.87507422e-01 -2.00182423e-03 -1.10911241e+01] [-1.38544200e-02 -1.83560447e-04 9.99904006e-01 -1.52897213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.975769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:100.43, Y:-11.09, Z:-1.53 [[ 9.87371804e-01 1.57777965e-01 1.42490214e-02 1.00425696e+02] [-1.57764379e-01 9.87474595e-01 -2.07961483e-03 -1.10923051e+01] [-1.43986641e-02 -1.94634970e-04 9.99896315e-01 -1.52923678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.005769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:100.45, Y:-11.09, Z:-1.53 [[ 9.87301404e-01 1.58234035e-01 1.40686531e-02 1.00454938e+02] [-1.58220847e-01 9.87401616e-01 -2.05262227e-03 -1.10933787e+01] [-1.42162055e-02 -1.99397355e-04 9.99898925e-01 -1.52961854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.035769231 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:100.48, Y:-11.09, Z:-1.53 [[ 9.87180632e-01 1.59081572e-01 1.29403624e-02 1.00483865e+02] [-1.59070494e-01 9.87265423e-01 -1.88743268e-03 -1.10932291e+01] [-1.30758281e-02 -1.95192859e-04 9.99914489e-01 -1.53029026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.065769231 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:100.51, Y:-11.10, Z:-1.53 [[ 9.87227319e-01 1.58811072e-01 1.26989821e-02 1.00511367e+02] [-1.58800390e-01 9.87308973e-01 -1.85161959e-03 -1.10957088e+01] [-1.28318767e-02 -1.88633861e-04 9.99917650e-01 -1.53065102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.095769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:100.54, Y:-11.10, Z:-1.53 [[ 9.87463296e-01 1.57247816e-01 1.37609319e-02 1.00540414e+02] [-1.57235133e-01 9.87559158e-01 -2.00557160e-03 -1.10976005e+01] [-1.39051061e-02 -1.83273616e-04 9.99903303e-01 -1.53065978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.125769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:100.57, Y:-11.10, Z:-1.53 [[ 9.87629332e-01 1.56107619e-01 1.47889553e-02 1.00568775e+02] [-1.56092853e-01 9.87740036e-01 -2.15464716e-03 -1.11008081e+01] [-1.49440000e-02 -1.80457486e-04 9.99888316e-01 -1.53121083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15576923100001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:100.60, Y:-11.10, Z:-1.53 [[ 9.87848878e-01 1.54745430e-01 1.44376637e-02 1.00597489e+02] [-1.54731222e-01 9.87954365e-01 -2.10278651e-03 -1.11038086e+01] [-1.45891495e-02 -1.56722045e-04 9.99893560e-01 -1.53151756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18576923100001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:100.63, Y:-11.11, Z:-1.53 [[ 9.87872081e-01 1.54712056e-01 1.31503325e-02 1.00626187e+02] [-1.54700273e-01 9.87959594e-01 -1.91471399e-03 -1.11067471e+01] [-1.32882265e-02 -1.42867528e-04 9.99911697e-01 -1.53202444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21576923100001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:100.65, Y:-11.11, Z:-1.53 [[ 9.87833384e-01 1.55061479e-01 1.18803930e-02 1.00654309e+02] [-1.55051894e-01 9.87904813e-01 -1.72930369e-03 -1.11096021e+01] [-1.20048458e-02 -1.33813511e-04 9.99927930e-01 -1.53294769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:100.68, Y:-11.11, Z:-1.53 [[ 9.87710222e-01 1.55857242e-01 1.17063163e-02 1.00682983e+02] [-1.55848000e-01 9.87779581e-01 -1.70325350e-03 -1.11125203e+01] [-1.18287246e-02 -1.42085093e-04 9.99930028e-01 -1.53297935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27576923100001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:100.71, Y:-11.12, Z:-1.53 [[ 9.87697271e-01 1.55869270e-01 1.26044258e-02 1.00710591e+02] [-1.55858565e-01 9.87777681e-01 -1.83328183e-03 -1.11155532e+01] [-1.27361228e-02 -1.53780255e-04 9.99918880e-01 -1.53330870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.305769231 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:100.74, Y:-11.12, Z:-1.53 [[ 9.87830218e-01 1.54924771e-01 1.37759112e-02 1.00739583e+02] [-1.54911904e-01 9.87926258e-01 -2.00269995e-03 -1.11177267e+01] [-1.39198522e-02 -1.55725105e-04 9.99903102e-01 -1.53440468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.335769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:100.77, Y:-11.12, Z:-1.53 [[ 9.87989917e-01 1.53910970e-01 1.36871518e-02 1.00768405e+02] [-1.53898180e-01 9.88084710e-01 -1.98913869e-03 -1.11213259e+01] [-1.38302157e-02 -1.41178786e-04 9.99904348e-01 -1.53483768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.365769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:100.80, Y:-11.12, Z:-1.54 [[ 9.88258576e-01 1.52198550e-01 1.34383277e-02 1.00796453e+02] [-1.52186072e-01 9.88349932e-01 -1.95233497e-03 -1.11245988e+01] [-1.35789128e-02 -1.15714528e-04 9.99907796e-01 -1.53501769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.395769231 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:100.83, Y:-11.13, Z:-1.54 [[ 9.88988284e-01 1.47331720e-01 1.39835087e-02 1.00825141e+02] [-1.47317734e-01 9.89087136e-01 -2.03068105e-03 -1.11270383e+01] [-1.41300923e-02 -5.16990493e-05 9.99900164e-01 -1.53532586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.425769231 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:100.85, Y:-11.13, Z:-1.54 [[ 9.89569303e-01 1.43320444e-01 1.45548999e-02 1.00852674e+02] [-1.43304869e-01 9.89676336e-01 -2.11290913e-03 -1.11310759e+01] [-1.47074630e-02 5.08200705e-06 9.99891839e-01 -1.53524898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.455769231 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:100.88, Y:-11.14, Z:-1.54 [[ 9.89748013e-01 1.42088235e-01 1.44846487e-02 1.00879915e+02] [-1.42072691e-01 9.89853996e-01 -2.10179133e-03 -1.11354078e+01] [-1.46363272e-02 2.23707692e-05 9.99892883e-01 -1.53541985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.485769231 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:100.91, Y:-11.14, Z:-1.54 [[ 9.89827583e-01 1.41561338e-01 1.42036726e-02 1.00908701e+02] [-1.41546348e-01 9.89929486e-01 -2.06021866e-03 -1.11395331e+01] [-1.43522816e-02 2.87832722e-05 9.99897000e-01 -1.53565344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51576923100001 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:100.94, Y:-11.14, Z:-1.54 [[ 9.89805279e-01 1.41729285e-01 1.40826161e-02 1.00937446e+02] [-1.41714576e-01 9.89905455e-01 -2.04199312e-03 -1.11427448e+01] [-1.42298687e-02 2.54635961e-05 9.99898750e-01 -1.53579385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54576923100001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:100.97, Y:-11.14, Z:-1.54 [[ 9.89505082e-01 1.43629229e-01 1.58220641e-02 1.00965690e+02] [-1.43610920e-01 9.89631570e-01 -2.29330319e-03 -1.11447934e+01] [-1.59873995e-02 -2.98602693e-06 9.99872193e-01 -1.53522782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57576923100001 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:100.99, Y:-11.15, Z:-1.54 [[ 9.89368444e-01 1.44496875e-01 1.64540034e-02 1.00994156e+02] [-1.44477211e-01 9.89505257e-01 -2.38389649e-03 -1.11473077e+01] [-1.66257884e-02 -1.86765479e-05 9.99861782e-01 -1.53567321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60576923100001 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:101.02, Y:-11.15, Z:-1.54 [[ 9.89452754e-01 1.44030325e-01 1.54438648e-02 1.01022828e+02] [-1.44012955e-01 9.89573274e-01 -2.23686924e-03 -1.11508427e+01] [-1.56050129e-02 -1.08401813e-05 9.99878234e-01 -1.53675460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:101.05, Y:-11.15, Z:-1.54 [[ 9.89621894e-01 1.42985191e-01 1.42738350e-02 1.01051860e+02] [-1.42970253e-01 9.89724828e-01 -2.06677119e-03 -1.11545143e+01] [-1.44226865e-02 4.58821987e-06 9.99895988e-01 -1.53790613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66576923100001 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:101.08, Y:-11.16, Z:-1.54 [[ 9.89945849e-01 1.40753970e-01 1.39833962e-02 1.01080641e+02] [-1.40739421e-01 9.90044604e-01 -2.02405998e-03 -1.11558230e+01] [-1.41290804e-02 3.56946965e-05 9.99900179e-01 -1.53896181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.695769231 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:101.11, Y:-11.16, Z:-1.54 [[ 9.90005430e-01 1.40284312e-01 1.44762136e-02 1.01109670e+02] [-1.40268680e-01 9.90111261e-01 -2.09468054e-03 -1.11579159e+01] [-1.46269129e-02 4.31857482e-05 9.99893020e-01 -1.53881885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.725769231 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:101.14, Y:-11.16, Z:-1.54 [[ 9.89842117e-01 1.41437183e-01 1.44259007e-02 1.01138156e+02] [-1.41421791e-01 9.89947232e-01 -2.08668423e-03 -1.11569499e+01] [-1.45760152e-02 2.53512132e-05 9.99893764e-01 -1.53879890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.755769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:101.17, Y:-11.16, Z:-1.54 [[ 9.89688398e-01 1.42531457e-01 1.42006421e-02 1.01166355e+02] [-1.42516668e-01 9.89790273e-01 -2.05325900e-03 -1.11579221e+01] [-1.43483114e-02 8.25842136e-06 9.99897058e-01 -1.53965344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.785769231 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:101.19, Y:-11.16, Z:-1.54 [[ 9.89533825e-01 1.43626892e-01 1.39328710e-02 1.01194893e+02] [-1.43612775e-01 9.89631909e-01 -2.01373621e-03 -1.11594006e+01] [-1.40776404e-02 -8.27816198e-06 9.99900905e-01 -1.54104090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.815769231 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:101.22, Y:-11.16, Z:-1.54 [[ 9.89344025e-01 1.44953962e-01 1.36655826e-02 1.01223179e+02] [-1.44940517e-01 9.89438400e-01 -1.97443387e-03 -1.11589718e+01] [-1.38074542e-02 -2.73022540e-05 9.99904672e-01 -1.54195158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.845769231 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:101.25, Y:-11.16, Z:-1.54 [[ 9.89323251e-01 1.45101722e-01 1.36012774e-02 1.01251295e+02] [-1.45088428e-01 9.89416742e-01 -1.96430653e-03 -1.11607957e+01] [-1.37423558e-02 -3.00538382e-05 9.99905569e-01 -1.54265130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.875769231 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:101.28, Y:-11.16, Z:-1.54 [[ 9.89543361e-01 1.43534266e-01 1.42074144e-02 1.01280413e+02] [-1.43519614e-01 9.89645348e-01 -2.05086145e-03 -1.11602590e+01] [-1.43546705e-02 -9.62628738e-06 9.99896966e-01 -1.54359754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90576923100001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:101.31, Y:-11.16, Z:-1.54 [[ 9.89761689e-01 1.41973687e-01 1.46721354e-02 1.01308237e+02] [-1.41957900e-01 9.89870432e-01 -2.11715060e-03 -1.11620052e+01] [-1.48240927e-02 1.26490163e-05 9.99890117e-01 -1.54432911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93576923100001 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:101.34, Y:-11.16, Z:-1.55 [[ 9.90351996e-01 1.37758464e-01 1.50176441e-02 1.01336568e+02] [-1.37741457e-01 9.90465850e-01 -2.16596941e-03 -1.11638821e+01] [-1.51728443e-02 7.65199487e-05 9.99884883e-01 -1.54524884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96576923100001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:101.37, Y:-11.17, Z:-1.55 [[ 9.90692834e-01 1.35294745e-01 1.49345221e-02 1.01365496e+02] [-1.35277658e-01 9.90805389e-01 -2.15310844e-03 -1.11681425e+01] [-1.50885093e-02 1.12761924e-04 9.99886156e-01 -1.54563746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99576923100001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:101.39, Y:-11.17, Z:-1.55 [[ 9.91011287e-01 1.32949238e-01 1.48704048e-02 1.01392568e+02] [-1.32932045e-01 9.91122837e-01 -2.14313161e-03 -1.11726672e+01] [-1.50233255e-02 1.47114287e-04 9.99887133e-01 -1.54620853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02576923100001 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:101.42, Y:-11.18, Z:-1.55 [[ 9.91428424e-01 1.29798351e-01 1.49019467e-02 1.01421292e+02] [-1.29780742e-01 9.91540393e-01 -2.14680991e-03 -1.11779865e+01] [-1.50545345e-02 1.94422667e-04 9.99886655e-01 -1.54595680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05576923100001 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:101.45, Y:-11.18, Z:-1.55 [[ 9.91556201e-01 1.28741581e-01 1.55533364e-02 1.01450041e+02] [-1.28722281e-01 9.91678152e-01 -2.23988289e-03 -1.11826959e+01] [-1.57122700e-02 2.18908826e-04 9.99876531e-01 -1.54671167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.085769231 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:101.48, Y:-11.19, Z:-1.55 [[ 9.91636806e-01 1.27953566e-01 1.68620961e-02 1.01477492e+02] [-1.27930782e-01 9.91780128e-01 -2.42741804e-03 -1.11886583e+01] [-1.70340886e-02 2.49935922e-04 9.99854878e-01 -1.54625402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.115769231 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:101.51, Y:-11.19, Z:-1.55 [[ 9.91628037e-01 1.28016385e-01 1.69009159e-02 1.01506007e+02] [-1.27993524e-01 9.91772022e-01 -2.43195885e-03 -1.11933685e+01] [-1.70731862e-02 2.48390798e-04 9.99854212e-01 -1.54658267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.145769231 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:101.53, Y:-11.20, Z:-1.55 [[ 9.91611127e-01 1.28196601e-01 1.65228336e-02 1.01533228e+02] [-1.28174790e-01 9.91748746e-01 -2.37673359e-03 -1.11975323e+01] [-1.66911887e-02 2.38984748e-04 9.99860664e-01 -1.54680407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.175769231 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:101.56, Y:-11.20, Z:-1.55 [[ 9.91570013e-01 1.28620530e-01 1.56738414e-02 1.01560847e+02] [-1.28600970e-01 9.91693860e-01 -2.25371288e-03 -1.12024315e+01] [-1.58335260e-02 2.19042908e-04 9.99874618e-01 -1.54758770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.205769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:101.59, Y:-11.21, Z:-1.55 [[ 9.91730960e-01 1.27140605e-01 1.74633991e-02 1.01589429e+02] [-1.27116113e-01 9.91884668e-01 -2.50995608e-03 -1.12091464e+01] [-1.76407952e-02 2.69321740e-04 9.99844353e-01 -1.54761995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.235769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:101.62, Y:-11.21, Z:-1.55 [[ 9.91903705e-01 1.25668632e-01 1.82875571e-02 1.01616716e+02] [-1.25641541e-01 9.92072225e-01 -2.62744546e-03 -1.12143869e+01] [-1.84727649e-02 3.08496043e-04 9.99829316e-01 -1.54772105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:101.65, Y:-11.22, Z:-1.55 [[ 9.92118553e-01 1.23952863e-01 1.83429590e-02 1.01645011e+02] [-1.23925333e-01 9.92288049e-01 -2.63437538e-03 -1.12196218e+01] [-1.85280374e-02 3.40455376e-04 9.99828283e-01 -1.54810001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29576923100001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:101.67, Y:-11.23, Z:-1.55 [[ 9.92577580e-01 1.20465944e-01 1.66644475e-02 1.01672272e+02] [-1.20442744e-01 9.92717392e-01 -2.39252846e-03 -1.12255766e+01] [-1.68313051e-02 3.67658319e-04 9.99858276e-01 -1.54995140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32576923100001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:101.70, Y:-11.23, Z:-1.55 [[ 9.92753221e-01 1.19066728e-01 1.62528899e-02 1.01700687e+02] [-1.19044488e-01 9.92886181e-01 -2.33253270e-03 -1.12312009e+01] [-1.64149968e-02 3.80812407e-04 9.99865192e-01 -1.55088418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:101.73, Y:-11.24, Z:-1.55 [[ 9.93108693e-01 1.15974821e-01 1.68809091e-02 1.01729297e+02] [-1.15950395e-01 9.93252053e-01 -2.42192941e-03 -1.12385797e+01] [-1.70478805e-02 4.47891067e-04 9.99854574e-01 -1.55099003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38576923100001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:101.76, Y:-11.24, Z:-1.55 [[ 9.93278593e-01 1.14551747e-01 1.65992113e-02 1.01757657e+02] [-1.14527938e-01 9.93417174e-01 -2.38107466e-03 -1.12444972e+01] [-1.67626979e-02 4.63997039e-04 9.99859388e-01 -1.55141244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41576923100001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:101.79, Y:-11.25, Z:-1.55 [[ 9.93364551e-01 1.13935067e-01 1.56738257e-02 1.01785227e+02] [-1.13913770e-01 9.93488098e-01 -2.24779540e-03 -1.12509809e+01] [-1.58278620e-02 4.47415690e-04 9.99874631e-01 -1.55252563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.445769231 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:101.81, Y:-11.26, Z:-1.55 [[ 9.93331449e-01 1.14510660e-01 1.34142419e-02 1.01813807e+02] [-1.14495119e-01 9.93421949e-01 -1.92334247e-03 -1.12601931e+01] [-1.35462455e-02 3.74651339e-04 9.99908175e-01 -1.55379480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.475769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:101.84, Y:-11.27, Z:-1.55 [[ 9.93015570e-01 1.17102923e-01 1.43869207e-02 1.01841793e+02] [-1.17085324e-01 9.93119717e-01 -2.06242293e-03 -1.12669985e+01] [-1.45294504e-02 3.63520810e-04 9.99894376e-01 -1.55327052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.505769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:101.87, Y:-11.27, Z:-1.55 [[ 9.92752023e-01 1.19204370e-01 1.52885122e-02 1.01870631e+02] [-1.19184753e-01 9.92869676e-01 -2.19112462e-03 -1.12721447e+01] [-1.54406918e-02 3.53085841e-04 9.99880723e-01 -1.55332770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.535769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:101.90, Y:-11.28, Z:-1.55 [[ 9.92476377e-01 1.21416636e-01 1.57683944e-02 1.01899356e+02] [-1.21396054e-01 9.92601578e-01 -2.25948731e-03 -1.12766954e+01] [-1.59260725e-02 3.28266911e-04 9.99873118e-01 -1.55367167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.565769231 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:101.93, Y:-11.28, Z:-1.55 [[ 9.91922003e-01 1.25796084e-01 1.63121173e-02 1.01927091e+02] [-1.25774661e-01 9.92056084e-01 -2.33673679e-03 -1.12799377e+01] [-1.64764875e-02 2.66209623e-04 9.99864218e-01 -1.55465638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.595769231 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:101.96, Y:-11.28, Z:-1.56 [[ 9.91708556e-01 1.27438370e-01 1.65409246e-02 1.01955381e+02] [-1.27416584e-01 9.91846462e-01 -2.36860657e-03 -1.12831678e+01] [-1.67079089e-02 2.41379282e-04 9.99860384e-01 -1.55541404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.625769231 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:101.98, Y:-11.29, Z:-1.56 [[ 9.91608506e-01 1.28218898e-01 1.65071366e-02 1.01983279e+02] [-1.28197323e-01 9.91745866e-01 -2.36298643e-03 -1.12873278e+01] [-1.66738640e-02 2.26986718e-04 9.99860956e-01 -1.55538649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65576923100001 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:102.01, Y:-11.29, Z:-1.56 [[ 9.91612734e-01 1.28186179e-01 1.65072555e-02 1.02012323e+02] [-1.28164613e-01 9.91750096e-01 -2.36215582e-03 -1.12913975e+01] [-1.66738679e-02 2.26697774e-04 9.99860956e-01 -1.55577080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68576923100001 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:102.04, Y:-11.30, Z:-1.56 [[ 9.91762882e-01 1.26960722e-01 1.69517505e-02 1.02040881e+02] [-1.26937811e-01 9.91907713e-01 -2.42513570e-03 -1.12960779e+01] [-1.71224691e-02 2.53341465e-04 9.99853368e-01 -1.55642642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71576923100001 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:102.07, Y:-11.30, Z:-1.56 [[ 9.91992859e-01 1.25095490e-01 1.73575819e-02 1.02070514e+02] [-1.25071195e-01 9.92144664e-01 -2.48249197e-03 -1.13005459e+01] [-1.75317808e-02 2.91680800e-04 9.99846264e-01 -1.55706359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74576923100001 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:102.10, Y:-11.31, Z:-1.56 [[ 9.92346762e-01 1.22076166e-01 1.85826240e-02 1.02100069e+02] [-1.22047799e-01 9.92520667e-01 -2.65728677e-03 -1.13050591e+01] [-1.87680297e-02 3.68981568e-04 9.99823797e-01 -1.55790713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77576923100001 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:102.13, Y:-11.31, Z:-1.56 [[ 9.92422834e-01 1.21454250e-01 1.85952380e-02 1.02128721e+02] [-1.21425740e-01 9.92596958e-01 -2.65886700e-03 -1.13096110e+01] [-1.87805074e-02 3.80779790e-04 9.99823558e-01 -1.55811786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.16, Y:-11.32, Z:-1.56 [[ 9.92554155e-01 1.20421654e-01 1.82996050e-02 1.02157657e+02] [-1.20393869e-01 9.92722756e-01 -2.61650624e-03 -1.13151837e+01] [-1.84815183e-02 3.93863888e-04 9.99829125e-01 -1.55865863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.835769231 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:102.19, Y:-11.32, Z:-1.56 [[ 9.92671633e-01 1.19454563e-01 1.82656928e-02 1.02187427e+02] [-1.19426718e-01 9.92839583e-01 -2.61167039e-03 -1.13195244e+01] [-1.84468788e-02 4.11119376e-04 9.99829757e-01 -1.55912405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.865769231 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:102.22, Y:-11.32, Z:-1.56 [[ 9.92751827e-01 1.18798132e-01 1.81882977e-02 1.02216615e+02] [-1.18770419e-01 9.92918338e-01 -2.60017414e-03 -1.13241635e+01] [-1.83683901e-02 4.21095890e-04 9.99831198e-01 -1.55931992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.895769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:102.25, Y:-11.33, Z:-1.56 [[ 9.92777826e-01 1.18765209e-01 1.69414998e-02 1.02245378e+02] [-1.18741165e-01 9.92922289e-01 -2.42169587e-03 -1.13299910e+01] [-1.71092059e-02 3.92552540e-04 9.99853550e-01 -1.55994969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.925769231 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:102.27, Y:-11.33, Z:-1.56 [[ 9.92763955e-01 1.19000576e-01 1.60808337e-02 1.02274630e+02] [-1.18978943e-01 9.92894117e-01 -2.29876113e-03 -1.13348493e+01] [-1.62401191e-02 3.68846591e-04 9.99868053e-01 -1.56070944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.955769231 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:102.30, Y:-11.34, Z:-1.56 [[ 9.92657380e-01 1.19846230e-01 1.63770190e-02 1.02303677e+02] [-1.19823914e-01 9.92792401e-01 -2.34070769e-03 -1.13420126e+01] [-1.65395050e-02 3.61162261e-04 9.99863148e-01 -1.56199411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.985769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:102.33, Y:-11.35, Z:-1.56 [[ 9.92618093e-01 1.20112824e-01 1.67996996e-02 1.02331856e+02] [-1.20089387e-01 9.92760180e-01 -2.40067089e-03 -1.13478080e+01] [-1.69664242e-02 3.65483734e-04 9.99855993e-01 -1.56264532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:102.36, Y:-11.35, Z:-1.56 [[ 9.92571026e-01 1.20348744e-01 1.78588465e-02 1.02361938e+02] [-1.20322305e-01 9.92731602e-01 -2.55153536e-03 -1.13541262e+01] [-1.80361154e-02 3.83762489e-04 9.99837262e-01 -1.56322158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.39, Y:-11.36, Z:-1.56 [[ 9.92518077e-01 1.20489956e-01 1.97493651e-02 1.02390399e+02] [-1.20457649e-01 9.92714457e-01 -2.82172705e-03 -1.13622536e+01] [-1.99454700e-02 4.21653032e-04 9.99800980e-01 -1.56309936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07576923100001 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:102.42, Y:-11.37, Z:-1.56 [[ 9.92531661e-01 1.20297486e-01 2.02340314e-02 1.02420583e+02] [-1.20263526e-01 9.92737792e-01 -2.89131722e-03 -1.13691838e+01] [-2.04349059e-02 4.36307915e-04 9.99791090e-01 -1.56362435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:102.45, Y:-11.38, Z:-1.56 [[ 9.92580520e-01 1.19958385e-01 1.98468459e-02 1.02450777e+02] [-1.19925634e-01 9.92778826e-01 -2.83653142e-03 -1.13795570e+01] [-2.00437941e-02 4.35340243e-04 9.99799008e-01 -1.56441455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13576923100001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:102.48, Y:-11.39, Z:-1.56 [[ 9.92597808e-01 1.19926734e-01 1.91616640e-02 1.02480769e+02] [-1.19896172e-01 9.92782655e-01 -2.74001163e-03 -1.13872934e+01] [-1.93519683e-02 4.22319373e-04 9.99812644e-01 -1.56493106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.51, Y:-11.39, Z:-1.57 [[ 9.92625883e-01 1.19758363e-01 1.87560769e-02 1.02511113e+02] [-1.19729012e-01 9.92802981e-01 -2.68411433e-03 -1.13948931e+01] [-1.89425342e-02 4.18674797e-04 9.99820486e-01 -1.56567431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.195769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:102.54, Y:-11.41, Z:-1.57 [[ 9.92545771e-01 1.20399541e-01 1.88903021e-02 1.02541751e+02] [-1.20369859e-01 9.92725431e-01 -2.70461543e-03 -1.14051154e+01] [-1.90785177e-02 4.10631604e-04 9.99817904e-01 -1.56580149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.225769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:102.57, Y:-11.42, Z:-1.57 [[ 9.92199863e-01 1.23148466e-01 1.93361622e-02 1.02573110e+02] [-1.23117822e-01 9.92388190e-01 -2.77182923e-03 -1.14154281e+01] [-1.95303255e-02 3.69582408e-04 9.99809197e-01 -1.56619931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.255769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.60, Y:-11.42, Z:-1.57 [[ 9.91869161e-01 1.25740486e-01 1.96188279e-02 1.02604893e+02] [-1.25709379e-01 9.92063115e-01 -2.81576453e-03 -1.14227845e+01] [-1.98171711e-02 3.26599329e-04 9.99803567e-01 -1.56663865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.285769231 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:102.64, Y:-11.43, Z:-1.57 [[ 9.91472053e-01 1.28728821e-01 2.02992403e-02 1.02635271e+02] [-1.28696098e-01 9.91679794e-01 -2.91569876e-03 -1.14297797e+01] [-2.05056809e-02 2.78400825e-04 9.99789698e-01 -1.56671552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.315769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.67, Y:-11.44, Z:-1.57 [[ 9.90674737e-01 1.34500515e-01 2.17526132e-02 1.02665987e+02] [-1.34464316e-01 9.90913509e-01 -3.12497219e-03 -1.14385522e+01] [-2.19752687e-02 1.70880745e-04 9.99758500e-01 -1.56690554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.345769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:102.70, Y:-11.44, Z:-1.57 [[ 9.90396965e-01 1.36462855e-01 2.21752164e-02 1.02696274e+02] [-1.36425689e-01 9.90645180e-01 -3.18739452e-03 -1.14449130e+01] [-2.24027322e-02 1.31516683e-04 9.99749019e-01 -1.56721117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.375769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:102.73, Y:-11.45, Z:-1.57 [[ 9.90165137e-01 1.38290133e-01 2.11858547e-02 1.02728432e+02] [-1.38256554e-01 9.90391756e-01 -3.04865748e-03 -1.14527965e+01] [-2.14038951e-02 8.95910965e-05 9.99770906e-01 -1.56907107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40576923100001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:102.76, Y:-11.46, Z:-1.57 [[ 9.90092622e-01 1.38893026e-01 2.06234450e-02 1.02760505e+02] [-1.38861255e-01 9.90307387e-01 -2.97164465e-03 -1.14586453e+01] [-2.08362907e-02 7.84059856e-05 9.99782898e-01 -1.57036837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.79, Y:-11.46, Z:-1.57 [[ 9.90024261e-01 1.39412694e-01 2.03976253e-02 1.02792061e+02] [-1.39381656e-01 9.90234364e-01 -2.94248813e-03 -1.14639723e+01] [-2.06086497e-02 7.00798460e-05 9.99787617e-01 -1.57109436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:102.82, Y:-11.47, Z:-1.57 [[ 9.89782053e-01 1.40997884e-01 2.12387466e-02 1.02823932e+02] [-1.40964533e-01 9.90009896e-01 -3.06683902e-03 -1.14703716e+01] [-2.14589872e-02 4.15922229e-05 9.99769729e-01 -1.57084736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49576923100001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:102.86, Y:-11.48, Z:-1.57 [[ 9.89721827e-01 1.41407602e-01 2.13212281e-02 1.02856447e+02] [-1.41374005e-01 9.89951458e-01 -3.08254389e-03 -1.14762904e+01] [-2.15428760e-02 3.65935706e-05 9.99767925e-01 -1.57100998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:102.89, Y:-11.48, Z:-1.57 [[ 9.89642928e-01 1.42005943e-01 2.10044651e-02 1.02888253e+02] [-1.41973398e-01 9.89865805e-01 -3.04020107e-03 -1.14822155e+01] [-2.12233283e-02 2.66382169e-05 9.99774759e-01 -1.57226911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.92, Y:-11.49, Z:-1.57 [[ 9.89542294e-01 1.42783420e-01 2.04681254e-02 1.02919354e+02] [-1.42752633e-01 9.89753957e-01 -2.96499234e-03 -1.14876728e+01] [-2.06817599e-02 1.21065274e-05 9.99786109e-01 -1.57334543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.585769231 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:102.95, Y:-11.49, Z:-1.57 [[ 9.89389562e-01 1.43851681e-01 2.03712541e-02 1.02951182e+02] [-1.43821354e-01 9.89599259e-01 -2.95370528e-03 -1.14938221e+01] [-2.05842734e-02 -7.45616484e-06 9.99788121e-01 -1.57448482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.615769231 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:102.98, Y:-11.50, Z:-1.57 [[ 9.89176537e-01 1.45281717e-01 2.05669881e-02 1.02983729e+02] [-1.45251038e-01 9.89390328e-01 -2.98569064e-03 -1.15007711e+01] [-2.07825454e-02 -3.40012489e-05 9.99784019e-01 -1.57485835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.645769231 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:103.02, Y:-11.51, Z:-1.58 [[ 9.89218173e-01 1.44973343e-01 2.07397248e-02 1.03016063e+02] [-1.44941995e-01 9.89435561e-01 -3.01480234e-03 -1.15102080e+01] [-2.09576872e-02 -2.37598229e-05 9.99780363e-01 -1.57664145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.675769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:103.05, Y:-11.52, Z:-1.58 [[ 9.89632975e-01 1.42416985e-01 1.85466171e-02 1.03047398e+02] [-1.42391406e-01 9.89806750e-01 -2.69929051e-03 -1.15201373e+01] [-1.87419916e-02 3.04280171e-05 9.99824353e-01 -1.57864764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.705769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:103.08, Y:-11.53, Z:-1.58 [[ 9.89700077e-01 1.42120875e-01 1.71876500e-02 1.03079816e+02] [-1.42098810e-01 9.89849309e-01 -2.50451968e-03 -1.15271344e+01] [-1.73691280e-02 3.63787037e-05 9.99849145e-01 -1.57967198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.735769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:103.11, Y:-11.53, Z:-1.58 [[ 9.89595265e-01 1.42953576e-01 1.62937823e-02 1.03111636e+02] [-1.42933810e-01 9.89729395e-01 -2.37726187e-03 -1.15340041e+01] [-1.64662734e-02 2.35947054e-05 9.99864421e-01 -1.58045374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76576923100001 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:103.14, Y:-11.54, Z:-1.58 [[ 9.89057338e-01 1.46760559e-01 1.50638697e-02 1.03142295e+02] [-1.46744068e-01 9.89172046e-01 -2.20031581e-03 -1.15401672e+01] [-1.52236784e-02 -3.42950117e-05 9.99884113e-01 -1.58141877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79576923100001 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:103.17, Y:-11.54, Z:-1.58 [[ 9.88671391e-01 1.49334762e-01 1.51000008e-02 1.03173651e+02] [-1.49318461e-01 9.88786693e-01 -2.20764735e-03 -1.15446466e+01] [-1.52603584e-02 -7.20711047e-05 9.99883551e-01 -1.58158809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82576923100001 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:103.20, Y:-11.55, Z:-1.58 [[ 9.87945433e-01 1.53980900e-01 1.59281092e-02 1.03204931e+02] [-1.53963358e-01 9.88073813e-01 -2.32910368e-03 -1.15488279e+01] [-1.60967851e-02 -1.51317837e-04 9.99870427e-01 -1.58175128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85576923100001 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:103.24, Y:-11.55, Z:-1.58 [[ 9.87826751e-01 1.54674584e-01 1.65554723e-02 1.03236091e+02] [-1.54655716e-01 9.87965457e-01 -2.42171079e-03 -1.15538334e+01] [-1.67308119e-02 -1.68167722e-04 9.99860016e-01 -1.58227228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88576923100001 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:103.27, Y:-11.56, Z:-1.58 [[ 9.87930167e-01 1.53964981e-01 1.69932047e-02 1.03268498e+02] [-1.53944948e-01 9.88076293e-01 -2.48856431e-03 -1.15592553e+01] [-1.71737344e-02 -1.57490260e-04 9.99852508e-01 -1.58296458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91576923100001 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:103.30, Y:-11.57, Z:-1.58 [[ 9.88697029e-01 1.48832134e-01 1.80881330e-02 1.03300094e+02] [-1.48808511e-01 9.88862473e-01 -2.65251715e-03 -1.15666462e+01] [-1.82814557e-02 -6.91323133e-05 9.99832878e-01 -1.58358683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.945769231 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:103.33, Y:-11.57, Z:-1.58 [[ 9.89147953e-01 1.45761294e-01 1.84383573e-02 1.03332414e+02] [-1.45736150e-01 9.89319789e-01 -2.70733090e-03 -1.15733046e+01] [-1.86360558e-02 -9.18438197e-06 9.99826334e-01 -1.58388364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.975769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:103.36, Y:-11.58, Z:-1.58 [[ 9.89566259e-01 1.42835303e-01 1.88863997e-02 1.03363669e+02] [-1.42808319e-01 9.89746469e-01 -2.77677854e-03 -1.15806699e+01] [-1.90893695e-02 5.06713506e-05 9.99817780e-01 -1.58426469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.005769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:103.40, Y:-11.59, Z:-1.58 [[ 9.90268978e-01 1.37845566e-01 1.91298388e-02 1.03395630e+02] [-1.37816881e-01 9.90453723e-01 -2.81614065e-03 -1.15921774e+01] [-1.93354126e-02 1.52322016e-04 9.99813042e-01 -1.58492602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.035769231 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:103.43, Y:-11.60, Z:-1.58 [[ 9.90441330e-01 1.36572994e-01 1.93336350e-02 1.03427221e+02] [-1.36543378e-01 9.90629993e-01 -2.84989698e-03 -1.16012550e+01] [-1.95416977e-02 1.82775914e-04 9.99809026e-01 -1.58048569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.065769231 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:103.46, Y:-11.61, Z:-1.59 [[ 9.90220389e-01 1.38102655e-01 1.97797416e-02 1.03457821e+02] [-1.38071886e-01 9.90417907e-01 -2.91945554e-03 -1.16132298e+01] [-1.99933948e-02 1.59878178e-04 9.99800099e-01 -1.58644340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.095769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:103.49, Y:-11.62, Z:-1.59 [[ 9.89911827e-01 1.40314106e-01 1.96602879e-02 1.03488584e+02] [-1.40284074e-01 9.90107033e-01 -2.90534080e-03 -1.16215280e+01] [-1.98734496e-02 1.18005946e-04 9.99802497e-01 -1.58675512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.125769231 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:103.52, Y:-11.63, Z:-1.59 [[ 9.89583996e-01 1.42698170e-01 1.89933173e-02 1.03520978e+02] [-1.42670516e-01 9.89766249e-01 -2.81014336e-03 -1.16295295e+01] [-1.91999467e-02 7.10865254e-05 9.99815662e-01 -1.58711556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15576923100001 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:103.55, Y:-11.64, Z:-1.59 [[ 9.88830080e-01 1.47949099e-01 1.80592841e-02 1.03551883e+02] [-1.47924913e-01 9.88994976e-01 -2.67517883e-03 -1.16399115e+01] [-1.82563315e-02 -2.61207275e-05 9.99833339e-01 -1.58853887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18576923100001 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:103.58, Y:-11.65, Z:-1.59 [[ 9.88429022e-01 1.50593381e-01 1.81577113e-02 1.03583649e+02] [-1.50569317e-01 9.88595786e-01 -2.69303749e-03 -1.16473662e+01] [-1.83561905e-02 -7.21177818e-05 9.99831508e-01 -1.58870348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21576923100001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:103.61, Y:-11.66, Z:-1.59 [[ 9.87596047e-01 1.55740573e-01 1.99730027e-02 1.03614815e+02] [-1.55712429e-01 9.87797976e-01 -2.96619340e-03 -1.16556293e+01] [-2.01912483e-02 -1.80643889e-04 9.99796120e-01 -1.58873226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:103.65, Y:-11.66, Z:-1.59 [[ 9.87190538e-01 1.58187340e-01 2.07751805e-02 1.03645994e+02] [-1.58157353e-01 9.87409089e-01 -3.08903633e-03 -1.16608825e+01] [-2.10022485e-02 -2.36280115e-04 9.99779401e-01 -1.58871761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27576923100001 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:103.68, Y:-11.67, Z:-1.59 [[ 9.86751100e-01 1.60882374e-01 2.09553643e-02 1.03678808e+02] [-1.60852393e-01 9.86973544e-01 -3.11953378e-03 -1.16662507e+01] [-2.11842682e-02 -2.92517115e-04 9.99775545e-01 -1.58915382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30576923100001 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:103.71, Y:-11.67, Z:-1.59 [[ 9.86323006e-01 1.63558461e-01 2.03852207e-02 1.03711130e+02] [-1.63530583e-01 9.86533586e-01 -3.03841445e-03 -1.16707022e+01] [-2.06076633e-02 -3.36748963e-04 9.99787583e-01 -1.59063177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.335769231 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:103.74, Y:-11.67, Z:-1.59 [[ 9.85468952e-01 1.68993436e-01 1.70927811e-02 1.03742733e+02] [-1.68905132e-01 9.85610915e-01 -6.49464007e-03 -1.16706907e+01] [-1.79443831e-02 3.51320770e-03 9.99832814e-01 -1.59301922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.365769231 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:103.78, Y:-11.68, Z:-1.59 [[ 9.85073193e-01 1.71070098e-01 1.91265649e-02 1.03775866e+02] [-1.71123591e-01 9.85248859e-01 1.18389793e-03 -1.16770980e+01] [-1.86418968e-02 -4.43923260e-03 9.99816370e-01 -1.59334178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.395769231 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:103.81, Y:-11.68, Z:-1.59 [[ 9.84386068e-01 1.74932050e-01 1.95664599e-02 1.03808242e+02] [-1.74908443e-01 9.84580359e-01 -2.92468769e-03 -1.16753573e+01] [-1.97763737e-02 -5.43317228e-04 9.99804281e-01 -1.59383230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.425769231 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:103.84, Y:-11.68, Z:-1.59 [[ 9.84202670e-01 1.75926936e-01 1.98700370e-02 1.03841008e+02] [-1.75902721e-01 9.84403063e-01 -2.97366346e-03 -1.16781530e+01] [-2.00832728e-02 -5.68506067e-04 9.99798149e-01 -1.59434289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.455769231 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:103.87, Y:-11.68, Z:-1.60 [[ 9.84304427e-01 1.75319178e-01 2.01985369e-02 1.03873847e+02] [-1.75340438e-01 9.84507594e-01 -7.27424242e-04 -1.16802112e+01] [-2.00131444e-02 -2.82561341e-03 9.99795724e-01 -1.59543595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.485769231 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:103.91, Y:-11.68, Z:-1.60 [[ 9.84454330e-01 1.74668037e-01 1.84594014e-02 1.03906789e+02] [-1.74603612e-01 9.84625813e-01 -5.05842336e-03 -1.16812595e+01] [-1.90591479e-02 1.75670862e-03 9.99816815e-01 -1.59649670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51576923100001 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:103.94, Y:-11.69, Z:-1.60 [[ 9.84603563e-01 1.73835653e-01 1.83572671e-02 1.03938128e+02] [-1.73814471e-01 9.84774562e-01 -2.75542538e-03 -1.16850597e+01] [-1.85567608e-02 -4.77757016e-04 9.99827694e-01 -1.59726727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54576923100001 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:103.97, Y:-11.69, Z:-1.60 [[ 9.84589736e-01 1.73913994e-01 1.83568686e-02 1.03971233e+02] [-1.73892776e-01 9.84760730e-01 -2.75807789e-03 -1.16901733e+01] [-1.85567917e-02 -4.76551651e-04 9.99827694e-01 -1.59770847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57576923100001 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:104.00, Y:-11.69, Z:-1.60 [[ 9.84845422e-01 1.72421119e-01 1.87203761e-02 1.04003906e+02] [-1.72398741e-01 9.85023223e-01 -2.81485298e-03 -1.16915366e+01] [-1.89253454e-02 -4.55174210e-04 9.99820796e-01 -1.59837118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60576923100001 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:104.04, Y:-11.70, Z:-1.60 [[ 9.84938862e-01 1.71905195e-01 1.85483808e-02 1.04036000e+02] [-1.71883071e-01 9.85113401e-01 -2.79241203e-03 -1.16951904e+01] [-1.87522886e-02 -4.37797539e-04 9.99824065e-01 -1.59950730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63576923100001 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:104.07, Y:-11.70, Z:-1.60 [[ 9.85029415e-01 1.71415326e-01 1.82711981e-02 1.04068348e+02] [-1.71383620e-01 9.85198849e-01 -3.29888295e-03 -1.16983266e+01] [-1.85662424e-02 1.18112673e-04 9.99827625e-01 -1.60041269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66576923100001 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:104.10, Y:-11.70, Z:-1.60 [[ 9.85384858e-01 1.69358539e-01 1.82857244e-02 1.04100420e+02] [-1.69347073e-01 9.85554055e-01 -2.18494754e-03 -1.17000003e+01] [-1.83916093e-02 -9.43619677e-04 9.99830415e-01 -1.60117179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.695769231 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:104.13, Y:-11.70, Z:-1.60 [[ 9.85499828e-01 1.68748894e-01 1.77172234e-02 1.04133759e+02] [-1.68728079e-01 9.85659011e-01 -2.67398210e-03 -1.17034460e+01] [-1.79143724e-02 -3.54184160e-04 9.99839462e-01 -1.60196069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.725769231 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:104.17, Y:-11.71, Z:-1.60 [[ 9.85775352e-01 1.67288898e-01 1.61672595e-02 1.04165734e+02] [-1.67271322e-01 9.85907874e-01 -2.44293144e-03 -1.17058483e+01] [-1.63481038e-02 -2.96137272e-04 9.99866317e-01 -1.60324304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.755769231 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:104.20, Y:-11.71, Z:-1.60 [[ 9.85929619e-01 1.66362613e-01 1.63176983e-02 1.04198130e+02] [-1.66344533e-01 9.86064604e-01 -2.46860805e-03 -1.17090089e+01] [-1.65009888e-02 -2.80486107e-04 9.99863810e-01 -1.60395474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.785769231 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:104.23, Y:-11.71, Z:-1.60 [[ 9.86057878e-01 1.65527665e-01 1.70426961e-02 1.04230126e+02] [-1.65507766e-01 9.86205109e-01 -2.58133204e-03 -1.17119362e+01] [-1.72348759e-02 -2.75355767e-04 9.99851431e-01 -1.60438311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.815769231 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:104.26, Y:-11.72, Z:-1.61 [[ 9.86540434e-01 1.62481649e-01 1.83762280e-02 1.04262410e+02] [-1.62457921e-01 9.86711537e-01 -2.78676107e-03 -1.17159083e+01] [-1.85848337e-02 -2.36111314e-04 9.99827259e-01 -1.60517562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.845769231 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:104.29, Y:-11.72, Z:-1.61 [[ 9.86946316e-01 1.59979368e-01 1.85356929e-02 1.04293968e+02] [-1.59954731e-01 9.87120341e-01 -2.81379714e-03 -1.17211211e+01] [-1.87471089e-02 -1.87805043e-04 9.99824240e-01 -1.60571245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.875769231 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:104.33, Y:-11.73, Z:-1.61 [[ 9.87825002e-01 1.54476089e-01 1.84093211e-02 1.04326084e+02] [-1.54450782e-01 9.87996524e-01 -2.79722136e-03 -1.17268330e+01] [-1.86204491e-02 -8.01688358e-05 9.99826621e-01 -1.60726138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90576923100001 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:104.36, Y:-11.73, Z:-1.61 [[ 9.88237652e-01 1.51828890e-01 1.82847491e-02 1.04357723e+02] [-1.51803406e-01 9.88406792e-01 -2.78181862e-03 -1.17319541e+01] [-1.84951306e-02 -2.65892836e-05 9.99828950e-01 -1.60889539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93576923100001 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:104.39, Y:-11.74, Z:-1.61 [[ 9.88623294e-01 1.49318150e-01 1.81127861e-02 1.04389691e+02] [-1.49292660e-01 9.88789204e-01 -2.75901326e-03 -1.17383004e+01] [-1.83216981e-02 2.35187551e-05 9.99832143e-01 -1.61018296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96576923100001 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:104.42, Y:-11.75, Z:-1.61 [[ 9.89294574e-01 1.44924059e-01 1.71248927e-02 1.04420487e+02] [-1.44900562e-01 9.89442776e-01 -2.61163739e-03 -1.17481475e+01] [-1.73225905e-02 1.02272119e-04 9.99849947e-01 -1.61097604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99576923100001 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:104.45, Y:-11.76, Z:-1.61 [[ 9.89485319e-01 1.43648372e-01 1.68507644e-02 1.04452401e+02] [-1.43625384e-01 9.89628784e-01 -2.57288058e-03 -1.17561262e+01] [-1.70455916e-02 1.25630062e-04 9.99854705e-01 -1.61200229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02576923100001 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:104.48, Y:-11.77, Z:-1.61 [[ 9.89565570e-01 1.43069073e-01 1.70652631e-02 1.04483992e+02] [-1.43045351e-01 9.89712696e-01 -2.60902796e-03 -1.17658438e+01] [-1.72629788e-02 1.40697696e-04 9.99850974e-01 -1.61362325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05576923100001 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:104.52, Y:-11.77, Z:-1.61 [[ 9.89451197e-01 1.43841989e-01 1.71991777e-02 1.04515812e+02] [-1.43817951e-01 9.89600659e-01 -2.63288142e-03 -1.17727426e+01] [-1.73990365e-02 1.31557180e-04 9.99848617e-01 -1.61369630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.085769231 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:104.55, Y:-11.78, Z:-1.61 [[ 9.89206081e-01 1.45480221e-01 1.75167137e-02 1.04547816e+02] [-1.45455485e-01 9.89361154e-01 -2.68482919e-03 -1.17795045e+01] [-1.77209457e-02 1.07947269e-04 9.99842966e-01 -1.61343425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.115769231 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:104.58, Y:-11.78, Z:-1.61 [[ 9.88481770e-01 1.50303259e-01 1.76839161e-02 1.04578954e+02] [-1.50278758e-01 9.88639939e-01 -2.71388423e-03 -1.17844814e+01] [-1.78909314e-02 2.51081245e-05 9.99839944e-01 -1.61299082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.145769231 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:104.61, Y:-11.79, Z:-1.61 [[ 9.88020214e-01 1.53354051e-01 1.72798077e-02 1.04611091e+02] [-1.53331069e-01 9.88171308e-01 -2.65496286e-03 -1.17890465e+01] [-1.74825595e-02 -2.63744173e-05 9.99847168e-01 -1.61328880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.175769231 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:104.64, Y:-11.79, Z:-1.61 [[ 9.87567922e-01 1.56265103e-01 1.70533589e-02 1.04643645e+02] [-1.56243100e-01 9.87715147e-01 -2.62324877e-03 -1.17935238e+01] [-1.72537832e-02 -7.38333306e-05 9.99851140e-01 -1.61430623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.205769231 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:104.68, Y:-11.80, Z:-1.62 [[ 9.87039234e-01 1.59625303e-01 1.65322086e-02 1.04676655e+02] [-1.59605044e-01 9.87177667e-01 -2.54616383e-03 -1.17980023e+01] [-1.67266593e-02 -1.25460295e-04 9.99860092e-01 -1.61573791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.235769231 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:104.71, Y:-11.80, Z:-1.62 [[ 9.86915160e-01 1.60426760e-01 1.61777830e-02 1.04708209e+02] [-1.60407420e-01 9.87047738e-01 -2.49456582e-03 -1.18023231e+01] [-1.63684392e-02 -1.33111599e-04 9.99866019e-01 -1.61694786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26576923100001 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:104.74, Y:-11.81, Z:-1.62 [[ 9.86846169e-01 1.60860094e-01 1.60831912e-02 1.04741125e+02] [-1.60840989e-01 9.86977209e-01 -2.48287841e-03 -1.18057217e+01] [-1.62731392e-02 -1.36617334e-04 9.99867574e-01 -1.61765522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29576923100001 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:104.77, Y:-11.81, Z:-1.62 [[ 9.86853031e-01 1.60776499e-01 1.64928252e-02 1.04772529e+02] [-1.60756343e-01 9.86990830e-01 -2.54935643e-03 -1.18107311e+01] [-1.66881439e-02 -1.35486157e-04 9.99860734e-01 -1.61830798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32576923100001 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:104.81, Y:-11.82, Z:-1.62 [[ 9.86975530e-01 1.60056283e-01 1.61644671e-02 1.04805121e+02] [-1.60036777e-01 9.87107883e-01 -2.50151994e-03 -1.18163055e+01] [-1.63564569e-02 -1.17970238e-04 9.99866217e-01 -1.61823734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35576923100001 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:104.84, Y:-11.82, Z:-1.62 [[ 9.87284315e-01 1.58301923e-01 1.44976911e-02 1.04838055e+02] [-1.58286007e-01 9.87390751e-01 -2.24608370e-03 -1.18219519e+01] [-1.46704455e-02 -7.72584304e-05 9.99892380e-01 -1.62009958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38576923100001 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:104.87, Y:-11.83, Z:-1.62 [[ 9.87409410e-01 1.57607279e-01 1.35130259e-02 1.04870093e+02] [-1.57593353e-01 9.87501869e-01 -2.09594892e-03 -1.18272950e+01] [-1.36744752e-02 -6.00033789e-05 9.99906498e-01 -1.62077777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41576923100001 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:104.90, Y:-11.83, Z:-1.62 [[ 9.87509099e-01 1.56959387e-01 1.37670158e-02 1.04902205e+02] [-1.56944833e-01 9.87605057e-01 -2.13800921e-03 -1.18336691e+01] [-1.39319551e-02 -4.93584512e-05 9.99902944e-01 -1.62222026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.445769231 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:104.93, Y:-11.84, Z:-1.62 [[ 9.87587607e-01 1.56391720e-01 1.45721496e-02 1.04933477e+02] [-1.56375307e-01 9.87695109e-01 -2.26603553e-03 -1.18403705e+01] [-1.47472301e-02 -4.08157709e-05 9.99891253e-01 -1.62274067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.475769231 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:104.96, Y:-11.85, Z:-1.62 [[ 9.87653483e-01 1.55927107e-01 1.50776576e-02 1.04964900e+02] [-1.55909439e-01 9.87768564e-01 -2.34748389e-03 -1.18494713e+01] [-1.52592726e-02 -3.22484977e-05 9.99883570e-01 -1.62335470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.505769231 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:105.00, Y:-11.86, Z:-1.62 [[ 9.87545900e-01 1.56699079e-01 1.40888172e-02 1.04996674e+02] [-1.56683696e-01 9.87646393e-01 -2.19593948e-03 -1.18572435e+01] [-1.42588712e-02 -3.88969241e-05 9.99898336e-01 -1.62452230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.535769231 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:105.03, Y:-11.87, Z:-1.63 [[ 9.87295505e-01 1.58401136e-01 1.25166549e-02 1.05027507e+02] [-1.58389104e-01 9.87374841e-01 -1.95310760e-03 -1.18692472e+01] [-1.26680046e-02 -5.42073971e-05 9.99919756e-01 -1.62634117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.565769231 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:105.06, Y:-11.88, Z:-1.63 [[ 9.87045643e-01 1.59946720e-01 1.25676582e-02 1.05059728e+02] [-1.59934696e-01 9.87125646e-01 -1.96258147e-03 -1.18768655e+01] [-1.27197662e-02 -7.28471090e-05 9.99919098e-01 -1.62607750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.595769231 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:105.09, Y:-11.88, Z:-1.63 [[ 9.86683395e-01 1.62119784e-01 1.31550096e-02 1.05090859e+02] [-1.62106767e-01 9.86771080e-01 -2.05695416e-03 -1.18831467e+01] [-1.33144560e-02 -1.02953562e-04 9.99911353e-01 -1.62628010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.625769231 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:105.12, Y:-11.89, Z:-1.63 [[ 9.85586003e-01 1.68513412e-01 1.49485930e-02 1.05123469e+02] [-1.68497292e-01 9.85699338e-01 -2.34042713e-03 -1.18904484e+01] [-1.51292116e-02 -2.12105214e-04 9.99885524e-01 -1.62656597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65576923100001 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:105.16, Y:-11.90, Z:-1.63 [[ 9.84922050e-01 1.72326727e-01 1.52333185e-02 1.05155376e+02] [-1.72310398e-01 9.85039809e-01 -2.38794213e-03 -1.18966029e+01] [-1.54169314e-02 -2.72922313e-04 9.99881115e-01 -1.62784046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68576923100001 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:105.19, Y:-11.90, Z:-1.63 [[ 9.83561544e-01 1.80025949e-01 1.40479972e-02 1.05187778e+02] [-1.80012813e-01 9.83661795e-01 -2.20446866e-03 -1.19021460e+01] [-1.42153397e-02 -3.60588887e-04 9.99898892e-01 -1.62894986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71576923100001 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:105.22, Y:-11.91, Z:-1.63 [[ 9.82847482e-01 1.83916608e-01 1.36201567e-02 1.05219549e+02] [-1.83904598e-01 9.82941768e-01 -2.13983711e-03 -1.19058583e+01] [-1.37813725e-02 -4.01675925e-04 9.99904952e-01 -1.63011401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74576923100001 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:105.25, Y:-11.91, Z:-1.63 [[ 9.82172565e-01 1.87481333e-01 1.37040612e-02 1.05250951e+02] [-1.87469488e-01 9.82268062e-01 -2.15544116e-03 -1.19093897e+01] [-1.38651667e-02 -4.52078170e-04 9.99903772e-01 -1.63129344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77576923100001 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:105.28, Y:-11.91, Z:-1.63 [[ 9.81460198e-01 1.91156638e-01 1.39649425e-02 1.05282682e+02] [-1.91144679e-01 9.81559411e-01 -2.19848699e-03 -1.19111351e+01] [-1.41276761e-02 -5.11596988e-04 9.99900069e-01 -1.63159839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80576923100001 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:105.32, Y:-11.91, Z:-1.63 [[ 9.81411864e-01 1.91459689e-01 1.31886217e-02 1.05315414e+02] [-1.91449047e-01 9.81500357e-01 -2.07658778e-03 -1.19136887e+01] [-1.33422197e-02 -4.86961164e-04 9.99910870e-01 -1.63214216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.835769231 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:105.35, Y:-11.92, Z:-1.63 [[ 9.81483957e-01 1.91160516e-01 1.21202359e-02 1.05347070e+02] [-1.91151478e-01 9.81558690e-01 -1.91053369e-03 -1.19157682e+01] [-1.22619415e-02 -4.41642843e-04 9.99924722e-01 -1.63302352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.865769231 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:105.38, Y:-11.92, Z:-1.63 [[ 9.81880227e-01 1.89095360e-01 1.24162817e-02 1.05379304e+02] [-1.89085685e-01 9.81958637e-01 -1.95926110e-03 -1.19150910e+01] [-1.25627622e-02 -4.23981382e-04 9.99920996e-01 -1.63397303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.895769231 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:105.41, Y:-11.92, Z:-1.63 [[ 9.82180799e-01 1.87448953e-01 1.35561078e-02 1.05409532e+02] [-1.87437259e-01 9.82274247e-01 -2.13946803e-03 -1.19188232e+01] [-1.37168566e-02 -4.39575261e-04 9.99905823e-01 -1.63444279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.925769231 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:105.44, Y:-11.92, Z:-1.63 [[ 9.83100589e-01 1.82435878e-01 1.51783526e-02 1.05441224e+02] [-1.82420612e-01 9.83217666e-01 -2.39603454e-03 -1.19215540e+01] [-1.53607471e-02 -4.13301396e-04 9.99881931e-01 -1.63354488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.955769231 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:105.47, Y:-11.92, Z:-1.63 [[ 9.83580495e-01 1.79831894e-01 1.51624252e-02 1.05473709e+02] [-1.79816310e-01 9.83697287e-01 -2.39612613e-03 -1.19248448e+01] [-1.53461364e-02 -3.69668414e-04 9.99882173e-01 -1.63408301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.985769231 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:105.51, Y:-11.93, Z:-1.63 [[ 9.84085061e-01 1.77133755e-01 1.41500881e-02 1.05506258e+02] [-1.77119866e-01 9.84186741e-01 -2.23875188e-03 -1.19285901e+01] [-1.43228876e-02 -3.03139424e-04 9.99897376e-01 -1.63446391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01576923100001 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:105.54, Y:-11.93, Z:-1.64 [[ 9.84961444e-01 1.72402583e-01 1.13271203e-02 1.05538138e+02] [-1.72393350e-01 9.85026555e-01 -1.79385228e-03 -1.19324012e+01] [-1.14667790e-02 -1.85844886e-04 9.99934237e-01 -1.63570400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04576923100001 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:105.57, Y:-11.94, Z:-1.64 [[ 9.85253207e-01 1.70766327e-01 1.07228446e-02 1.05569457e+02] [-1.70757936e-01 9.85311543e-01 -1.70002821e-03 -1.19373439e+01] [-1.08556501e-02 -1.56052554e-04 9.99941064e-01 -1.63742250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07576923100001 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:105.60, Y:-11.94, Z:-1.64 [[ 9.85808086e-01 1.67628562e-01 9.11501030e-03 1.05599701e+02] [-1.67622352e-01 9.85850219e-01 -1.44638388e-03 -1.19428217e+01] [-9.22849015e-03 -1.02022541e-04 9.99957411e-01 -1.63740433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10576923100001 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:105.63, Y:-11.95, Z:-1.64 [[ 9.86055275e-01 1.66195266e-01 8.60979270e-03 1.05630804e+02] [-1.66189656e-01 9.86092859e-01 -1.36803523e-03 -1.19485203e+01] [-8.71741608e-03 -8.19001328e-05 9.99961999e-01 -1.63797677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13576923100001 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:105.66, Y:-11.95, Z:-1.64 [[ 9.86309017e-01 1.64730294e-01 7.64541333e-03 1.05661070e+02] [-1.64725830e-01 9.86338647e-01 -1.21424445e-03 -1.19544959e+01] [-7.74098948e-03 -6.17768121e-05 9.99970036e-01 -1.63882189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16576923100001 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:105.69, Y:-11.96, Z:-1.64 [[ 9.86882454e-01 1.61260421e-01 7.62226323e-03 1.05692213e+02] [-1.61255872e-01 9.86911888e-01 -1.21169185e-03 -1.19631738e+01] [-7.71790013e-03 -3.33372712e-05 9.99970216e-01 -1.64073355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.195769231 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:105.72, Y:-11.97, Z:-1.64 [[ 9.87109949e-01 1.59847359e-01 7.92274367e-03 1.05722773e+02] [-1.59842387e-01 9.87141743e-01 -1.26093433e-03 -1.19705468e+01] [-8.02242802e-03 -2.17094322e-05 9.99967820e-01 -1.64168028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.225769231 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:105.75, Y:-11.98, Z:-1.64 [[ 9.87221288e-01 1.59168453e-01 7.71570785e-03 1.05754545e+02] [-1.59163708e-01 9.87251439e-01 -1.22906442e-03 -1.19779159e+01] [-7.81297195e-03 -1.47021181e-05 9.99969478e-01 -1.64200017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.255769231 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:105.78, Y:-11.99, Z:-1.64 [[ 9.87099261e-01 1.59965379e-01 6.79157194e-03 1.05784424e+02] [-1.59961715e-01 9.87122625e-01 -1.08280736e-03 -1.19865677e+01] [-6.87732602e-03 -1.75531507e-05 9.99976351e-01 -1.64252887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.285769231 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:105.82, Y:-11.99, Z:-1.64 [[ 9.86838559e-01 1.61595513e-01 6.04560116e-03 1.05815242e+02] [-1.61592636e-01 9.86857077e-01 -9.64604693e-04 -1.19930083e+01] [-6.12202008e-03 -2.50155230e-05 9.99981260e-01 -1.64264336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.315769231 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:105.85, Y:-12.00, Z:-1.64 [[ 9.86199776e-01 1.65440314e-01 6.28531134e-03 1.05846251e+02] [-1.65437270e-01 9.86219803e-01 -1.00476251e-03 -1.19988336e+01] [-6.36492674e-03 -4.89281878e-05 9.99979742e-01 -1.64280957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.345769231 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:105.88, Y:-12.00, Z:-1.64 [[ 9.85804449e-01 1.67771758e-01 6.49816642e-03 1.05876627e+02] [-1.67768553e-01 9.85825863e-01 -1.03902749e-03 -1.20038491e+01] [-6.58037999e-03 -6.59100618e-05 9.99978347e-01 -1.64285623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.375769231 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:105.91, Y:-12.01, Z:-1.64 [[ 9.85377801e-01 1.70235831e-01 7.09581855e-03 1.05906875e+02] [-1.70232073e-01 9.85403346e-01 -1.13475401e-03 -1.20096429e+01] [-7.18541913e-03 -8.97744955e-05 9.99974181e-01 -1.64367957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40576923100001 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:105.94, Y:-12.02, Z:-1.64 [[ 9.84888669e-01 1.73017064e-01 7.70748728e-03 1.05937451e+02] [-1.73012716e-01 9.84918820e-01 -1.23244771e-03 -1.20151665e+01] [-7.80448376e-03 -1.19669520e-04 9.99969537e-01 -1.64429225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43576923100001 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:105.97, Y:-12.02, Z:-1.65 [[ 9.84064791e-01 1.77632472e-01 7.94936761e-03 1.05966351e+02] [-1.77627995e-01 9.84096885e-01 -1.27138002e-03 -1.20193306e+01] [-8.04878628e-03 -1.60909916e-04 9.99967595e-01 -1.64551470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46576923100001 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:106.00, Y:-12.02, Z:-1.65 [[ 9.84062821e-01 1.77643383e-01 7.94935322e-03 1.05996958e+02] [-1.77638905e-01 9.84094916e-01 -1.27147000e-03 -1.20242329e+01] [-8.04878632e-03 -1.60908048e-04 9.99967595e-01 -1.64592274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49576923100001 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:106.03, Y:-12.03, Z:-1.65 [[ 9.83807692e-01 1.79050356e-01 7.96204718e-03 1.06027446e+02] [-1.79045909e-01 9.83839896e-01 -1.27364836e-03 -1.20275901e+01] [-8.06142686e-03 -1.72546920e-04 9.99967491e-01 -1.64698606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52576923100001 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:106.06, Y:-12.03, Z:-1.65 [[ 9.83721399e-01 1.79507435e-01 8.32399246e-03 1.06056904e+02] [-1.79502591e-01 9.83756599e-01 -1.33160016e-03 -1.20309785e+01] [-8.42781465e-03 -1.84254638e-04 9.99964468e-01 -1.64774655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55576923100001 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:106.09, Y:-12.04, Z:-1.65 [[ 9.84081928e-01 1.77490888e-01 8.92989220e-03 1.06088074e+02] [-1.77485232e-01 9.84122428e-01 -1.42827507e-03 -1.20350775e+01] [-9.04161300e-03 -1.79384311e-04 9.99959108e-01 -1.64785680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.585769231 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:106.12, Y:-12.04, Z:-1.65 [[ 9.84362908e-01 1.75947904e-01 8.48536665e-03 1.06117927e+02] [-1.75942737e-01 9.84399467e-01 -1.35740674e-03 -1.20399935e+01] [-8.59182328e-03 -1.56757786e-04 9.99963077e-01 -1.64837779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.615769231 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:106.15, Y:-12.04, Z:-1.65 [[ 9.84872218e-01 1.73126655e-01 7.33998962e-03 1.06149222e+02] [-1.73122710e-01 9.84899563e-01 -1.17418032e-03 -1.20441875e+01] [-7.43243448e-03 -1.14301326e-04 9.99972373e-01 -1.64887518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.645769231 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:106.18, Y:-12.05, Z:-1.65 [[ 9.85141431e-01 1.71608142e-01 6.85619627e-03 1.06180283e+02] [-1.71604663e-01 9.85165284e-01 -1.09692007e-03 -1.20481964e+01] [-6.94272696e-03 -9.59338443e-05 9.99975894e-01 -1.64969762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.675769231 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:106.21, Y:-12.05, Z:-1.65 [[ 9.85415043e-01 1.70036875e-01 6.68241652e-03 1.06210731e+02] [-1.70033532e-01 9.85437697e-01 -1.06933776e-03 -1.20522984e+01] [-6.76693200e-03 -8.24933710e-05 9.99977101e-01 -1.65008297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.705769231 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:106.24, Y:-12.06, Z:-1.65 [[ 9.85998350e-01 1.66636437e-01 6.28905693e-03 1.06240731e+02] [-1.66633406e-01 9.86018405e-01 -1.00653286e-03 -1.20576476e+01] [-6.36885094e-03 -5.55272346e-05 9.99979717e-01 -1.65075235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.735769231 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:106.27, Y:-12.06, Z:-1.65 [[ 9.86349988e-01 1.64548819e-01 6.11454437e-03 1.06270851e+02] [-1.64545914e-01 9.86368939e-01 -9.78527488e-04 -1.20630228e+01] [-6.19221219e-03 -4.09527176e-05 9.99980827e-01 -1.65180641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76576923100001 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:106.30, Y:-12.07, Z:-1.65 [[ 9.86696433e-01 1.62464559e-01 5.95119826e-03 1.06301023e+02] [-1.62461769e-01 9.86714379e-01 -9.52448312e-04 -1.20680563e+01] [-6.02687199e-03 -2.70648452e-05 9.99981838e-01 -1.65242824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79576923100001 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:106.33, Y:-12.08, Z:-1.65 [[ 9.87273940e-01 1.58843797e-01 7.66915003e-03 1.06331846e+02] [-1.58839054e-01 9.87303726e-01 -1.22745661e-03 -1.20755881e+01] [-7.76675428e-03 -6.32461549e-06 9.99969838e-01 -1.65310784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82576923100001 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:106.36, Y:-12.08, Z:-1.65 [[ 9.87561559e-01 1.56995742e-01 8.63160652e-03 1.06362587e+02] [-1.56989667e-01 9.87599280e-01 -1.38113629e-03 -1.20840564e+01] [-8.74140090e-03 8.88407787e-06 9.99961793e-01 -1.65320053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85576923100001 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:106.39, Y:-12.10, Z:-1.65 [[ 9.88273615e-01 1.52454084e-01 8.54486325e-03 1.06393602e+02] [-1.52447946e-01 9.88310553e-01 -1.36894368e-03 -1.20964052e+01] [-8.65367958e-03 5.02440620e-05 9.99962555e-01 -1.65278976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88576923100001 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:106.43, Y:-12.10, Z:-1.65 [[ 9.88518223e-01 1.50894096e-01 7.91794097e-03 1.06425740e+02] [-1.50888775e-01 9.88549932e-01 -1.26850678e-03 -1.21046512e+01] [-8.01869019e-03 5.92136570e-05 9.99967848e-01 -1.65310459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91576923100001 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:106.46, Y:-12.11, Z:-1.65 [[ 9.88575068e-01 1.50536732e-01 7.61749398e-03 1.06456749e+02] [-1.50531786e-01 9.88604415e-01 -1.22183368e-03 -1.21128063e+01] [-7.71461903e-03 6.11993347e-05 9.99970240e-01 -1.65341876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.945769231 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:106.49, Y:-12.12, Z:-1.65 [[ 9.88210768e-01 1.52921005e-01 7.39216029e-03 1.06487883e+02] [-1.52916405e-01 9.88238415e-01 -1.18690200e-03 -1.21242812e+01] [-7.48671901e-03 4.25267592e-05 9.99971973e-01 -1.65346805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.975769231 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:106.52, Y:-12.13, Z:-1.65 [[ 9.87779648e-01 1.55686614e-01 7.28314973e-03 1.06519135e+02] [-1.55682213e-01 9.87806498e-01 -1.17083858e-03 -1.21323083e+01] [-7.37662652e-03 2.26736482e-05 9.99972792e-01 -1.65393719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.005769231 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:106.55, Y:-12.14, Z:-1.65 [[ 9.87282604e-01 1.58828534e-01 6.82319925e-03 1.06551829e+02] [-1.58824740e-01 9.87306182e-01 -1.09780354e-03 -1.21398806e+01] [-6.91094933e-03 1.49491184e-07 9.99976119e-01 -1.65390000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.035769231 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:106.58, Y:-12.15, Z:-1.65 [[ 9.86178218e-01 1.65561973e-01 6.46187161e-03 1.06583065e+02] [-1.65558706e-01 9.86199387e-01 -1.04095616e-03 -1.21484394e+01] [-6.54503658e-03 -4.32508100e-05 9.99978580e-01 -1.65444851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.065769231 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:106.61, Y:-12.16, Z:-1.66 [[ 9.85642294e-01 1.68716886e-01 6.62430535e-03 1.06614124e+02] [-1.68713515e-01 9.85664552e-01 -1.06856108e-03 -1.21556991e+01] [-6.70962726e-03 -6.43908447e-05 9.99977488e-01 -1.65515802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.095769231 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:106.64, Y:-12.16, Z:-1.66 [[ 9.84794379e-01 1.73529704e-01 8.21424416e-03 1.06644769e+02] [-1.73524670e-01 9.84828629e-01 -1.32709381e-03 -1.21643710e+01] [-8.31991301e-03 -1.18459483e-04 9.99965382e-01 -1.65589180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.125769231 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:106.68, Y:-12.17, Z:-1.66 [[ 9.84467382e-01 1.75359128e-01 8.55279197e-03 1.06677129e+02] [-1.75353727e-01 9.84504524e-01 -1.38322413e-03 -1.21704908e+01] [-8.66282336e-03 -1.38024904e-04 9.99962468e-01 -1.65695390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15576923100001 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:106.71, Y:-12.18, Z:-1.66 [[ 9.84128603e-01 1.77256440e-01 8.42896028e-03 1.06709912e+02] [-1.77251251e-01 9.84164687e-01 -1.36462390e-03 -1.21764531e+01] [-8.53737343e-03 -1.51078346e-04 9.99963545e-01 -1.65791520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18576923100001 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:106.74, Y:-12.18, Z:-1.66 [[ 9.83822067e-01 1.78981415e-01 7.73267336e-03 1.06742523e+02] [-1.78977093e-01 9.83852443e-01 -1.25298413e-03 -1.21824517e+01] [-7.83207045e-03 -1.51257968e-04 9.99969317e-01 -1.65896734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21576923100001 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:106.78, Y:-12.19, Z:-1.66 [[ 9.83526946e-01 1.80681789e-01 5.37003785e-03 1.06775171e+02] [-1.80679729e-01 9.83541600e-01 -8.70313751e-04 -1.21892846e+01] [-5.43890546e-03 -1.14279956e-04 9.99985203e-01 -1.65928867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24576923100001 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:106.81, Y:-12.19, Z:-1.66 [[ 9.83462245e-01 1.81054156e-01 4.62650000e-03 1.06806794e+02] [-1.81052628e-01 9.83473122e-01 -7.50472984e-04 -1.21945223e+01] [-4.68591466e-03 -9.95781396e-05 9.99989016e-01 -1.65997117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27576923100001 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:106.84, Y:-12.20, Z:-1.66 [[ 9.83436613e-01 1.81166127e-01 5.59132819e-03 1.06838796e+02] [-1.81163888e-01 9.83452500e-01 -9.08513401e-04 -1.21996113e+01] [-5.66339755e-03 -1.19481415e-04 9.99983956e-01 -1.66058465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30576923100001 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:106.87, Y:-12.21, Z:-1.66 [[ 9.83429457e-01 1.81197719e-01 5.82142253e-03 1.06870700e+02] [-1.81195286e-01 9.83446679e-01 -9.47084217e-04 -1.22051170e+01] [-5.89666816e-03 -1.23423802e-04 9.99982607e-01 -1.66062090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.335769231 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:106.90, Y:-12.21, Z:-1.66 [[ 9.83378642e-01 1.81489743e-01 5.28389297e-03 1.06902819e+02] [-1.81487740e-01 9.83392831e-01 -8.60216643e-04 -1.22105911e+01] [-5.35226297e-03 -1.13043119e-04 9.99985670e-01 -1.66063387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.365769231 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:106.94, Y:-12.21, Z:-1.66 [[ 9.83411764e-01 1.81335187e-01 4.34187438e-03 1.06936046e+02] [-1.81333831e-01 9.83421345e-01 -7.07255241e-04 -1.22145730e+01] [-4.39814220e-03 -9.18055907e-05 9.99990324e-01 -1.66207027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.395769231 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:106.97, Y:-12.22, Z:-1.66 [[ 9.83430566e-01 1.81230426e-01 4.45575425e-03 1.06968559e+02] [-1.81228993e-01 9.83440656e-01 -7.26718452e-04 -1.22186629e+01] [-4.51367338e-03 -9.28347174e-05 9.99989809e-01 -1.66240741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.425769231 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:107.00, Y:-12.22, Z:-1.66 [[ 9.83440059e-01 1.81179720e-01 4.42254088e-03 1.06999829e+02] [-1.81178304e-01 9.83449999e-01 -7.22241757e-04 -1.22229166e+01] [-4.48020339e-03 -9.09869796e-05 9.99989960e-01 -1.66296772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.455769231 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:107.03, Y:-12.23, Z:-1.66 [[ 9.83710983e-01 1.79723952e-01 3.46467036e-03 1.07032587e+02] [-1.79723073e-01 9.83717082e-01 -5.65829275e-04 -1.22285543e+01] [-3.50994849e-03 -6.60687328e-05 9.99993838e-01 -1.66395373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.485769231 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:107.06, Y:-12.23, Z:-1.66 [[ 9.83866334e-01 1.78877741e-01 3.12905786e-03 1.07064138e+02] [-1.78877019e-01 9.83871308e-01 -5.11492788e-04 -1.22344826e+01] [-3.17008493e-03 -5.64760085e-05 9.99994974e-01 -1.66452318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51576923100001 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:107.10, Y:-12.24, Z:-1.67 [[ 9.84231624e-01 1.76834754e-01 4.19280827e-03 1.07095381e+02] [-1.76833432e-01 9.84240553e-01 -6.86927135e-04 -1.22416311e+01] [-4.24820452e-03 -6.53332662e-05 9.99990974e-01 -1.66609431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54576923100001 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:107.13, Y:-12.25, Z:-1.67 [[ 9.84508697e-01 1.75286081e-01 4.17322040e-03 1.07127643e+02] [-1.75284754e-01 9.84517540e-01 -6.84361806e-04 -1.22489328e+01] [-4.22856779e-03 -5.77417635e-05 9.99991058e-01 -1.66636480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57576923100001 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:107.16, Y:-12.26, Z:-1.67 [[ 9.85263280e-01 1.71003474e-01 3.75251693e-03 1.07159651e+02] [-1.71002369e-01 9.85270425e-01 -6.15783732e-04 -1.22590394e+01] [-3.80254511e-03 -3.49801858e-05 9.99992770e-01 -1.66654896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60576923100001 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:107.19, Y:-12.27, Z:-1.67 [[ 9.85657063e-01 1.68739894e-01 2.64614118e-03 1.07191533e+02] [-1.68739337e-01 9.85660615e-01 -4.33984616e-04 -1.22663085e+01] [-2.68142766e-03 -1.87481059e-05 9.99996405e-01 -1.66649232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63576923100001 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:107.22, Y:-12.27, Z:-1.67 [[ 9.85984750e-01 1.66824816e-01 1.88527226e-03 1.07222695e+02] [-1.66824530e-01 9.85986552e-01 -3.08980154e-04 -1.22733182e+01] [-1.91039866e-03 -9.85994055e-06 9.99998175e-01 -1.66700057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66576923100001 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:107.25, Y:-12.28, Z:-1.67 [[ 9.86224855e-01 1.65396687e-01 2.11459069e-03 1.07253468e+02] [-1.65396323e-01 9.86227122e-01 -3.47250378e-04 -1.22806620e+01] [-2.14290076e-03 -7.27857154e-06 9.99997704e-01 -1.66712889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.695769231 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:107.28, Y:-12.29, Z:-1.67 [[ 9.86334145e-01 1.64677999e-01 5.10988765e-03 1.07284437e+02] [-1.64675837e-01 9.86347381e-01 -8.43766368e-04 -1.22911772e+01] [-5.17907406e-03 -9.23944758e-06 9.99986588e-01 -1.66634365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.725769231 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:107.32, Y:-12.30, Z:-1.67 [[ 9.86271551e-01 1.65016260e-01 6.16940346e-03 1.07316169e+02] [-1.65013113e-01 9.86290846e-01 -1.01926556e-03 -1.22996011e+01] [-6.25302156e-03 -1.27598428e-05 9.99980450e-01 -1.66653708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.755769231 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:107.35, Y:-12.31, Z:-1.67 [[ 9.85998216e-01 1.66642025e-01 6.16061089e-03 1.07348518e+02] [-1.66638911e-01 9.86017462e-01 -1.01892483e-03 -1.23089436e+01] [-6.24426561e-03 -2.19394233e-05 9.99980504e-01 -1.66611632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.785769231 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:107.38, Y:-12.32, Z:-1.67 [[ 9.85596370e-01 1.68990707e-01 6.47589857e-03 1.07379836e+02] [-1.68987307e-01 9.85617644e-01 -1.07257260e-03 -1.23156777e+01] [-6.56401469e-03 -3.72210038e-05 9.99978456e-01 -1.66609367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.815769231 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:107.41, Y:-12.32, Z:-1.67 [[ 9.85116676e-01 1.71748619e-01 6.89544712e-03 1.07412302e+02] [-1.71744822e-01 9.85140806e-01 -1.14350159e-03 -1.23217452e+01] [-6.98938115e-03 -5.77748545e-05 9.99975572e-01 -1.66578671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.845769231 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:107.45, Y:-12.33, Z:-1.67 [[ 9.83890142e-01 1.78616319e-01 7.50995810e-03 1.07445346e+02] [-1.78612003e-01 9.83918796e-01 -1.24699662e-03 -1.23253020e+01] [-7.61192288e-03 -1.14460977e-04 9.99971022e-01 -1.66547620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.875769231 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:107.48, Y:-12.33, Z:-1.67 [[ 9.83123274e-01 1.82811924e-01 6.95910022e-03 1.07478261e+02] [-1.82808315e-01 9.83147894e-01 -1.15664758e-03 -1.23287025e+01] [-7.05327370e-03 -1.35054231e-04 9.99975116e-01 -1.66656349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90576923100001 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:107.51, Y:-12.33, Z:-1.67 [[ 9.82287073e-01 1.87280593e-01 6.17137680e-03 1.07510823e+02] [-1.87277838e-01 9.82306448e-01 -1.02660061e-03 -1.23312646e+01] [-6.25444559e-03 -1.47345592e-04 9.99980430e-01 -1.66719234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93576923100001 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:107.54, Y:-12.33, Z:-1.67 [[ 9.80674993e-01 1.95583044e-01 4.88170883e-03 1.07542943e+02] [-1.95581420e-01 9.80687131e-01 -8.12567304e-04 -1.23310744e+01] [-4.94635341e-03 -1.57907108e-04 9.99987754e-01 -1.66861460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96576923100001 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:107.58, Y:-12.33, Z:-1.67 [[ 9.80091793e-01 1.98500048e-01 4.22008266e-03 1.07575631e+02] [-1.98498860e-01 9.80100867e-01 -7.02769528e-04 -1.23342623e+01] [-4.27560645e-03 -1.48902950e-04 9.99990848e-01 -1.66884376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99576923100001 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:107.61, Y:-12.34, Z:-1.67 [[ 9.79565455e-01 2.01093533e-01 3.59317632e-03 1.07606394e+02] [-2.01092685e-01 9.79572035e-01 -5.99533576e-04 -1.23362618e+01] [-3.64033737e-03 -1.35279094e-04 9.99993365e-01 -1.66974792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02576923100001 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:107.64, Y:-12.34, Z:-1.67 [[ 9.79498911e-01 2.01414331e-01 3.76178429e-03 1.07639607e+02] [-2.01413406e-01 9.79506124e-01 -6.27059538e-04 -1.23403612e+01] [-3.81098953e-03 -1.43469654e-04 9.99992728e-01 -1.67043269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05576923100001 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:107.67, Y:-12.34, Z:-1.67 [[ 9.79499276e-01 2.01391753e-01 4.74650873e-03 1.07671046e+02] [-2.01390272e-01 9.79510760e-01 -7.92936737e-04 -1.23440689e+01] [-4.80894730e-03 -1.79219722e-04 9.99988421e-01 -1.67060534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.085769231 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:107.70, Y:-12.35, Z:-1.67 [[ 9.79551043e-01 2.01103683e-01 6.08799209e-03 1.07704327e+02] [-2.01101229e-01 9.79569935e-01 -1.01886875e-03 -1.23478540e+01] [-6.16851227e-03 -2.26268749e-04 9.99980949e-01 -1.67032284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.115769231 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:107.74, Y:-12.35, Z:-1.67 [[ 9.79481542e-01 2.01343302e-01 8.76261465e-03 1.07737794e+02] [-2.01338205e-01 9.79520683e-01 -1.46914725e-03 -1.23504392e+01] [-8.87896525e-03 -3.25246494e-04 9.99960528e-01 -1.66889058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.145769231 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:107.77, Y:-12.35, Z:-1.67 [[ 9.79359391e-01 2.01945571e-01 8.55392130e-03 1.07770008e+02] [-2.01940723e-01 9.79396693e-01 -1.43580184e-03 -1.23533829e+01] [-8.66763606e-03 -3.21219034e-04 9.99962384e-01 -1.66900414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.175769231 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:107.80, Y:-12.35, Z:-1.67 [[ 9.78907304e-01 2.04205309e-01 6.37822528e-03 1.07802313e+02] [-2.04202657e-01 9.78928050e-01 -1.07132131e-03 -1.23518486e+01] [-6.46259313e-03 -2.53726289e-04 9.99979085e-01 -1.67083948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.205769231 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:107.83, Y:-12.35, Z:-1.67 [[ 9.78648621e-01 2.05471004e-01 5.34249373e-03 1.07833821e+02] [-2.05469154e-01 9.78663179e-01 -8.98831070e-04 -1.23537580e+01] [-5.41318562e-03 -2.18077880e-04 9.99985325e-01 -1.67210704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.235769231 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:107.86, Y:-12.35, Z:-1.67 [[ 9.78533767e-01 2.06043636e-01 4.20564506e-03 1.07864437e+02] [-2.06042495e-01 9.78542789e-01 -7.07322289e-04 -1.23536463e+01] [-4.26114290e-03 -1.74402860e-04 9.99990906e-01 -1.67229568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26576923100001 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:107.89, Y:-12.36, Z:-1.67 [[ 9.78708434e-01 2.05214330e-01 4.10848688e-03 1.07894875e+02] [-2.05213232e-01 9.78717043e-01 -6.91686094e-04 -1.23563192e+01] [-4.16299003e-03 -1.66156856e-04 9.99991321e-01 -1.67271808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29576923100001 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:107.93, Y:-12.36, Z:-1.67 [[ 9.79117748e-01 2.03251389e-01 4.16023385e-03 1.07925320e+02] [-2.03250245e-01 9.79126574e-01 -7.00397977e-04 -1.23583539e+01] [-4.21575238e-03 -1.59796458e-04 9.99991101e-01 -1.67350064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32576923100001 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:107.95, Y:-12.36, Z:-1.67 [[ 9.79578903e-01 2.01023186e-01 3.85380459e-03 1.07954844e+02] [-2.01022186e-01 9.79586474e-01 -6.49024426e-04 -1.23597924e+01] [-3.90560381e-03 -1.38929589e-04 9.99992363e-01 -1.67365479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35576923100001 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:107.98, Y:-12.36, Z:-1.67 [[ 9.79581205e-01 2.01011968e-01 3.85383718e-03 1.07984596e+02] [-2.01010969e-01 9.79588776e-01 -6.48830865e-04 -1.23647615e+01] [-3.90559841e-03 -1.39081025e-04 9.99992363e-01 -1.67405181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38576923100001 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:108.01, Y:-12.36, Z:-1.67 [[ 9.80490312e-01 1.96515861e-01 4.50151566e-03 1.08013972e+02] [-1.96514450e-01 9.80500636e-01 -7.57993346e-04 -1.23631791e+01] [-4.56269668e-03 -1.41407742e-04 9.99989581e-01 -1.67433859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41576923100001 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:108.04, Y:-12.36, Z:-1.67 [[ 9.81241574e-01 1.92745170e-01 3.77786611e-03 1.08044692e+02] [-1.92744150e-01 9.81248841e-01 -6.35757787e-04 -1.23635529e+01] [-3.82956598e-03 -1.04329619e-04 9.99992662e-01 -1.67402905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.445769231 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:108.07, Y:-12.37, Z:-1.67 [[ 9.81607301e-01 1.90892541e-01 2.67272030e-03 1.08074667e+02] [-1.90892024e-01 9.81610938e-01 -4.49647318e-04 -1.23657600e+01] [-2.70940580e-03 -6.88238971e-05 9.99996327e-01 -1.67413594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.475769231 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:108.10, Y:-12.37, Z:-1.68 [[ 9.81977709e-01 1.88992660e-01 1.24675391e-03 1.08102864e+02] [-1.88992545e-01 9.81978500e-01 -2.10542164e-04 -1.23678883e+01] [-1.26407645e-03 -2.88794815e-05 9.99999201e-01 -1.67513465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.505769231 meters Centerline goodness : 0.997904 Centerline is valid? [True, True] Translation: X:108.13, Y:-12.37, Z:-1.68 [[ 9.82351431e-01 1.87043339e-01 6.75584063e-04 1.08130622e+02] [-1.87043304e-01 9.82351663e-01 -1.14353122e-04 -1.23708567e+01] [-6.85050117e-04 -1.40285227e-05 9.99999765e-01 -1.67614573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.535769231 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:108.16, Y:-12.37, Z:-1.68 [[ 9.83108763e-01 1.83014398e-01 1.69988848e-03 1.08159747e+02] [-1.83014177e-01 9.83110232e-01 -2.86419515e-04 -1.23738447e+01] [-1.72359665e-03 -2.95221552e-05 9.99998514e-01 -1.67640561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.565769231 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:108.19, Y:-12.38, Z:-1.68 [[ 9.83568828e-01 1.80521781e-01 2.06092632e-03 1.08188458e+02] [-1.80521450e-01 9.83570987e-01 -3.46895682e-04 -1.23777196e+01] [-2.08968956e-03 -3.08456297e-05 9.99997816e-01 -1.67647541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.595769231 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:108.22, Y:-12.38, Z:-1.68 [[ 9.84272057e-01 1.76647684e-01 2.02807395e-03 1.08218350e+02] [-1.76647356e-01 9.84274146e-01 -3.41177851e-04 -1.23815714e+01] [-2.05644903e-03 -2.24420753e-05 9.99997885e-01 -1.67688057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.625769231 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:108.25, Y:-12.39, Z:-1.68 [[ 9.84682603e-01 1.74332138e-01 2.91163608e-03 1.08246175e+02] [-1.74331452e-01 9.84686907e-01 -4.89730869e-04 -1.23860975e+01] [-2.95242576e-03 -2.53602779e-05 9.99995641e-01 -1.67660565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65576923100001 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:108.28, Y:-12.39, Z:-1.68 [[ 9.85180593e-01 1.71472291e-01 4.05618502e-03 1.08275543e+02] [-1.71470937e-01 9.85188943e-01 -6.81805641e-04 -1.23915286e+01] [-4.11301940e-03 -2.38161596e-05 9.99991541e-01 -1.67659795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68576923100001 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:108.31, Y:-12.40, Z:-1.68 [[ 9.86119007e-01 1.65954624e-01 5.32608418e-03 1.08305198e+02] [-1.65952212e-01 9.86133390e-01 -8.94853126e-04 -1.23990455e+01] [-5.40073446e-03 -1.44377415e-06 9.99985416e-01 -1.67692540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71576923100001 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:108.34, Y:-12.41, Z:-1.68 [[ 9.86536337e-01 1.63461681e-01 5.13175510e-03 1.08335271e+02] [-1.63459409e-01 9.86549684e-01 -8.62012124e-04 -1.24063870e+01] [-5.20363732e-03 1.15726289e-05 9.99986461e-01 -1.67779806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74576923100001 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:108.37, Y:-12.41, Z:-1.68 [[ 9.86847859e-01 1.61573183e-01 5.04079365e-03 1.08366287e+02] [-1.61570965e-01 9.86860733e-01 -8.46851219e-04 -1.24136175e+01] [-5.11138977e-03 2.12674154e-05 9.99986937e-01 -1.67832629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77576923100001 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:108.40, Y:-12.42, Z:-1.68 [[ 9.87219370e-01 1.59252642e-01 6.04240232e-03 1.08395902e+02] [-1.59249416e-01 9.87237861e-01 -1.01440719e-03 -1.24235756e+01] [-6.12683537e-03 3.91933831e-05 9.99981230e-01 -1.67833853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80576923100001 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:108.43, Y:-12.43, Z:-1.68 [[ 9.87139667e-01 1.59721013e-01 6.66903338e-03 1.08427160e+02] [-1.59717085e-01 9.87162194e-01 -1.12079557e-03 -1.24307302e+01] [-6.76243223e-03 4.12231898e-05 9.99977134e-01 -1.67762741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.835769231 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:108.46, Y:-12.44, Z:-1.68 [[ 9.86205850e-01 1.65402811e-01 6.31909803e-03 1.08458450e+02] [-1.65399396e-01 9.86226095e-01 -1.06290475e-03 -1.24374164e+01] [-6.40786681e-03 3.06788392e-06 9.99979469e-01 -1.67609359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.865769231 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:108.49, Y:-12.44, Z:-1.68 [[ 9.85390552e-01 1.70201193e-01 6.08389628e-03 1.08488546e+02] [-1.70198106e-01 9.85409333e-01 -1.02541964e-03 -1.24419858e+01] [-6.16965582e-03 -2.50287991e-05 9.99980967e-01 -1.67665141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.895769231 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:108.52, Y:-12.45, Z:-1.68 [[ 9.84491964e-01 1.75329259e-01 5.93497378e-03 1.08519176e+02] [-1.75326413e-01 9.84509852e-01 -1.00047471e-03 -1.24460425e+01] [-6.01845264e-03 -5.55983546e-05 9.99981887e-01 -1.67663550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.925769231 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:108.55, Y:-12.45, Z:-1.68 [[ 9.82795494e-01 1.84580606e-01 6.55870039e-03 1.08549222e+02] [-1.84577336e-01 9.82817371e-01 -1.10576764e-03 -1.24477409e+01] [-6.65010794e-03 -1.23843994e-04 9.99977880e-01 -1.67773101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.955769231 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:108.58, Y:-12.45, Z:-1.68 [[ 9.82132704e-01 1.88065818e-01 6.82646725e-03 1.08578442e+02] [-1.88062360e-01 9.82156416e-01 -1.15074405e-03 -1.24506459e+01] [-6.92107423e-03 -1.53618179e-04 9.99976037e-01 -1.67734760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.985769231 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:108.61, Y:-12.45, Z:-1.68 [[ 9.81514555e-01 1.91239810e-01 7.51754120e-03 1.08606908e+02] [-1.91235711e-01 9.81543324e-01 -1.26709192e-03 -1.24532820e+01] [-7.62111080e-03 -1.93953173e-04 9.99970940e-01 -1.67719556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01576923100001 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:108.64, Y:-12.45, Z:-1.68 [[ 9.80462364e-01 1.96546799e-01 7.93153085e-03 1.08635309e+02] [-1.96542411e-01 9.80494413e-01 -1.33667203e-03 -1.24519961e+01] [-8.03954030e-03 -2.48325570e-04 9.99967652e-01 -1.67755817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04576923100001 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:108.66, Y:-12.45, Z:-1.68 [[ 9.80058173e-01 1.98559412e-01 7.75484973e-03 1.08664845e+02] [-1.98555284e-01 9.80088819e-01 -1.30629698e-03 -1.24535757e+01] [-7.85981907e-03 -2.59519356e-04 9.99969077e-01 -1.67784625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07576923100001 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:108.69, Y:-12.45, Z:-1.68 [[ 9.79531489e-01 2.01191231e-01 6.33640618e-03 1.08693483e+02] [-2.01188529e-01 9.79551957e-01 -1.06753579e-03 -1.24511300e+01] [-6.42161791e-03 -2.29127320e-04 9.99979355e-01 -1.67880143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10576923100001 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:108.72, Y:-12.45, Z:-1.68 [[ 9.79386880e-01 2.01923828e-01 5.30163182e-03 1.08722544e+02] [-2.01921949e-01 9.79401210e-01 -8.92866796e-04 -1.24518382e+01] [-5.37271570e-03 -1.96053803e-04 9.99985548e-01 -1.67967714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13576923100001 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:108.75, Y:-12.45, Z:-1.68 [[ 9.79183496e-01 2.02932247e-01 4.26436040e-03 1.08751299e+02] [-2.02931041e-01 9.79192768e-01 -7.18095180e-04 -1.24522524e+01] [-4.32135553e-03 -1.62224147e-04 9.99990650e-01 -1.68089364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16576923100001 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:108.78, Y:-12.45, Z:-1.68 [[ 9.79061331e-01 2.03535636e-01 3.48630204e-03 1.08780623e+02] [-2.03534834e-01 9.79067529e-01 -5.87032044e-04 -1.24517119e+01] [-3.53280706e-03 -1.34843531e-04 9.99993751e-01 -1.68125910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19576923100001 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:108.81, Y:-12.45, Z:-1.68 [[ 9.79250995e-01 2.02630052e-01 2.92425803e-03 1.08808243e+02] [-2.02629484e-01 9.79255355e-01 -4.92524196e-04 -1.24547949e+01] [-2.96339554e-03 -1.10236087e-04 9.99995603e-01 -1.68096977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.225769231 meters Centerline goodness : 0.997930 Centerline is valid? [True, True] Translation: X:108.83, Y:-12.46, Z:-1.68 [[ 9.79631723e-01 2.00786725e-01 2.52539911e-03 1.08834863e+02] [-2.00786294e-01 9.79634974e-01 -4.25453126e-04 -1.24571304e+01] [-2.55939463e-03 -9.02781507e-05 9.99996721e-01 -1.68165230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.255769231 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:108.86, Y:-12.46, Z:-1.68 [[ 9.80455729e-01 1.96724663e-01 2.44337949e-03 1.08863446e+02] [-1.96724249e-01 9.80458771e-01 -4.11107526e-04 -1.24589629e+01] [-2.47650784e-03 -7.75992642e-05 9.99996930e-01 -1.68253130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.285769231 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:108.89, Y:-12.46, Z:-1.68 [[ 9.80840286e-01 1.94790739e-01 2.98357296e-03 1.08890040e+02] [-1.94790112e-01 9.80844820e-01 -5.02071512e-04 -1.24628061e+01] [-3.02422096e-03 -8.87185450e-05 9.99995423e-01 -1.68262777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.315769231 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:108.92, Y:-12.47, Z:-1.68 [[ 9.81351641e-01 1.92133464e-01 5.80416075e-03 1.08917495e+02] [-1.92131055e-01 9.81368793e-01 -9.75076754e-04 -1.24670663e+01] [-5.88336710e-03 -1.58266354e-04 9.99982680e-01 -1.68212872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.345769231 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:108.95, Y:-12.47, Z:-1.68 [[ 9.81501055e-01 1.91353070e-01 6.29940441e-03 1.08946439e+02] [-1.91350220e-01 9.81521255e-01 -1.05768804e-03 -1.24712667e+01] [-6.38539118e-03 -1.67270486e-04 9.99979599e-01 -1.68201371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.375769231 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:108.97, Y:-12.48, Z:-1.68 [[ 9.81559349e-01 1.91076693e-01 5.56257091e-03 1.08974878e+02] [-1.91074467e-01 9.81575100e-01 -9.33797842e-04 -1.24751350e+01] [-5.63850810e-03 -1.46287270e-04 9.99984093e-01 -1.68292081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40576923100001 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:109.00, Y:-12.48, Z:-1.68 [[ 9.81666433e-01 1.90586177e-01 2.81477625e-03 1.09002137e+02] [-1.90585605e-01 9.81670466e-01 -4.72816797e-04 -1.24792397e+01] [-2.85329506e-03 -7.23074554e-05 9.99995927e-01 -1.68382730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43576923100001 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:109.03, Y:-12.48, Z:-1.68 [[ 9.81773318e-01 1.90043552e-01 2.14500062e-03 1.09029295e+02] [-1.90043218e-01 9.81775659e-01 -3.60353785e-04 -1.24844114e+01] [-2.17439231e-03 -5.38570889e-05 9.99997635e-01 -1.68434205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46576923100001 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:109.06, Y:-12.49, Z:-1.68 [[ 9.81998694e-01 1.88878860e-01 1.82806111e-03 1.09056471e+02] [-1.88878615e-01 9.82000394e-01 -3.07226926e-04 -1.24894694e+01] [-1.85318540e-03 -4.35852108e-05 9.99998282e-01 -1.68454651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49576923100001 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:109.08, Y:-12.49, Z:-1.68 [[ 9.82735417e-01 1.85005741e-01 1.99390110e-03 1.09084771e+02] [-1.85005443e-01 9.82737439e-01 -3.34642313e-04 -1.24942968e+01] [-2.02139201e-03 -4.00177025e-05 9.99997956e-01 -1.68460345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52576923100001 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:109.11, Y:-12.50, Z:-1.68 [[ 9.83160434e-01 1.82727683e-01 2.48079828e-03 1.09112676e+02] [-1.82727214e-01 9.83163563e-01 -4.16262209e-04 -1.24985616e+01] [-2.51509310e-03 -4.40568233e-05 9.99996836e-01 -1.68498162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55576923100001 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:109.14, Y:-12.50, Z:-1.69 [[ 9.83474719e-01 1.81027769e-01 2.53473865e-03 1.09140941e+02] [-1.81027275e-01 9.83477984e-01 -4.24957433e-04 -1.25038812e+01] [-2.56978875e-03 -4.09219384e-05 9.99996697e-01 -1.68542931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.585769231 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:109.17, Y:-12.51, Z:-1.69 [[ 9.83891734e-01 1.78754380e-01 1.98190664e-03 1.09168788e+02] [-1.78754073e-01 9.83893729e-01 -3.32311402e-04 -1.25098239e+01] [-2.00938763e-03 -2.73154422e-05 9.99997981e-01 -1.68545536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.615769231 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:109.20, Y:-12.51, Z:-1.69 [[ 9.84056368e-01 1.77845655e-01 1.99696806e-03 1.09196130e+02] [-1.77845341e-01 9.84058394e-01 -3.34916583e-04 -1.25138808e+01] [-2.02469664e-03 -2.55746681e-05 9.99997950e-01 -1.68557576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.645769231 meters Centerline goodness : 0.997684 Centerline is valid? [True, True] Translation: X:109.23, Y:-12.52, Z:-1.69 [[ 9.84205009e-01 1.77018542e-01 2.22166180e-03 1.09225115e+02] [-1.77018153e-01 9.84207516e-01 -3.72191381e-04 -1.25176690e+01] [-2.25246101e-03 -2.69618463e-05 9.99997463e-01 -1.68528554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.675769231 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:109.25, Y:-12.52, Z:-1.68 [[ 9.84439982e-01 1.75685004e-01 3.56391305e-03 1.09252709e+02] [-1.75683995e-01 9.84446432e-01 -5.96628612e-04 -1.25224101e+01] [-3.61330019e-03 -3.87774235e-05 9.99993471e-01 -1.68484508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.705769231 meters Centerline goodness : 0.997931 Centerline is valid? [True, True] Translation: X:109.28, Y:-12.53, Z:-1.68 [[ 9.84558342e-01 1.74991242e-01 4.78928463e-03 1.09280984e+02] [-1.74989415e-01 9.84569989e-01 -8.01133011e-04 -1.25283551e+01] [-4.85557718e-03 -4.93119263e-05 9.99988210e-01 -1.68464664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.735769231 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:109.31, Y:-12.53, Z:-1.68 [[ 9.84861310e-01 1.73255713e-01 5.53701164e-03 1.09308685e+02] [-1.73253245e-01 9.84876873e-01 -9.25941987e-04 -1.25340054e+01] [-5.61369946e-03 -4.73807982e-05 9.99984242e-01 -1.68393439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76576923100001 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:109.34, Y:-12.54, Z:-1.68 [[ 9.84985462e-01 1.72549589e-01 5.50271781e-03 1.09336900e+02] [-1.72547143e-01 9.85000831e-01 -9.19802354e-04 -1.25385953e+01] [-5.57889314e-03 -4.34862889e-05 9.99984437e-01 -1.68439402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79576923100001 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:109.37, Y:-12.54, Z:-1.68 [[ 9.84876338e-01 1.73098652e-01 7.44683574e-03 1.09365942e+02] [-1.73094192e-01 9.84904489e-01 -1.24422916e-03 -1.25420376e+01] [-7.54979634e-03 -6.35921499e-05 9.99971498e-01 -1.68390106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82576923100001 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:109.39, Y:-12.55, Z:-1.68 [[ 9.84666219e-01 1.74192769e-01 9.45077279e-03 1.09393279e+02] [-1.74185641e-01 9.84711567e-01 -1.57848939e-03 -1.25458238e+01] [-9.58124673e-03 -9.19037310e-05 9.99954095e-01 -1.68297768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85576923100001 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:109.42, Y:-12.55, Z:-1.68 [[ 9.84323952e-01 1.76044171e-01 1.07147955e-02 1.09421029e+02] [-1.76035128e-01 9.84382260e-01 -1.78879438e-03 -1.25496919e+01] [-1.08623614e-02 -1.25427243e-04 9.99940995e-01 -1.68264469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88576923100001 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:109.45, Y:-12.55, Z:-1.68 [[ 9.83473000e-01 1.80775983e-01 1.00450329e-02 1.09449932e+02] [-1.80768287e-01 9.83524283e-01 -1.67641444e-03 -1.25515669e+01] [-1.01825892e-02 -1.67115045e-04 9.99948142e-01 -1.68380634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91576923100001 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:109.48, Y:-12.55, Z:-1.69 [[ 9.82973376e-01 1.83541748e-01 8.70455093e-03 1.09478224e+02] [-1.83536081e-01 9.83011901e-01 -1.45236270e-03 -1.25547442e+01] [-8.82324634e-03 -1.69965299e-04 9.99961060e-01 -1.68550328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94576923100001 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:109.51, Y:-12.56, Z:-1.69 [[ 9.82246870e-01 1.87473329e-01 6.69608739e-03 1.09505886e+02] [-1.87470067e-01 9.82269681e-01 -1.11717188e-03 -1.25555713e+01] [-6.78680355e-03 -1.57977367e-04 9.99976957e-01 -1.68773198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.975769231 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:109.53, Y:-12.56, Z:-1.69 [[ 9.82071420e-01 1.88411555e-01 6.06722204e-03 1.09534065e+02] [-1.88408897e-01 9.82090150e-01 -1.01197235e-03 -1.25581179e+01] [-6.14922629e-03 -1.49289491e-04 9.99981082e-01 -1.68785928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.005769231 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:109.56, Y:-12.56, Z:-1.69 [[ 9.81944607e-01 1.89087254e-01 5.54976283e-03 1.09562674e+02] [-1.89085043e-01 9.81960280e-01 -9.25202931e-04 -1.25602520e+01] [-5.62459074e-03 -1.40879113e-04 9.99984172e-01 -1.68808632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.035769231 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:109.59, Y:-12.56, Z:-1.69 [[ 9.81778093e-01 1.89961367e-01 5.14339410e-03 1.09590091e+02] [-1.89959481e-01 9.81791557e-01 -8.57343430e-04 -1.25622482e+01] [-5.21260303e-03 -1.35315473e-04 9.99986405e-01 -1.68788547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.065769231 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:109.62, Y:-12.56, Z:-1.69 [[ 9.81414436e-01 1.91855231e-01 4.15625733e-03 1.09618608e+02] [-1.91854017e-01 9.81423230e-01 -6.92799001e-04 -1.25606220e+01] [-4.21196461e-03 -1.17471723e-04 9.99991123e-01 -1.68845002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.095769231 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:109.65, Y:-12.56, Z:-1.69 [[ 9.81348806e-01 1.92208281e-01 3.23986178e-03 1.09646047e+02] [-1.92207545e-01 9.81354150e-01 -5.40134503e-04 -1.25615788e+01] [-3.28327013e-03 -9.26655281e-05 9.99994606e-01 -1.68979008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.125769231 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:109.67, Y:-12.56, Z:-1.69 [[ 9.81553603e-01 1.91159724e-01 3.23788180e-03 1.09674237e+02] [-1.91158984e-01 9.81558940e-01 -5.39401818e-04 -1.25603886e+01] [-3.28128373e-03 -8.94983971e-05 9.99994613e-01 -1.69117252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15576923100001 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:109.70, Y:-12.56, Z:-1.69 [[ 9.81822373e-01 1.89768841e-01 3.55186013e-03 1.09701211e+02] [-1.89767942e-01 9.81828793e-01 -5.91470132e-04 -1.25625276e+01] [-3.59956114e-03 -9.33105807e-05 9.99993517e-01 -1.69136700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18576923100001 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:109.73, Y:-12.57, Z:-1.69 [[ 9.82227594e-01 1.87649050e-01 4.09723480e-03 1.09729550e+02] [-1.87647838e-01 9.82236135e-01 -6.81692707e-04 -1.25651206e+01] [-4.15237106e-03 -9.92598655e-05 9.99991374e-01 -1.69165047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21576923100001 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:109.76, Y:-12.57, Z:-1.69 [[ 9.83249809e-01 1.82243781e-01 2.64887814e-03 1.09757625e+02] [-1.82243255e-01 9.83253376e-01 -4.40729487e-04 -1.25667666e+01] [-2.68483858e-03 -4.93929903e-05 9.99996395e-01 -1.69236745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24576923100001 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:109.79, Y:-12.57, Z:-1.69 [[ 9.83786505e-01 1.79330512e-01 2.16346290e-03 1.09785023e+02] [-1.79330153e-01 9.83788883e-01 -3.60123398e-04 -1.25699397e+01] [-2.19297187e-03 -3.36895947e-05 9.99997595e-01 -1.69288584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27576923100001 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:109.81, Y:-12.57, Z:-1.69 [[ 9.83797277e-01 1.79271408e-01 2.16351012e-03 1.09813153e+02] [-1.79271050e-01 9.83799655e-01 -3.59839074e-04 -1.25744787e+01] [-2.19296937e-03 -3.38460307e-05 9.99997595e-01 -1.69326090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30576923100001 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:109.84, Y:-12.58, Z:-1.69 [[ 9.84348766e-01 1.76216513e-01 2.29060779e-03 1.09841108e+02] [-1.76216104e-01 9.84351431e-01 -3.80943679e-04 -1.25782025e+01] [-2.32189163e-03 -2.86605406e-05 9.99997304e-01 -1.69343266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.335769231 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:109.87, Y:-12.58, Z:-1.69 [[ 9.85410994e-01 1.70131181e-01 4.53357478e-03 1.09867854e+02] [-1.70129519e-01 9.85421423e-01 -7.52754906e-04 -1.25829853e+01] [-4.59554879e-03 -2.95219336e-05 9.99989440e-01 -1.69326650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.365769231 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:109.90, Y:-12.59, Z:-1.69 [[ 9.85941319e-01 1.66982921e-01 6.03479764e-03 1.09896531e+02] [-1.66979923e-01 9.85959788e-01 -1.00083165e-03 -1.25888112e+01] [-6.11718959e-03 -2.09287647e-05 9.99981290e-01 -1.69361963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.395769231 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:109.92, Y:-12.59, Z:-1.69 [[ 9.86394954e-01 1.64270551e-01 6.33884809e-03 1.09924422e+02] [-1.64267190e-01 9.86415321e-01 -1.05091204e-03 -1.25948415e+01] [-6.42537078e-03 -4.65043094e-06 9.99979357e-01 -1.69348793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.425769231 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:109.95, Y:-12.60, Z:-1.69 [[ 9.87004830e-01 1.60649877e-01 3.61709106e-03 1.09950923e+02] [-1.60648758e-01 9.87011457e-01 -5.99878973e-04 -1.26038052e+01] [-3.66648080e-03 1.10022572e-05 9.99993278e-01 -1.69364919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.455769231 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:109.98, Y:-12.61, Z:-1.69 [[ 9.87213065e-01 1.59383817e-01 2.67634478e-03 1.09977732e+02] [-1.59383199e-01 9.87216693e-01 -4.43894848e-04 -1.26104116e+01] [-2.71288190e-03 1.16544012e-05 9.99996320e-01 -1.69479100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.485769231 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:110.01, Y:-12.62, Z:-1.69 [[ 9.87202804e-01 1.59414231e-01 4.21038127e-03 1.10005528e+02] [-1.59412706e-01 9.87211782e-01 -6.97425425e-04 -1.26190500e+01] [-4.26771753e-03 1.73120624e-05 9.99990893e-01 -1.69402843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51576923100001 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:110.03, Y:-12.63, Z:-1.69 [[ 9.86951187e-01 1.60932772e-01 5.29130021e-03 1.10032860e+02] [-1.60930386e-01 9.86965371e-01 -8.76346800e-04 -1.26254105e+01] [-5.36336299e-03 1.33805262e-05 9.99985617e-01 -1.69364157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54576923100001 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:110.06, Y:-12.63, Z:-1.69 [[ 9.86552393e-01 1.63347779e-01 5.64618564e-03 1.10060716e+02] [-1.63345105e-01 9.86568550e-01 -9.34636363e-04 -1.26319071e+01] [-5.72301995e-03 -2.09047538e-07 9.99983623e-01 -1.69339887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57576923100001 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:110.09, Y:-12.64, Z:-1.69 [[ 9.85979730e-01 1.66776752e-01 5.43010308e-03 1.10087807e+02] [-1.66774332e-01 9.85994683e-01 -8.98717937e-04 -1.26374517e+01] [-5.50393802e-03 -1.94841436e-05 9.99984853e-01 -1.69330929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60576923100001 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:110.12, Y:-12.64, Z:-1.69 [[ 9.84577253e-01 1.74844302e-01 6.09115546e-03 1.10115627e+02] [-1.74841413e-01 9.84596092e-01 -1.00774903e-03 -1.26413193e+01] [-6.17352704e-03 -7.27794486e-05 9.99980941e-01 -1.69378404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63576923100001 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:110.14, Y:-12.64, Z:-1.69 [[ 9.83962806e-01 1.78221212e-01 7.37542375e-03 1.10143737e+02] [-1.78217076e-01 9.83990440e-01 -1.21950684e-03 -1.26443350e+01] [-7.47468845e-03 -1.14477083e-04 9.99972058e-01 -1.69411321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66576923100001 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:110.17, Y:-12.65, Z:-1.69 [[ 9.83429274e-01 1.81082857e-01 8.70989600e-03 1.10172486e+02] [-1.81077210e-01 9.83467830e-01 -1.43929229e-03 -1.26483592e+01] [-8.82653368e-03 -1.61721495e-04 9.99961032e-01 -1.69442696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69576923100001 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:110.20, Y:-12.65, Z:-1.70 [[ 9.82936443e-01 1.83751440e-01 8.44735500e-03 1.10199463e+02] [-1.83746229e-01 9.82972724e-01 -1.39556359e-03 -1.26530996e+01] [-8.55995637e-03 -1.80419318e-04 9.99963347e-01 -1.69566405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.725769231 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:110.23, Y:-12.66, Z:-1.70 [[ 9.82990733e-01 1.83530078e-01 6.77714077e-03 1.10226889e+02] [-1.83526721e-01 9.83014084e-01 -1.11934838e-03 -1.26573950e+01] [-6.86745892e-03 -1.43477337e-04 9.99976408e-01 -1.69669360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.755769231 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:110.25, Y:-12.66, Z:-1.70 [[ 9.83321575e-01 1.81825174e-01 4.27635208e-03 1.10253349e+02] [-1.81823820e-01 9.83330870e-01 -7.06535478e-04 -1.26610786e+01] [-4.33353495e-03 -8.27910932e-05 9.99990607e-01 -1.69813648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.785769231 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:110.28, Y:-12.67, Z:-1.70 [[ 9.83413902e-01 1.81332140e-01 3.96903639e-03 1.10281085e+02] [-1.81330971e-01 9.83421908e-01 -6.55431850e-04 -1.26650140e+01] [-4.02208820e-03 -7.51484286e-05 9.99991909e-01 -1.69870002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.815769231 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:110.31, Y:-12.67, Z:-1.70 [[ 9.83300714e-01 1.81936988e-01 4.31725123e-03 1.10308143e+02] [-1.81935612e-01 9.83310188e-01 -7.12646367e-04 -1.26657954e+01] [-4.37485385e-03 -8.47160611e-05 9.99990427e-01 -1.69872792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.845769231 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:110.34, Y:-12.67, Z:-1.70 [[ 9.83240542e-01 1.82250703e-01 4.76632815e-03 1.10336677e+02] [-1.82249032e-01 9.83252090e-01 -7.86163369e-04 -1.26677884e+01] [-4.82978094e-03 -9.56709960e-05 9.99988332e-01 -1.69983903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.875769231 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:110.36, Y:-12.67, Z:-1.70 [[ 9.83157447e-01 1.82695817e-01 4.86551982e-03 1.10363975e+02] [-1.82694083e-01 9.83169481e-01 -8.02388514e-04 -1.26691654e+01] [-4.93022362e-03 -1.00027437e-04 9.99987841e-01 -1.69991937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90576923100001 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:110.39, Y:-12.67, Z:-1.70 [[ 9.82853253e-01 1.84358307e-01 3.39075934e-03 1.10389265e+02] [-1.84347673e-01 9.82855816e-01 -3.22181455e-03 -1.26695458e+01] [-3.92659581e-03 2.54149232e-03 9.99989061e-01 -1.70023531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93576923100001 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:110.42, Y:-12.67, Z:-1.70 [[ 9.83132433e-01 1.82870063e-01 3.02637661e-03 1.10420836e+02] [-1.82876686e-01 9.83133666e-01 2.07691070e-03 -1.26703107e+01] [-2.59552794e-03 -2.59533199e-03 9.99993264e-01 -1.70198177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96576923100001 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:110.45, Y:-12.67, Z:-1.70 [[ 9.83389123e-01 1.81500409e-01 1.85312525e-03 1.10448763e+02] [-1.81500155e-01 9.83390868e-01 -3.05981447e-04 -1.26708174e+01] [-1.87788220e-03 -3.54436923e-05 9.99998236e-01 -1.70307924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99576923100001 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:110.48, Y:-12.67, Z:-1.70 [[ 9.84357285e-01 1.76179421e-01 1.24358191e-03 1.10476660e+02] [-1.76179302e-01 9.84358071e-01 -2.06109170e-04 -1.26702371e+01] [-1.26044209e-03 -1.62083296e-05 9.99999206e-01 -1.70367348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02576923100001 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:110.51, Y:-12.67, Z:-1.70 [[ 9.84990308e-01 1.72599796e-01 1.84465867e-03 1.10505258e+02] [-1.72599529e-01 9.84992036e-01 -3.04211170e-04 -1.26717550e+01] [-1.86948089e-03 -1.87421633e-05 9.99998252e-01 -1.70401702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05576923100001 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:110.53, Y:-12.67, Z:-1.70 [[ 9.85609333e-01 1.69025671e-01 2.13661854e-03 1.10532015e+02] [-1.69025304e-01 9.85611649e-01 -3.52557626e-04 -1.26727528e+01] [-2.16546741e-03 -1.36585114e-05 9.99997655e-01 -1.70375827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.085769231 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:110.56, Y:-12.67, Z:-1.71 [[ 9.86125512e-01 1.65990430e-01 1.91092687e-03 1.10558846e+02] [-1.65990132e-01 9.86127364e-01 -3.14872295e-04 -1.26745783e+01] [-1.93668306e-03 -6.69139878e-06 9.99998125e-01 -1.70533952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.115769231 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:110.59, Y:-12.67, Z:-1.71 [[ 9.86946469e-01 1.61044152e-01 1.20342850e-03 1.10585750e+02] [-1.61044029e-01 9.86947203e-01 -1.98578259e-04 -1.26742253e+01] [-1.21970026e-03 2.18113722e-06 9.99999256e-01 -1.70719526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.145769231 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:110.61, Y:-12.68, Z:-1.71 [[ 9.87188131e-01 1.59552530e-01 1.60765919e-03 1.10612604e+02] [-1.59552310e-01 9.87189440e-01 -2.64792513e-04 -1.26758142e+01] [-1.62931249e-03 4.89428845e-06 9.99998673e-01 -1.70754229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.175769231 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:110.64, Y:-12.68, Z:-1.71 [[ 9.87400738e-01 1.58224644e-01 2.17833192e-03 1.10640846e+02] [-1.58224239e-01 9.87403141e-01 -3.58123764e-04 -1.26777460e+01] [-2.20755578e-03 8.94675915e-06 9.99997563e-01 -1.70728516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.205769231 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:110.67, Y:-12.68, Z:-1.70 [[ 9.87882038e-01 1.55180825e-01 2.82666099e-03 1.10667961e+02] [-1.55180131e-01 9.87886082e-01 -4.64362445e-04 -1.26787519e+01] [-2.86447920e-03 2.00936944e-05 9.99995897e-01 -1.70463642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.235769231 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:110.70, Y:-12.68, Z:-1.70 [[ 9.88083455e-01 1.53888779e-01 3.05445209e-03 1.10695522e+02] [-1.53887965e-01 9.88088176e-01 -5.01398054e-04 -1.26826032e+01] [-3.09522752e-03 2.53797071e-05 9.99995209e-01 -1.70429474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26576923100001 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:110.72, Y:-12.69, Z:-1.71 [[ 9.88523260e-01 1.51039562e-01 2.96888206e-03 1.10721875e+02] [-1.51038779e-01 9.88527718e-01 -4.87511201e-04 -1.26857979e+01] [-3.00845568e-03 3.34998405e-05 9.99995474e-01 -1.70515480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29576923100001 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:110.75, Y:-12.69, Z:-1.71 [[ 9.88740015e-01 1.49601046e-01 3.56509432e-03 1.10749477e+02] [-1.49599911e-01 9.88746441e-01 -5.84445429e-04 -1.26900972e+01] [-3.61240797e-03 4.45267868e-05 9.99993474e-01 -1.70590578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32576923100001 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:110.78, Y:-12.69, Z:-1.71 [[ 9.88952067e-01 1.48173372e-01 4.29672132e-03 1.10775926e+02] [-1.48171712e-01 9.88961399e-01 -7.03963166e-04 -1.26947576e+01] [-4.35360012e-03 5.95332742e-05 9.99990521e-01 -1.70528901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35576923100001 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:110.80, Y:-12.70, Z:-1.70 [[ 9.89191250e-01 1.46528189e-01 5.49191575e-03 1.10803051e+02] [-1.46525456e-01 9.89206491e-01 -8.98986177e-04 -1.26991904e+01] [-5.56436553e-03 8.45638022e-05 9.99984515e-01 -1.70381429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38576923100001 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:110.83, Y:-12.70, Z:-1.70 [[ 9.89251208e-01 1.46118764e-01 5.59946881e-03 1.10830544e+02] [-1.46115920e-01 9.89267051e-01 -9.15962596e-04 -1.27034865e+01] [-5.67320932e-03 8.79455684e-05 9.99983903e-01 -1.70398578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41576923100001 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:110.86, Y:-12.71, Z:-1.70 [[ 9.89356738e-01 1.45378553e-01 6.19038609e-03 1.10858633e+02] [-1.45375067e-01 9.89376099e-01 -1.01195867e-03 -1.27084336e+01] [-6.27173713e-03 1.01260334e-04 9.99980327e-01 -1.70478955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44576923100001 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:110.89, Y:-12.72, Z:-1.71 [[ 9.89751327e-01 1.42631866e-01 6.96141092e-03 1.10885315e+02] [-1.42627391e-01 9.89775799e-01 -1.13765143e-03 -1.27156315e+01] [-7.05250141e-03 1.33104141e-04 9.99975122e-01 -1.70592214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.475769231 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:110.91, Y:-12.72, Z:-1.71 [[ 9.89972094e-01 1.41113197e-01 6.50530237e-03 1.10913459e+02] [-1.41109259e-01 9.89993458e-01 -1.06268525e-03 -1.27216804e+01] [-6.59016571e-03 1.34070350e-04 9.99978276e-01 -1.70639691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.505769231 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:110.94, Y:-12.73, Z:-1.71 [[ 9.90148723e-01 1.39895216e-01 5.90205616e-03 1.10940255e+02] [-1.39891953e-01 9.90166305e-01 -9.63995811e-04 -1.27276989e+01] [-5.97887554e-03 1.28849056e-04 9.99982118e-01 -1.70747136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.535769231 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:110.97, Y:-12.74, Z:-1.71 [[ 9.90361052e-01 1.38457715e-01 3.80115908e-03 1.10967170e+02] [-1.38456351e-01 9.90368342e-01 -6.20789841e-04 -1.27389099e+01] [-3.85050076e-03 8.85114632e-05 9.99992583e-01 -1.70861604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.565769231 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:110.99, Y:-12.75, Z:-1.71 [[ 9.90442137e-01 1.37901455e-01 2.75002588e-03 1.10994331e+02] [-1.37900738e-01 9.90445952e-01 -4.49336048e-04 -1.27470203e+01] [-2.78571609e-03 6.58107561e-05 9.99996118e-01 -1.70843035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.595769231 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:111.02, Y:-12.76, Z:-1.71 [[ 9.90278527e-01 1.39090453e-01 1.51159937e-03 1.11021759e+02] [-1.39090238e-01 9.90279680e-01 -2.47064803e-04 -1.27565079e+01] [-1.53127049e-03 3.44142547e-05 9.99998827e-01 -1.70770428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.625769231 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:111.05, Y:-12.76, Z:-1.71 [[ 9.89887028e-01 1.41838094e-01 2.37189988e-03 1.11048738e+02] [-1.41837573e-01 9.89889869e-01 -3.87335951e-04 -1.27627778e+01] [-2.40285865e-03 4.69943110e-05 9.99997112e-01 -1.70727285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65576923100001 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:111.08, Y:-12.77, Z:-1.71 [[ 9.89275694e-01 1.46000451e-01 4.17973187e-03 1.11076820e+02] [-1.45998874e-01 9.89284521e-01 -6.81532594e-04 -1.27690298e+01] [-4.23444811e-03 6.39874824e-05 9.99991033e-01 -1.70701972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68576923100001 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:111.10, Y:-12.77, Z:-1.71 [[ 9.88476841e-01 1.51265821e-01 5.67326213e-03 1.11104325e+02] [-1.51263004e-01 9.88493120e-01 -9.24856830e-04 -1.27748275e+01] [-5.74787981e-03 5.60448845e-05 9.99983479e-01 -1.70713331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71576923100001 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:111.13, Y:-12.78, Z:-1.71 [[ 9.86790177e-01 1.61915537e-01 5.33898424e-03 1.11131565e+02] [-1.61913199e-01 9.86804620e-01 -8.70070001e-04 -1.27790913e+01] [-5.40941216e-03 -5.87548884e-06 9.99985369e-01 -1.70783583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74576923100001 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:111.16, Y:-12.78, Z:-1.71 [[ 9.86013592e-01 1.66612089e-01 4.19625700e-03 1.11158396e+02] [-1.66610686e-01 9.86022521e-01 -6.83971920e-04 -1.27818145e+01] [-4.25156189e-03 -2.47356486e-05 9.99990962e-01 -1.70863573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77576923100001 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:111.19, Y:-12.78, Z:-1.71 [[ 9.85394039e-01 1.70263836e-01 2.96901640e-03 1.11185373e+02] [-1.70263149e-01 9.85398511e-01 -4.84232807e-04 -1.27843127e+01] [-3.00811167e-03 -2.83539612e-05 9.99995475e-01 -1.70971218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80576923100001 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:111.21, Y:-12.79, Z:-1.71 [[ 9.84766111e-01 1.73878015e-01 1.46397965e-03 1.11213143e+02] [-1.73877852e-01 9.84767199e-01 -2.38907041e-04 -1.27856183e+01] [-1.48321982e-03 -1.92860782e-05 9.99998900e-01 -1.71146678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.835769231 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:111.24, Y:-12.79, Z:-1.71 [[ 9.84947950e-01 1.72845141e-01 1.44642362e-03 1.11240386e+02] [-1.72844981e-01 9.84949012e-01 -2.36078976e-04 -1.27889531e+01] [-1.46545862e-03 -1.74815583e-05 9.99998926e-01 -1.71173585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.865769231 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:111.27, Y:-12.79, Z:-1.71 [[ 9.85361861e-01 1.70469480e-01 1.46920899e-03 1.11268175e+02] [-1.70469312e-01 9.85362957e-01 -2.39527719e-04 -1.27929493e+01] [-1.48853628e-03 -1.44335673e-05 9.99998892e-01 -1.71226187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.895769231 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:111.30, Y:-12.80, Z:-1.71 [[ 9.86561520e-01 1.63386785e-01 1.06149417e-03 1.11296091e+02] [-1.63386693e-01 9.86562091e-01 -1.73241920e-04 -1.27969702e+01] [-1.07553535e-03 -2.52021016e-06 9.99999422e-01 -1.71306389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.925769231 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:111.32, Y:-12.80, Z:-1.71 [[ 9.87165717e-01 1.59695698e-01 1.06367119e-03 1.11322473e+02] [-1.59695604e-01 9.87166290e-01 -1.73944141e-04 -1.28011747e+01] [-1.07779847e-03 1.84807960e-06 9.99999419e-01 -1.71292884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.955769231 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:111.35, Y:-12.81, Z:-1.71 [[ 9.88082534e-01 1.53917208e-01 1.54914534e-03 1.11348912e+02] [-1.53917002e-01 9.88083748e-01 -2.52238137e-04 -1.28061589e+01] [-1.56950912e-03 1.07922923e-05 9.99998768e-01 -1.71297849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.985769231 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:111.38, Y:-12.81, Z:-1.71 [[ 9.88445227e-01 1.51562691e-01 2.18706170e-03 1.11376565e+02] [-1.51562275e-01 9.88447647e-01 -3.55348391e-04 -1.28112970e+01] [-2.21565355e-03 1.97663731e-05 9.99997545e-01 -1.71300546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01576923100001 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:111.41, Y:-12.82, Z:-1.71 [[ 9.88725871e-01 1.49703991e-01 3.14119950e-03 1.11405144e+02] [-1.49703128e-01 9.88730860e-01 -5.09498310e-04 -1.28170786e+01] [-3.18207481e-03 3.35067695e-05 9.99994937e-01 -1.71289251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04576923100001 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:111.43, Y:-12.82, Z:-1.71 [[ 9.89266551e-01 1.46058790e-01 4.30366320e-03 1.11431984e+02] [-1.46057136e-01 9.89275910e-01 -6.97707315e-04 -1.28227768e+01] [-4.35941662e-03 6.16377855e-05 9.99990496e-01 -1.71247000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07576923100001 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:111.46, Y:-12.83, Z:-1.71 [[ 9.89618249e-01 1.43667198e-01 3.93148711e-03 1.11459992e+02] [-1.43665800e-01 9.89626057e-01 -6.37089280e-04 -1.28289227e+01] [-3.98223092e-03 6.56549365e-05 9.99992069e-01 -1.71372983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10576923100001 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:111.49, Y:-12.84, Z:-1.71 [[ 9.90077760e-01 1.40476691e-01 3.51117533e-03 1.11487311e+02] [-1.40475556e-01 9.90083984e-01 -5.68985044e-04 -1.28356404e+01] [-3.55628759e-03 7.01051309e-05 9.99993674e-01 -1.71435744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13576923100001 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:111.51, Y:-12.84, Z:-1.72 [[ 9.90554700e-01 1.37066296e-01 3.77060138e-03 1.11514840e+02] [-1.37064964e-01 9.90561872e-01 -6.10640116e-04 -1.28429322e+01] [-3.81871214e-03 8.80550940e-05 9.99992705e-01 -1.71576626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16576923100001 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:111.54, Y:-12.85, Z:-1.72 [[ 9.90559567e-01 1.37031118e-01 3.77064795e-03 1.11543805e+02] [-1.37029786e-01 9.90566739e-01 -6.10352254e-04 -1.28475347e+01] [-3.81871570e-03 8.78991800e-05 9.99992705e-01 -1.71614937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19576923100001 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:111.57, Y:-12.86, Z:-1.72 [[ 9.91435998e-01 1.30482958e-01 5.37200864e-03 1.11569680e+02] [-1.30480162e-01 9.91450539e-01 -8.69348593e-04 -1.28588124e+01] [-5.43951604e-03 1.60962934e-04 9.99985193e-01 -1.71546076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.225769231 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:111.60, Y:-12.87, Z:-1.72 [[ 9.91759605e-01 1.27919434e-01 7.03594172e-03 1.11597313e+02] [-1.27914578e-01 9.91784536e-01 -1.13775131e-03 -1.28662460e+01] [-7.12367870e-03 2.28376274e-04 9.99974600e-01 -1.71538500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.255769231 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:111.63, Y:-12.88, Z:-1.72 [[ 9.92108755e-01 1.25181226e-01 7.06256853e-03 1.11625257e+02] [-1.25176266e-01 9.92133861e-01 -1.14179183e-03 -1.28772942e+01] [-7.14994429e-03 2.48715720e-04 9.99974408e-01 -1.71539868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.285769231 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:111.65, Y:-12.89, Z:-1.72 [[ 9.92216769e-01 1.24401140e-01 5.49901028e-03 1.11654402e+02] [-1.24398122e-01 9.92231988e-01 -8.88900014e-04 -1.28855344e+01] [-5.56687408e-03 1.97914949e-04 9.99984485e-01 -1.71626649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.315769231 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:111.68, Y:-12.89, Z:-1.72 [[ 9.92313231e-01 1.23695396e-01 3.72845619e-03 1.11684363e+02] [-1.23694004e-01 9.92320226e-01 -6.02694775e-04 -1.28940260e+01] [-3.77437306e-03 1.36874325e-04 9.99992868e-01 -1.71669282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.345769231 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:111.71, Y:-12.90, Z:-1.72 [[ 9.92272690e-01 1.24053124e-01 2.39394801e-03 1.11712221e+02] [-1.24052551e-01 9.92275574e-01 -3.87099208e-04 -1.29037016e+01] [-2.42347700e-03 8.71326163e-05 9.99997060e-01 -1.71571686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.375769231 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:111.74, Y:-12.91, Z:-1.71 [[ 9.92042336e-01 1.25870117e-01 2.95233810e-03 1.11741848e+02] [-1.25869253e-01 9.92046724e-01 -4.77439003e-04 -1.29098382e+01] [-2.98895264e-03 1.02031113e-04 9.99995528e-01 -1.70928428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40576923100001 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:111.77, Y:-12.91, Z:-1.72 [[ 9.91656448e-01 1.28836949e-01 4.30452466e-03 1.11770697e+02] [-1.28835141e-01 9.91665782e-01 -6.95865264e-04 -1.29148544e+01] [-4.35830297e-03 1.35485235e-04 9.99990493e-01 -1.71513404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43576923100001 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:111.80, Y:-12.92, Z:-1.72 [[ 9.90561142e-01 1.36984013e-01 4.89949529e-03 1.11799705e+02] [-1.36981771e-01 9.90573252e-01 -7.91892081e-04 -1.29218796e+01] [-4.96178554e-03 1.13275984e-04 9.99987684e-01 -1.71544147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46576923100001 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:111.83, Y:-12.93, Z:-1.72 [[ 9.89967596e-01 1.41230485e-01 4.25540905e-03 1.11828227e+02] [-1.41228832e-01 9.89976739e-01 -6.87832036e-04 -1.29267177e+01] [-4.30989883e-03 7.99449759e-05 9.99990709e-01 -1.71584395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49576923100001 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:111.86, Y:-12.93, Z:-1.72 [[ 9.89027734e-01 1.47712897e-01 2.24533067e-03 1.11856665e+02] [-1.47712453e-01 9.89030282e-01 -3.63212430e-04 -1.29295405e+01] [-2.27435119e-03 2.75638645e-05 9.99997413e-01 -1.71628282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52576923100001 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:111.88, Y:-12.93, Z:-1.72 [[ 9.88651935e-01 1.50214425e-01 1.72572878e-03 1.11883937e+02] [-1.50214166e-01 9.88653441e-01 -2.79361155e-04 -1.29334364e+01] [-1.74811177e-03 1.69620372e-05 9.99998472e-01 -1.71694395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55576923100001 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:111.91, Y:-12.94, Z:-1.72 [[ 9.88407064e-01 1.51817245e-01 1.73215169e-03 1.11912471e+02] [-1.51816987e-01 9.88408582e-01 -2.80124264e-04 -1.29383777e+01] [-1.75460129e-03 1.39067515e-05 9.99998461e-01 -1.71774889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.585769231 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:111.94, Y:-12.94, Z:-1.72 [[ 9.88244063e-01 1.52871035e-01 2.02966866e-03 1.11940362e+02] [-1.52870683e-01 9.88246147e-01 -3.28037382e-04 -1.29435040e+01] [-2.05595965e-03 1.39041599e-05 9.99997886e-01 -1.71770363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.615769231 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:111.97, Y:-12.95, Z:-1.72 [[ 9.87968710e-01 1.54612162e-01 3.59280053e-03 1.11967582e+02] [-1.54611075e-01 9.87975242e-01 -5.80184093e-04 -1.29473920e+01] [-3.63930149e-03 1.77169792e-05 9.99993378e-01 -1.71739241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.645769231 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:112.00, Y:-12.95, Z:-1.72 [[ 9.87796048e-01 1.55700709e-01 4.03197892e-03 1.11995097e+02] [-1.55699350e-01 9.87804277e-01 -6.50703978e-04 -1.29508767e+01] [-4.08412110e-03 1.49863184e-05 9.99991660e-01 -1.71764123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.675769231 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:112.02, Y:-12.96, Z:-1.72 [[ 9.87373333e-01 1.58344371e-01 4.57846119e-03 1.12023884e+02] [-1.58342649e-01 9.87383948e-01 -7.38433320e-04 -1.29562661e+01] [-4.63762584e-03 4.14369505e-06 9.99989246e-01 -1.71790649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.705769231 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:112.05, Y:-12.96, Z:-1.72 [[ 9.87111090e-01 1.59971087e-01 4.57679637e-03 1.12051707e+02] [-1.59969385e-01 9.87121700e-01 -7.37955124e-04 -1.29619551e+01] [-4.63590650e-03 -3.70361455e-06 9.99989254e-01 -1.71754416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.735769231 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:112.08, Y:-12.97, Z:-1.72 [[ 9.86697347e-01 1.62474843e-01 5.50197342e-03 1.12079429e+02] [-1.62472424e-01 9.86712686e-01 -8.86837706e-04 -1.29679554e+01] [-5.57295579e-03 -1.88785471e-05 9.99984471e-01 -1.71829670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76576923100001 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:112.11, Y:-12.97, Z:-1.72 [[ 9.86595926e-01 1.63078049e-01 5.83343783e-03 1.12107801e+02] [-1.63075343e-01 9.86613171e-01 -9.39813498e-04 -1.29729618e+01] [-5.90860955e-03 -2.40737083e-05 9.99982544e-01 -1.71915462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79576923100001 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:112.14, Y:-12.98, Z:-1.72 [[ 9.86567662e-01 1.63252260e-01 5.74008368e-03 1.12135374e+02] [-1.63249643e-01 9.86584360e-01 -9.24592445e-04 -1.29776090e+01] [-5.81401859e-03 -2.48936065e-05 9.99983098e-01 -1.71990505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82576923100001 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:112.16, Y:-12.98, Z:-1.72 [[ 9.86556005e-01 1.63340668e-01 5.20340497e-03 1.12163686e+02] [-1.63338522e-01 9.86569727e-01 -8.37797204e-04 -1.29826163e+01] [-5.27036817e-03 -2.33826115e-05 9.99986111e-01 -1.72075964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85576923100001 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:112.19, Y:-12.99, Z:-1.72 [[ 9.86731240e-01 1.62326711e-01 3.39089075e-03 1.12190896e+02] [-1.62325793e-01 9.86737067e-01 -5.46118568e-04 -1.29883161e+01] [-3.43456722e-03 -1.15567783e-05 9.99994102e-01 -1.72077019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88576923100001 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:112.22, Y:-12.99, Z:-1.72 [[ 9.86919583e-01 1.61183135e-01 3.11975797e-03 1.12218903e+02] [-1.61182353e-01 9.86924514e-01 -5.02222874e-04 -1.29929475e+01] [-3.15991548e-03 -7.19634053e-06 9.99995007e-01 -1.72060985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91576923100001 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:112.25, Y:-13.00, Z:-1.72 [[ 9.87139017e-01 1.59818534e-01 3.82067389e-03 1.12247457e+02] [-1.59817352e-01 9.87146411e-01 -6.14754762e-04 -1.29979755e+01] [-3.86981373e-03 -3.76157118e-06 9.99992512e-01 -1.72114218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94576923100001 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:112.27, Y:-13.01, Z:-1.72 [[ 9.87665749e-01 1.56462043e-01 5.99976494e-03 1.12274206e+02] [-1.56459068e-01 9.87683972e-01 -9.64855246e-04 -1.30054067e+01] [-6.07683489e-03 1.42368470e-05 9.99981536e-01 -1.72086929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.975769231 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:112.30, Y:-13.01, Z:-1.72 [[ 9.87971554e-01 1.54497943e-01 6.52648589e-03 1.12302812e+02] [-1.54494384e-01 9.87993110e-01 -1.04893141e-03 -1.30119909e+01] [-6.61018083e-03 2.80089749e-05 9.99978152e-01 -1.72127550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.005769231 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:112.33, Y:-13.02, Z:-1.72 [[ 9.88759503e-01 1.49426424e-01 5.13710762e-03 1.12331872e+02] [-1.49424153e-01 9.88772846e-01 -8.25394166e-04 -1.30219736e+01] [-5.20276822e-03 4.85083733e-05 9.99986464e-01 -1.72342090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.035769231 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:112.36, Y:-13.03, Z:-1.72 [[ 9.89191489e-01 1.46550049e-01 4.82513364e-03 1.12360623e+02] [-1.46548011e-01 9.89203255e-01 -7.75170200e-04 -1.30298474e+01] [-4.88663914e-03 5.96780253e-05 9.99988059e-01 -1.72357491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.065769231 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:112.39, Y:-13.04, Z:-1.72 [[ 9.89652576e-01 1.43391396e-01 5.16581691e-03 1.12389831e+02] [-1.43389016e-01 9.89666055e-01 -8.30069820e-04 -1.30378581e+01] [-5.23145851e-03 8.07593317e-05 9.99986313e-01 -1.72316937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.095769231 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:112.42, Y:-13.05, Z:-1.72 [[ 9.90277545e-01 1.39004767e-01 5.29713106e-03 1.12419145e+02] [-1.39002202e-01 9.90291706e-01 -8.51079920e-04 -1.30497769e+01] [-5.36400912e-03 1.06492452e-04 9.99985608e-01 -1.72292050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.125769231 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:112.45, Y:-13.06, Z:-1.72 [[ 9.90424595e-01 1.37978793e-01 4.57968538e-03 1.12447801e+02] [-1.37976864e-01 9.90435179e-01 -7.36030414e-04 -1.30579534e+01] [-4.63743809e-03 9.70919996e-05 9.99989242e-01 -1.72388581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15576923100001 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:112.48, Y:-13.07, Z:-1.72 [[ 9.90395418e-01 1.38204734e-01 4.04579540e-03 1.12479388e+02] [-1.38203237e-01 9.90403678e-01 -6.48599086e-04 -1.30660436e+01] [-4.09661011e-03 8.32275403e-05 9.99991605e-01 -1.72396632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18576923100001 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:112.51, Y:-13.07, Z:-1.72 [[ 9.89804118e-01 1.42385051e-01 3.78230619e-03 1.12509578e+02] [-1.42383771e-01 9.89811342e-01 -6.06970810e-04 -1.30745291e+01] [-3.83019314e-03 6.22431867e-05 9.99992663e-01 -1.72377085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21576923100001 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:112.54, Y:-13.08, Z:-1.72 [[ 9.89364723e-01 1.45407416e-01 3.75874235e-03 1.12541106e+02] [-1.45406172e-01 9.89371862e-01 -6.03619279e-04 -1.30817311e+01] [-3.80656463e-03 5.06552860e-05 9.99992754e-01 -1.72451386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24576923100001 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:112.57, Y:-13.09, Z:-1.72 [[ 9.88936290e-01 1.48302641e-01 3.36763815e-03 1.12571050e+02] [-1.48301657e-01 9.88942023e-01 -5.41290253e-04 -1.30888092e+01] [-3.41067366e-03 3.58752566e-05 9.99994183e-01 -1.72472212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27576923100001 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:112.60, Y:-13.10, Z:-1.73 [[ 9.88112167e-01 1.53724847e-01 1.73688267e-03 1.12600616e+02] [-1.53724592e-01 9.88113694e-01 -2.80244188e-04 -1.30963065e+01] [-1.75931804e-03 9.91111323e-06 9.99998452e-01 -1.72600042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30576923100001 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:112.63, Y:-13.10, Z:-1.73 [[ 9.87631174e-01 1.56791662e-01 1.01874224e-03 1.12629323e+02] [-1.56791576e-01 9.87631700e-01 -1.64515220e-04 -1.31010957e+01] [-1.03193674e-03 2.75015921e-06 9.99999468e-01 -1.72607231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.335769231 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:112.66, Y:-13.10, Z:-1.73 [[ 9.86552460e-01 1.63432667e-01 2.00194704e-03 1.12659152e+02] [-1.63432348e-01 9.86554491e-01 -3.23251100e-04 -1.31035284e+01] [-2.02785964e-03 -8.27873786e-06 9.99997944e-01 -1.72566888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.365769231 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:112.69, Y:-13.11, Z:-1.73 [[ 9.85977455e-01 1.66866093e-01 2.04107150e-03 1.12689149e+02] [-1.66865769e-01 9.85979567e-01 -3.29517213e-04 -1.31068762e+01] [-2.06744004e-03 -1.56884212e-05 9.99997863e-01 -1.72615295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.395769231 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:112.72, Y:-13.11, Z:-1.73 [[ 9.85563809e-01 1.69301273e-01 1.02854746e-03 1.12717967e+02] [-1.69301192e-01 9.85564345e-01 -1.66326234e-04 -1.31101116e+01] [-1.04185895e-03 -1.02091938e-05 9.99999457e-01 -1.72681265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.425769231 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:112.75, Y:-13.11, Z:-1.73 [[ 9.85244314e-01 1.71153856e-01 -1.91730387e-05 1.12747092e+02] [-1.71153856e-01 9.85244314e-01 2.76906249e-06 -1.31133334e+01] [ 1.93640631e-05 5.53336433e-07 1.00000000e+00 -1.72820476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.455769231 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:112.78, Y:-13.11, Z:-1.73 [[ 9.84893279e-01 1.73162226e-01 -2.69559376e-04 1.12776569e+02] [-1.73162221e-01 9.84893316e-01 4.29704891e-05 -1.31123559e+01] [ 2.72928094e-04 4.35615430e-06 9.99999963e-01 -1.72814488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.485769231 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:112.80, Y:-13.11, Z:-1.73 [[ 9.84744955e-01 1.73999157e-01 1.29126931e-03 1.12804648e+02] [-1.73999033e-01 9.84745801e-01 -2.08887106e-04 -1.31133264e+01] [-1.30791821e-03 -1.89790873e-05 9.99999144e-01 -1.72711308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51576923100001 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:112.83, Y:-13.11, Z:-1.73 [[ 9.84738979e-01 1.73974685e-01 4.68532921e-03 1.12833915e+02] [-1.73973060e-01 9.84750123e-01 -7.55328290e-04 -1.31131339e+01] [-4.74528652e-03 -7.13198523e-05 9.99988739e-01 -1.72560655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54576923100001 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:112.86, Y:-13.12, Z:-1.73 [[ 9.85023049e-01 1.72346464e-01 5.12727089e-03 1.12862540e+02] [-1.72344498e-01 9.85036391e-01 -8.26164340e-04 -1.31164122e+01] [-5.19293492e-03 -6.98660111e-05 9.99986514e-01 -1.72620338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57576923100001 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:112.89, Y:-13.12, Z:-1.73 [[ 9.85439059e-01 1.69958818e-01 4.88479230e-03 1.12892265e+02] [-1.69957005e-01 9.85451164e-01 -7.86835370e-04 -1.31201512e+01] [-4.94745387e-03 -5.48263635e-05 9.99987760e-01 -1.72705452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60576923100001 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:112.92, Y:-13.12, Z:-1.73 [[ 9.86299055e-01 1.64927333e-01 3.62614509e-03 1.12922133e+02] [-1.64926300e-01 9.86305721e-01 -5.84088657e-04 -1.31209683e+01] [-3.67281983e-03 -2.19606029e-05 9.99993255e-01 -1.72861917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63576923100001 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:112.95, Y:-13.12, Z:-1.73 [[ 9.86632101e-01 1.62929682e-01 3.31914036e-03 1.12951045e+02] [-1.62928805e-01 9.86637684e-01 -5.34698181e-04 -1.31240501e+01] [-3.36190716e-03 -1.32331834e-05 9.99994349e-01 -1.72887202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66576923100001 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:112.98, Y:-13.13, Z:-1.73 [[ 9.86898139e-01 1.61301545e-01 3.72499386e-03 1.12980644e+02] [-1.61300430e-01 9.86905168e-01 -5.99778597e-04 -1.31286813e+01] [-3.77296091e-03 -8.92273073e-06 9.99992882e-01 -1.72914028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69576923100001 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:113.01, Y:-13.13, Z:-1.73 [[ 9.87272744e-01 1.58958997e-01 4.95648160e-03 1.13009143e+02] [-1.58956994e-01 9.87285185e-01 -7.97937522e-04 -1.31336411e+01] [-5.02030021e-03 -8.54520817e-08 9.99987398e-01 -1.72777005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.725769231 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:113.04, Y:-13.14, Z:-1.73 [[ 9.87288403e-01 1.58842138e-01 5.54838792e-03 1.13038989e+02] [-1.58839629e-01 9.87303993e-01 -8.92889200e-04 -1.31367270e+01] [-5.61977398e-03 2.35273930e-07 9.99984209e-01 -1.72748605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.755769231 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:113.07, Y:-13.14, Z:-1.73 [[ 9.86661135e-01 1.62687838e-01 5.69837927e-03 1.13067510e+02] [-1.62685255e-01 9.86677590e-01 -9.16965062e-04 -1.31375253e+01] [-5.77164218e-03 -2.23084962e-05 9.99983344e-01 -1.72683979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.785769231 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:113.10, Y:-13.14, Z:-1.73 [[ 9.86217493e-01 1.65362507e-01 5.50440905e-03 1.13095804e+02] [-1.65360139e-01 9.86232853e-01 -8.85646902e-04 -1.31405400e+01] [-5.57508184e-03 -3.67693796e-05 9.99984458e-01 -1.72762514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.815769231 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:113.12, Y:-13.14, Z:-1.73 [[ 9.85736045e-01 1.68224868e-01 4.98442539e-03 1.13123924e+02] [-1.68222963e-01 9.85748645e-01 -8.01891798e-04 -1.31433068e+01] [-5.04828872e-03 -4.80411595e-05 9.99987256e-01 -1.72790687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.845769231 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:113.15, Y:-13.14, Z:-1.73 [[ 9.85053014e-01 1.72195044e-01 4.40756631e-03 1.13153426e+02] [-1.72193596e-01 9.85062873e-01 -7.08808505e-04 -1.31418388e+01] [-4.46378325e-03 -6.07407375e-05 9.99990035e-01 -1.72886682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.875769231 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:113.18, Y:-13.14, Z:-1.73 [[ 9.84927521e-01 1.72895886e-01 4.97913911e-03 1.13181767e+02] [-1.72894048e-01 9.84940103e-01 -8.00498891e-04 -1.31426929e+01] [-5.04255676e-03 -7.24301285e-05 9.99987284e-01 -1.72966777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90576923100001 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:113.21, Y:-13.14, Z:-1.73 [[ 9.84890254e-01 1.73085001e-01 5.72457139e-03 1.13210379e+02] [-1.73082577e-01 9.84906887e-01 -9.19794022e-04 -1.31445283e+01] [-5.79737233e-03 -8.49274031e-05 9.99983191e-01 -1.72949286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93576923100001 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:113.24, Y:-13.15, Z:-1.73 [[ 9.84877852e-01 1.73132588e-01 6.38148623e-03 1.13238636e+02] [-1.73129580e-01 9.84898522e-01 -1.02496278e-03 -1.31478197e+01] [-6.46257082e-03 -9.53608878e-05 9.99979113e-01 -1.72977313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96576923100001 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:113.27, Y:-13.15, Z:-1.73 [[ 9.85102536e-01 1.71857834e-01 6.15449976e-03 1.13266505e+02] [-1.71855013e-01 9.85121758e-01 -9.88312109e-04 -1.31492089e+01] [-6.23278080e-03 -8.40928683e-05 9.99980572e-01 -1.72941149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99576923100001 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:113.30, Y:-13.15, Z:-1.73 [[ 9.85317422e-01 1.70631673e-01 5.86606299e-03 1.13295774e+02] [-1.70629091e-01 9.85334881e-01 -9.41597800e-04 -1.31512707e+01] [-5.94070288e-03 -7.31482781e-05 9.99982351e-01 -1.72976750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02576923100001 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:113.33, Y:-13.15, Z:-1.73 [[ 9.85435006e-01 1.69952854e-01 5.82028787e-03 1.13325457e+02] [-1.69950302e-01 9.85452192e-01 -9.33976372e-04 -1.31512092e+01] [-5.89434739e-03 -6.87866665e-05 9.99982626e-01 -1.72856838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05576923100001 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:113.35, Y:-13.15, Z:-1.73 [[ 9.85402454e-01 1.70125462e-01 6.27138523e-03 1.13354025e+02] [-1.70122505e-01 9.85422408e-01 -1.00601863e-03 -1.31544069e+01] [-6.35111291e-03 -7.55705364e-05 9.99979829e-01 -1.72925598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.085769231 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:113.38, Y:-13.16, Z:-1.73 [[ 9.85408422e-01 1.70090892e-01 6.27144497e-03 1.13382997e+02] [-1.70087936e-01 9.85428375e-01 -1.00564602e-03 -1.31589656e+01] [-6.35111105e-03 -7.57250746e-05 9.99979829e-01 -1.72963909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.115769231 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:113.41, Y:-13.16, Z:-1.73 [[ 9.85383396e-01 1.70248965e-01 5.90360249e-03 1.13411927e+02] [-1.70246349e-01 9.85401078e-01 -9.46559306e-04 -1.31622715e+01] [-5.97856700e-03 -7.23429472e-05 9.99982126e-01 -1.72994318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.145769231 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:113.44, Y:-13.16, Z:-1.73 [[ 9.85280319e-01 1.70862375e-01 5.36104609e-03 1.13440914e+02] [-1.70860228e-01 9.85294902e-01 -8.59370288e-04 -1.31631340e+01] [-5.42904543e-03 -6.92689257e-05 9.99985260e-01 -1.73107686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.175769231 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:113.47, Y:-13.17, Z:-1.73 [[ 9.85224543e-01 1.71169751e-01 5.78930607e-03 1.13470030e+02] [-1.71167255e-01 9.85241549e-01 -9.27696562e-04 -1.31657191e+01] [-5.86265847e-03 -7.69502043e-05 9.99982812e-01 -1.73112984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.205769231 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:113.50, Y:-13.17, Z:-1.73 [[ 9.85140467e-01 1.71640123e-01 6.15860282e-03 1.13497671e+02] [-1.71637308e-01 9.85159713e-01 -9.86612249e-04 -1.31683904e+01] [-6.23654964e-03 -8.50943569e-05 9.99980549e-01 -1.73125411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.235769231 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:113.53, Y:-13.17, Z:-1.73 [[ 9.84978587e-01 1.72517573e-01 7.40737660e-03 1.13525847e+02] [-1.72513530e-01 9.85006434e-01 -1.18612399e-03 -1.31703923e+01] [-7.50094084e-03 -1.09565957e-04 9.99971862e-01 -1.73081407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26576923100001 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:113.55, Y:-13.17, Z:-1.73 [[ 9.84892485e-01 1.73002588e-01 7.54311548e-03 1.13553685e+02] [-1.72998414e-01 9.84921363e-01 -1.20722821e-03 -1.31734844e+01] [-7.63822919e-03 -1.15957025e-04 9.99970822e-01 -1.73147184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29576923100001 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:113.58, Y:-13.18, Z:-1.73 [[ 9.85048805e-01 1.72183049e-01 5.64354067e-03 1.13580658e+02] [-1.72180700e-01 9.85064968e-01 -9.03213859e-04 -1.31752656e+01] [-5.71477233e-03 -8.19990490e-05 9.99983667e-01 -1.73223144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32576923100001 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:113.61, Y:-13.18, Z:-1.73 [[ 9.85187405e-01 1.71421940e-01 4.50499901e-03 1.13608717e+02] [-1.71420436e-01 9.85197703e-01 -7.20755464e-04 -1.31771966e+01] [-4.56186797e-03 -6.21696886e-05 9.99989593e-01 -1.73271317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35576923100001 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:113.64, Y:-13.18, Z:-1.73 [[ 9.85322629e-01 1.70655322e-01 4.00972251e-03 1.13636357e+02] [-1.70654125e-01 9.85330786e-01 -6.41358256e-04 -1.31786437e+01] [-4.06035423e-03 -5.23308849e-05 9.99991755e-01 -1.73299492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38576923100001 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:113.66, Y:-13.18, Z:-1.73 [[ 9.85479450e-01 1.69732824e-01 4.58497922e-03 1.13664146e+02] [-1.69731249e-01 9.85490114e-01 -7.33316129e-04 -1.31793298e+01] [-4.64291952e-03 -5.55462752e-05 9.99989220e-01 -1.73357278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41576923100001 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:113.69, Y:-13.18, Z:-1.73 [[ 9.85628860e-01 1.68861075e-01 4.65707511e-03 1.13691227e+02] [-1.68859444e-01 9.85639860e-01 -7.44144403e-04 -1.31828964e+01] [-4.71585589e-03 -5.29409153e-05 9.99988879e-01 -1.73398668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44576923100001 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:113.72, Y:-13.19, Z:-1.73 [[ 9.85776376e-01 1.68013721e-01 4.04058281e-03 1.13718646e+02] [-1.68012489e-01 9.85784656e-01 -6.45073301e-04 -1.31862840e+01] [-4.09152570e-03 -4.29703531e-05 9.99991629e-01 -1.73455146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.475769231 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:113.75, Y:-13.19, Z:-1.74 [[ 9.86342691e-01 1.64686998e-01 2.50770268e-03 1.13746590e+02] [-1.64686512e-01 9.86345879e-01 -4.00525287e-04 -1.31878598e+01] [-2.53942351e-03 -1.79296170e-05 9.99996775e-01 -1.73589873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.505769231 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:113.77, Y:-13.19, Z:-1.74 [[ 9.86567752e-01 1.63333885e-01 2.47228824e-03 1.13773006e+02] [-1.63333409e-01 9.86570850e-01 -3.94824855e-04 -1.31911128e+01] [-2.50357579e-03 -1.42857962e-05 9.99996866e-01 -1.73577447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.535769231 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:113.80, Y:-13.19, Z:-1.73 [[ 9.86772173e-01 1.62062625e-01 4.04767414e-03 1.13800440e+02] [-1.62061342e-01 9.86780475e-01 -6.45259251e-04 -1.31947893e+01] [-4.09873822e-03 -1.92476281e-05 9.99991600e-01 -1.73420975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.565769231 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:113.83, Y:-13.20, Z:-1.73 [[ 9.86669314e-01 1.62690663e-01 3.92587062e-03 1.13828474e+02] [-1.62689462e-01 9.86677124e-01 -6.25584985e-04 -1.31986578e+01] [-3.97534357e-03 -2.14522713e-05 9.99992098e-01 -1.73476165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.595769231 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:113.86, Y:-13.20, Z:-1.74 [[ 9.86458750e-01 1.63975650e-01 3.33478973e-03 1.13855147e+02] [-1.63974790e-01 9.86464386e-01 -5.31632724e-04 -1.32016642e+01] [-3.37682612e-03 -2.23876921e-05 9.99994298e-01 -1.73537979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.625769231 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:113.88, Y:-13.20, Z:-1.74 [[ 9.85829138e-01 1.67751549e-01 5.72451375e-04 1.13883273e+02] [-1.67751524e-01 9.85829305e-01 -9.18993361e-05 -1.32027006e+01] [-5.79755597e-04 -5.43254752e-06 9.99999832e-01 -1.73724218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65576923100001 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:113.91, Y:-13.21, Z:-1.74 [[ 9.85406857e-01 1.70215469e-01 1.41197540e-04 1.13910671e+02] [-1.70215467e-01 9.85406867e-01 -2.34937287e-05 -1.32052024e+01] [-1.43136022e-04 -8.83123934e-07 9.99999990e-01 -1.73805788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68576923100001 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:113.94, Y:-13.21, Z:-1.74 [[ 9.84954466e-01 1.72812372e-01 7.64572907e-04 1.13938614e+02] [-1.72812329e-01 9.84954762e-01 -1.22310114e-04 -1.32076659e+01] [-7.74206427e-04 -1.16577319e-05 9.99999700e-01 -1.73770222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71576923100001 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:113.97, Y:-13.21, Z:-1.74 [[ 9.83878972e-01 1.78809856e-01 3.03380787e-03 1.13967052e+02] [-1.78809218e-01 9.83883647e-01 -4.82431148e-04 -1.32073718e+01] [-3.07117739e-03 -6.78189492e-05 9.99995282e-01 -1.73595589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74576923100001 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:113.99, Y:-13.21, Z:-1.74 [[ 9.83377400e-01 1.81525696e-01 4.16069629e-03 1.13994120e+02] [-1.81524523e-01 9.83386196e-01 -6.61081935e-04 -1.32086271e+01] [-4.21157465e-03 -1.05175375e-04 9.99991126e-01 -1.73566646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77576923100001 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:114.02, Y:-13.21, Z:-1.74 [[ 9.83012962e-01 1.83452824e-01 5.52976809e-03 1.14022738e+02] [-1.83450787e-01 9.83028503e-01 -8.77684381e-04 -1.32079350e+01] [-5.59693333e-03 -1.51665185e-04 9.99984326e-01 -1.73567518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80576923100001 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:114.05, Y:-13.21, Z:-1.74 [[ 9.83205703e-01 1.82403197e-01 5.96811583e-03 1.14050341e+02] [-1.82400808e-01 9.83223804e-01 -9.46778527e-04 -1.32105500e+01] [-6.04068898e-03 -1.57711102e-04 9.99981742e-01 -1.73671540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.835769231 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:114.08, Y:-13.21, Z:-1.74 [[ 9.83518270e-01 1.80699764e-01 6.27759658e-03 1.14076934e+02] [-1.80697089e-01 9.83538292e-01 -9.95471984e-04 -1.32136006e+01] [-6.35413817e-03 -1.55278545e-04 9.99979800e-01 -1.73711904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.865769231 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:114.10, Y:-13.22, Z:-1.74 [[ 9.84517643e-01 1.75146469e-01 6.98033408e-03 1.14104522e+02] [-1.75143027e-01 9.84542379e-01 -1.10621303e-03 -1.32156435e+01] [-7.06618403e-03 -1.33470599e-04 9.99975025e-01 -1.73781158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.895769231 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:114.13, Y:-13.22, Z:-1.74 [[ 9.84936514e-01 1.72766033e-01 7.20842410e-03 1.14130916e+02] [-1.72762301e-01 9.84962884e-01 -1.14185437e-03 -1.32188158e+01] [-7.29730384e-03 -1.20689870e-04 9.99973367e-01 -1.73813397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.925769231 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:114.16, Y:-13.22, Z:-1.74 [[ 9.85536654e-01 1.69306545e-01 7.26613663e-03 1.14157769e+02] [-1.69302665e-01 9.85563435e-01 -1.15029353e-03 -1.32238006e+01] [-7.35599080e-03 -9.65198575e-05 9.99972940e-01 -1.73778741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.955769231 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:114.19, Y:-13.23, Z:-1.74 [[ 9.85748598e-01 1.68056908e-01 7.52173917e-03 1.14185294e+02] [-1.68052719e-01 9.85777291e-01 -1.19009325e-03 -1.32284439e+01] [-7.61476305e-03 -9.09159689e-05 9.99971003e-01 -1.73708335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.985769231 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:114.21, Y:-13.23, Z:-1.74 [[ 9.85930079e-01 1.66981484e-01 7.68531208e-03 1.14211948e+02] [-1.66977082e-01 9.85960028e-01 -1.21546068e-03 -1.32325668e+01] [-7.78036994e-03 -8.49117425e-05 9.99969729e-01 -1.73707984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01576923100001 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:114.24, Y:-13.24, Z:-1.74 [[ 9.86132532e-01 1.65781338e-01 7.69268871e-03 1.14239366e+02] [-1.65776897e-01 9.86162533e-01 -1.21589213e-03 -1.32367062e+01] [-7.78781361e-03 -7.62392774e-05 9.99969672e-01 -1.73772433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04576923100001 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:114.27, Y:-13.24, Z:-1.74 [[ 9.86720826e-01 1.62281262e-01 6.84136852e-03 1.14265624e+02] [-1.62277666e-01 9.86744541e-01 -1.08122652e-03 -1.32423446e+01] [-6.92614585e-03 -4.33325937e-05 9.99976013e-01 -1.73877242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07576923100001 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:114.29, Y:-13.25, Z:-1.74 [[ 9.87016597e-01 1.60488906e-01 6.44583312e-03 1.14293203e+02] [-1.60485681e-01 9.87037644e-01 -1.01786321e-03 -1.32477939e+01] [-6.52563569e-03 -2.98160347e-05 9.99978707e-01 -1.73935966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10576923100001 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:114.32, Y:-13.25, Z:-1.74 [[ 9.87495243e-01 1.57561235e-01 5.25380704e-03 1.14319419e+02] [-1.57559050e-01 9.87509219e-01 -8.29686575e-04 -1.32536848e+01] [-5.31890933e-03 -8.47330111e-06 9.99985854e-01 -1.73953651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13576923100001 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:114.35, Y:-13.26, Z:-1.74 [[ 9.87690686e-01 1.56362583e-01 4.22517328e-03 1.14347273e+02] [-1.56361161e-01 9.87699723e-01 -6.66757730e-04 -1.32586988e+01] [-4.27745844e-03 -2.10260203e-06 9.99990852e-01 -1.73963968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16576923100001 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:114.37, Y:-13.26, Z:-1.74 [[ 9.87845887e-01 1.55390638e-01 3.77536502e-03 1.14373796e+02] [-1.55389496e-01 9.87853101e-01 -5.95708329e-04 -1.32633274e+01] [-3.82207354e-03 1.81595542e-06 9.99992696e-01 -1.74079501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19576923100001 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:114.40, Y:-13.27, Z:-1.74 [[ 9.88180013e-01 1.53171267e-01 6.23099923e-03 1.14400640e+02] [-1.53168121e-01 9.88199657e-01 -9.81871898e-04 -1.32700025e+01] [-6.30786586e-03 1.58757422e-05 9.99980105e-01 -1.74143947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.225769231 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:114.43, Y:-13.28, Z:-1.74 [[ 9.88473338e-01 1.51217719e-01 7.32534503e-03 1.14426552e+02] [-1.51213320e-01 9.88500481e-01 -1.15382340e-03 -1.32760387e+01] [-7.41558563e-03 3.28339204e-05 9.99972504e-01 -1.74116858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.255769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:114.45, Y:-13.28, Z:-1.74 [[ 9.88798783e-01 1.49093450e-01 6.93608973e-03 1.14454843e+02] [-1.49089462e-01 9.88823109e-01 -1.09149974e-03 -1.32824973e+01] [-7.02130127e-03 4.51757350e-05 9.99975349e-01 -1.74162690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.285769231 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:114.48, Y:-13.29, Z:-1.74 [[ 9.89330575e-01 1.45649985e-01 3.33106240e-03 1.14482188e+02] [-1.45649045e-01 9.89336182e-01 -5.24469755e-04 -1.32907525e+01] [-3.37192956e-03 3.37079079e-05 9.99994314e-01 -1.74376181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.315769231 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:114.51, Y:-13.30, Z:-1.74 [[ 9.89422471e-01 1.45043741e-01 2.34241431e-03 1.14509746e+02] [-1.45043274e-01 9.89425244e-01 -3.69011194e-04 -1.32977964e+01] [-2.37116661e-03 2.53565268e-05 9.99997188e-01 -1.74436466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.345769231 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:114.54, Y:-13.31, Z:-1.74 [[ 9.89343887e-01 1.45577988e-01 2.39233610e-03 1.14536360e+02] [-1.45577503e-01 9.89346779e-01 -3.76559836e-04 -1.33054043e+01] [-2.42166884e-03 2.42768568e-05 9.99997067e-01 -1.74462603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.375769231 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:114.56, Y:-13.32, Z:-1.74 [[ 9.88847877e-01 1.48894730e-01 3.19919093e-03 1.14561833e+02] [-1.48893880e-01 9.88853052e-01 -5.03478208e-04 -1.33152306e+01] [-3.23849496e-03 2.15234066e-05 9.99994756e-01 -1.74389700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40576923100001 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:114.59, Y:-13.32, Z:-1.74 [[ 9.88565459e-01 1.50770531e-01 2.56537466e-03 1.14589179e+02] [-1.50769992e-01 9.88568787e-01 -4.03334384e-04 -1.33211901e+01] [-2.59686026e-03 1.19409242e-05 9.99996628e-01 -1.74464583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43576923100001 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:114.62, Y:-13.33, Z:-1.75 [[ 9.87921989e-01 1.54951770e-01 3.04862729e-04 1.14615800e+02] [-1.54951763e-01 9.87922036e-01 -4.87101875e-05 -1.33301664e+01] [-3.08728337e-04 8.82848079e-07 9.99999952e-01 -1.74555126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46576923100001 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:114.64, Y:-13.34, Z:-1.75 [[ 9.87716129e-01 1.56258906e-01 -5.47218463e-05 1.14642724e+02] [-1.56258905e-01 9.87716130e-01 7.69446217e-06 -1.33370806e+01] [ 5.52519785e-05 9.50831424e-07 9.99999998e-01 -1.74648024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49576923100001 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:114.67, Y:-13.34, Z:-1.75 [[ 9.87565208e-01 1.57206873e-01 9.79500731e-04 1.14670116e+02] [-1.57206798e-01 9.87565694e-01 -1.54398836e-04 -1.33442472e+01] [-9.91593877e-04 -1.50525434e-06 9.99999508e-01 -1.74688703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52576923100001 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:114.70, Y:-13.35, Z:-1.75 [[ 9.87288110e-01 1.58882695e-01 4.29849998e-03 1.14697452e+02] [-1.58881266e-01 9.87297467e-01 -6.74096462e-04 -1.33544010e+01] [-4.35100041e-03 -1.74236966e-05 9.99990534e-01 -1.74511950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55576923100001 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:114.72, Y:-13.36, Z:-1.74 [[ 9.86996762e-01 1.60664206e-01 4.94005652e-03 1.14724683e+02] [-1.60662342e-01 9.87009125e-01 -7.74475158e-04 -1.33603523e+01] [-5.00031130e-03 -2.92765743e-05 9.99987498e-01 -1.74467048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.585769231 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:114.75, Y:-13.37, Z:-1.74 [[ 9.86695427e-01 1.62513674e-01 4.63028989e-03 1.14751684e+02] [-1.62512058e-01 9.86706291e-01 -7.25660602e-04 -1.33651774e+01] [-4.68666593e-03 -3.64719416e-05 9.99989017e-01 -1.74488429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.615769231 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:114.78, Y:-13.37, Z:-1.75 [[ 9.86097979e-01 1.66119729e-01 3.87456632e-03 1.14779099e+02] [-1.66118625e-01 9.86105589e-01 -6.07226949e-04 -1.33696708e+01] [-3.92160388e-03 -4.48523631e-05 9.99992309e-01 -1.74591615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.645769231 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:114.81, Y:-13.37, Z:-1.75 [[ 9.85854723e-01 1.67560188e-01 3.74815806e-03 1.14807568e+02] [-1.67559167e-01 9.85861847e-01 -5.87016816e-04 -1.33747433e+01] [-3.79352668e-03 -4.93249426e-05 9.99992803e-01 -1.74599390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.675769231 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:114.83, Y:-13.38, Z:-1.74 [[ 9.85562794e-01 1.69232775e-01 5.12311315e-03 1.14834984e+02] [-1.69230892e-01 9.85576107e-01 -8.01972505e-04 -1.33803514e+01] [-5.18493795e-03 -7.65947473e-05 9.99986555e-01 -1.74487690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.705769231 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:114.86, Y:-13.38, Z:-1.75 [[ 9.85442584e-01 1.69885984e-01 6.45498729e-03 1.14861173e+02] [-1.69883012e-01 9.85463719e-01 -1.00998633e-03 -1.33849497e+01] [-6.53273831e-03 -1.01309145e-04 9.99978656e-01 -1.74517969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.735769231 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:114.89, Y:-13.39, Z:-1.75 [[ 9.85460835e-01 1.69755669e-01 7.06789684e-03 1.14890111e+02] [-1.69752109e-01 9.85486175e-01 -1.10507304e-03 -1.33897169e+01] [-7.15290704e-03 -1.10784187e-04 9.99974411e-01 -1.74537808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76576923100001 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:114.92, Y:-13.39, Z:-1.75 [[ 9.85503570e-01 1.69524410e-01 6.64735103e-03 1.14917269e+02] [-1.69521257e-01 9.85525983e-01 -1.03911125e-03 -1.33946059e+01] [-6.72729189e-03 -1.02819458e-04 9.99977366e-01 -1.74579588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79576923100001 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:114.95, Y:-13.40, Z:-1.75 [[ 9.85910422e-01 1.67180778e-01 5.58817307e-03 1.14945341e+02] [-1.67178514e-01 9.85926256e-01 -8.73245467e-04 -1.34005504e+01] [-5.65551641e-03 -7.32806610e-05 9.99984005e-01 -1.74653714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82576923100001 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:114.97, Y:-13.41, Z:-1.75 [[ 9.86167434e-01 1.65662905e-01 5.44012565e-03 1.14972603e+02] [-1.65660737e-01 9.86182436e-01 -8.49953283e-04 -1.34057183e+01] [-5.50576210e-03 -6.30189753e-05 9.99984841e-01 -1.74668058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85576923100001 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:115.00, Y:-13.41, Z:-1.75 [[ 9.86580520e-01 1.63221703e-01 4.18958900e-03 1.14999883e+02] [-1.63220395e-01 9.86589415e-01 -6.54480452e-04 -1.34103571e+01] [-4.24022957e-03 -3.81287053e-05 9.99991009e-01 -1.74816408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88576923100001 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:115.03, Y:-13.41, Z:-1.75 [[ 9.86653879e-01 1.62764902e-01 4.65939938e-03 1.15027148e+02] [-1.62763281e-01 9.86664880e-01 -7.27516739e-04 -1.34143975e+01] [-4.71567992e-03 -4.05719194e-05 9.99988880e-01 -1.74870653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91576923100001 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:115.06, Y:-13.42, Z:-1.75 [[ 9.86651157e-01 1.62755577e-01 5.48792559e-03 1.15055371e+02] [-1.62753332e-01 9.86666418e-01 -8.56350256e-04 -1.34189427e+01] [-5.55412766e-03 -4.82592023e-05 9.99984575e-01 -1.74784162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94576923100001 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:115.08, Y:-13.42, Z:-1.75 [[ 9.86454969e-01 1.63929408e-01 5.80895644e-03 1.15083937e+02] [-1.63926914e-01 9.86472070e-01 -9.06137882e-04 -1.34232014e+01] [-5.87891593e-03 -5.83800864e-05 9.99982717e-01 -1.74740727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.975769231 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:115.11, Y:-13.43, Z:-1.75 [[ 9.86466773e-01 1.63858358e-01 5.80896832e-03 1.15112930e+02] [-1.63855864e-01 9.86483875e-01 -9.06061822e-04 -1.34276099e+01] [-5.87891938e-03 -5.80336377e-05 9.99982717e-01 -1.74779035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.005769231 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:115.14, Y:-13.43, Z:-1.75 [[ 9.86325927e-01 1.64736760e-01 4.79221448e-03 1.15141956e+02] [-1.64735074e-01 9.86337568e-01 -7.47062921e-04 -1.34311672e+01] [-4.84980990e-03 -5.25982800e-05 9.99988238e-01 -1.74924390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.035769231 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:115.17, Y:-13.43, Z:-1.75 [[ 9.86309358e-01 1.64858639e-01 3.93438629e-03 1.15170336e+02] [-1.64857504e-01 9.86317204e-01 -6.13278081e-04 -1.34339254e+01] [-3.98165708e-03 -4.37311929e-05 9.99992072e-01 -1.75001545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.065769231 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:115.20, Y:-13.44, Z:-1.75 [[ 9.86537086e-01 1.63506286e-01 3.20507068e-03 1.15198592e+02] [-1.63505526e-01 9.86542292e-01 -4.99670212e-04 -1.34350448e+01] [-3.24363699e-03 -3.11035710e-05 9.99994739e-01 -1.75081635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.095769231 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:115.23, Y:-13.44, Z:-1.75 [[ 9.86693641e-01 1.62557672e-01 3.26520607e-03 1.15227380e+02] [-1.62556878e-01 9.86699044e-01 -5.08696872e-04 -1.34388017e+01] [-3.30446828e-03 -2.88537372e-05 9.99994540e-01 -1.75063256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.125769231 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:115.26, Y:-13.44, Z:-1.75 [[ 9.86873606e-01 1.61448652e-01 3.84958569e-03 1.15256321e+02] [-1.61447542e-01 9.86881113e-01 -5.99472668e-04 -1.34425047e+01] [-3.89586747e-03 -2.99023922e-05 9.99992411e-01 -1.75028186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15576923100001 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:115.28, Y:-13.45, Z:-1.75 [[ 9.87359389e-01 1.58442558e-01 4.17055629e-03 1.15284456e+02] [-1.58441228e-01 9.87368197e-01 -6.49347379e-04 -1.34450033e+01] [-4.22075890e-03 -1.96488298e-05 9.99991092e-01 -1.75000370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18576923100001 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:115.31, Y:-13.45, Z:-1.75 [[ 9.87795070e-01 1.55710655e-01 3.88476452e-03 1.15313491e+02] [-1.55709481e-01 9.87802709e-01 -6.04538214e-04 -1.34479506e+01] [-3.93151396e-03 -7.73480116e-06 9.99992272e-01 -1.75130368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21576923100001 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:115.34, Y:-13.45, Z:-1.75 [[ 9.88549437e-01 1.50841574e-01 4.10235818e-03 1.15341698e+02] [-1.50840224e-01 9.88557949e-01 -6.38262491e-04 -1.34504519e+01] [-4.15169531e-03 1.21533984e-05 9.99991382e-01 -1.75144073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24576923100001 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:115.37, Y:-13.45, Z:-1.75 [[ 9.88670257e-01 1.50010470e-01 5.28978900e-03 1.15369253e+02] [-1.50008217e-01 9.88684408e-01 -8.22406943e-04 -1.34540789e+01] [-5.35330155e-03 1.95774703e-05 9.99985671e-01 -1.75117258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27576923100001 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:115.40, Y:-13.46, Z:-1.75 [[ 9.88635894e-01 1.50201455e-01 6.21223036e-03 1.15397574e+02] [-1.50198355e-01 9.88655411e-01 -9.65251893e-04 -1.34579041e+01] [-6.28673741e-03 2.12158855e-05 9.99980238e-01 -1.75041118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30576923100001 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:115.43, Y:-13.46, Z:-1.75 [[ 9.88106304e-01 1.53683393e-01 5.22945707e-03 1.15426255e+02] [-1.53681246e-01 9.88120142e-01 -8.12395277e-04 -1.34601227e+01] [-5.29218352e-03 -9.36584410e-07 9.99985996e-01 -1.75116131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33576923100001 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:115.45, Y:-13.46, Z:-1.75 [[ 9.87774750e-01 1.55835441e-01 4.04467071e-03 1.15453573e+02] [-1.55834174e-01 9.87783030e-01 -6.28432027e-04 -1.34632311e+01] [-4.09318908e-03 -9.54863146e-06 9.99991623e-01 -1.75229553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.365769231 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:115.48, Y:-13.47, Z:-1.75 [[ 9.87466936e-01 1.57778001e-01 3.89261316e-03 1.15482257e+02] [-1.57776844e-01 9.87474608e-01 -6.04430333e-04 -1.34670064e+01] [-3.93922247e-03 -1.73092514e-05 9.99992241e-01 -1.75332650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.395769231 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:115.51, Y:-13.47, Z:-1.75 [[ 9.87080212e-01 1.60106738e-01 6.20383505e-03 1.15510097e+02] [-1.60103850e-01 9.87099706e-01 -9.62718936e-04 -1.34696822e+01] [-6.27794154e-03 -4.29770632e-05 9.99980293e-01 -1.75261473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.425769231 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:115.54, Y:-13.47, Z:-1.75 [[ 9.87076782e-01 1.60115205e-01 6.52284618e-03 1.15539036e+02] [-1.60112015e-01 9.87098333e-01 -1.01170363e-03 -1.34729174e+01] [-6.60067973e-03 -4.57568784e-05 9.99978214e-01 -1.75283532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.455769231 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:115.57, Y:-13.48, Z:-1.75 [[ 9.86923554e-01 1.61115511e-01 4.86736891e-03 1.15567793e+02] [-1.61113747e-01 9.86935556e-01 -7.54870545e-04 -1.34753843e+01] [-4.92540080e-03 -3.92005220e-05 9.99987869e-01 -1.75404171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.485769231 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:115.60, Y:-13.48, Z:-1.75 [[ 9.86804134e-01 1.61874532e-01 3.77318127e-03 1.15595284e+02] [-1.61873478e-01 9.86811347e-01 -5.85240981e-04 -1.34789688e+01] [-3.81815370e-03 -3.32597543e-05 9.99992710e-01 -1.75422115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51576923100001 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:115.62, Y:-13.48, Z:-1.75 [[ 9.86772768e-01 1.62077855e-01 3.20533340e-03 1.15623317e+02] [-1.62077095e-01 9.86777973e-01 -4.97232446e-04 -1.34827575e+01] [-3.24354277e-03 -2.88556897e-05 9.99994739e-01 -1.75421870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54576923100001 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:115.65, Y:-13.48, Z:-1.75 [[ 9.86927368e-01 1.61108458e-01 4.29363716e-03 1.15649854e+02] [-1.61107087e-01 9.86936707e-01 -6.65516217e-04 -1.34847737e+01] [-4.34476841e-03 -3.49192072e-05 9.99990561e-01 -1.75384678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57576923100001 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:115.68, Y:-13.49, Z:-1.75 [[ 9.87144680e-01 1.59758824e-01 4.74340257e-03 1.15678768e+02] [-1.59757139e-01 9.87156075e-01 -7.34393789e-04 -1.34886061e+01] [-4.79980455e-03 -3.28395019e-05 9.99988480e-01 -1.75468187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60576923100001 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:115.71, Y:-13.49, Z:-1.76 [[ 9.87710901e-01 1.56246214e-01 3.78102862e-03 1.15706278e+02] [-1.56245117e-01 9.87718138e-01 -5.85445901e-04 -1.34930572e+01] [-3.82606426e-03 -1.25159625e-05 9.99992681e-01 -1.75615337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63576923100001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:115.73, Y:-13.50, Z:-1.76 [[ 9.87941397e-01 1.54792645e-01 3.32146644e-03 1.15734087e+02] [-1.54791792e-01 9.87946981e-01 -5.14175050e-04 -1.34969441e+01] [-3.36102326e-03 -6.16092382e-06 9.99994352e-01 -1.75671804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66576923100001 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:115.76, Y:-13.50, Z:-1.76 [[ 9.88114104e-01 1.53691192e-01 3.08786904e-03 1.15761864e+02] [-1.53690449e-01 9.88118929e-01 -4.77865757e-04 -1.35009158e+01] [-3.12462561e-03 -2.39008580e-06 9.99995118e-01 -1.75620571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69576923100001 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:115.79, Y:-13.51, Z:-1.76 [[ 9.88286905e-01 1.52556829e-01 3.92531589e-03 1.15789638e+02] [-1.52555621e-01 9.88294700e-01 -6.07133843e-04 -1.35053540e+01] [-3.97199130e-03 1.19342451e-06 9.99992112e-01 -1.75598686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.725769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:115.82, Y:-13.51, Z:-1.75 [[ 9.88644800e-01 1.50163095e-01 5.70125357e-03 1.15817229e+02] [-1.50160512e-01 9.88661239e-01 -8.80877386e-04 -1.35125419e+01] [-5.76888369e-03 1.47716919e-05 9.99983360e-01 -1.75470038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.755769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:115.84, Y:-13.52, Z:-1.76 [[ 9.88839727e-01 1.48879398e-01 5.56044136e-03 1.15844735e+02] [-1.48876921e-01 9.88855361e-01 -8.58988436e-04 -1.35182245e+01] [-5.62635793e-03 2.15805003e-05 9.99984172e-01 -1.75552079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.785769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:115.87, Y:-13.52, Z:-1.76 [[ 9.88956112e-01 1.48158058e-01 3.87268660e-03 1.15873107e+02] [-1.48156851e-01 9.88963695e-01 -5.98109354e-04 -1.35228359e+01] [-3.91856117e-03 1.77388490e-05 9.99992322e-01 -1.75650598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.815769231 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:115.90, Y:-13.53, Z:-1.76 [[ 9.88935761e-01 1.48300849e-01 3.59427629e-03 1.15901981e+02] [-1.48299811e-01 9.88942293e-01 -5.54987565e-04 -1.35269514e+01] [-3.63683696e-03 1.58165567e-05 9.99993387e-01 -1.75633180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.845769231 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:115.93, Y:-13.53, Z:-1.76 [[ 9.88870081e-01 1.48719376e-01 4.30231940e-03 1.15929325e+02] [-1.48717894e-01 9.88879440e-01 -6.64090639e-04 -1.35316591e+01] [-4.35323834e-03 1.68674849e-05 9.99990524e-01 -1.75648126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.875769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:115.96, Y:-13.54, Z:-1.76 [[ 9.89038153e-01 1.47544810e-01 5.83623277e-03 1.15957541e+02] [-1.47542067e-01 9.89055372e-01 -9.00155439e-04 -1.35383272e+01] [-5.90517064e-03 2.91982242e-05 9.99982564e-01 -1.75607823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.98, Y:-13.54, Z:-1.76 [[ 9.89263385e-01 1.46018555e-01 6.04451496e-03 1.15984769e+02] [-1.46015586e-01 9.89281851e-01 -9.32053785e-04 -1.35440683e+01] [-6.11582609e-03 3.94532911e-05 9.99981297e-01 -1.75671246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.01, Y:-13.55, Z:-1.76 [[ 9.89539519e-01 1.44179469e-01 4.88057700e-03 1.16012751e+02] [-1.44177512e-01 9.89551554e-01 -7.52354759e-04 -1.35527635e+01] [-4.93805666e-03 4.08153171e-05 9.99987807e-01 -1.75736956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96576923100001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:116.04, Y:-13.56, Z:-1.76 [[ 9.89496267e-01 1.44472908e-01 4.97160806e-03 1.16039405e+02] [-1.44470882e-01 9.89508755e-01 -7.66226390e-04 -1.35593038e+01] [-5.03014866e-03 3.99255523e-05 9.99987348e-01 -1.75681182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99576923100001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:116.07, Y:-13.57, Z:-1.76 [[ 9.89365324e-01 1.45319318e-01 6.20893794e-03 1.16068150e+02] [-1.45316178e-01 9.89384806e-01 -9.56277823e-04 -1.35654343e+01] [-6.28199450e-03 4.38489887e-05 9.99980267e-01 -1.75602188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02576923100001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:116.10, Y:-13.57, Z:-1.75 [[ 9.88765886e-01 1.49247477e-01 8.19832950e-03 1.16096416e+02] [-1.49242142e-01 9.88799874e-01 -1.26208500e-03 -1.35700534e+01] [-8.29487018e-03 2.43703398e-05 9.99965597e-01 -1.75478889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05576923100001 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:116.12, Y:-13.57, Z:-1.76 [[ 9.88357716e-01 1.51934737e-01 8.05361791e-03 1.16124254e+02] [-1.51929681e-01 9.88390528e-01 -1.23951125e-03 -1.35735951e+01] [-8.14844447e-03 1.49691039e-06 9.99966801e-01 -1.75523109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08576923100001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:116.15, Y:-13.58, Z:-1.76 [[ 9.87380680e-01 1.58176047e-01 7.72855711e-03 1.16152745e+02] [-1.58171586e-01 9.87410926e-01 -1.18893451e-03 -1.35772273e+01] [-7.81932269e-03 -4.85071712e-05 9.99969427e-01 -1.75658681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.115769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:116.18, Y:-13.58, Z:-1.76 [[ 9.86859882e-01 1.61368767e-01 8.22761838e-03 1.16181742e+02] [-1.61363825e-01 9.86894176e-01 -1.26528058e-03 -1.35811200e+01] [-8.32396543e-03 -7.89853317e-05 9.99965352e-01 -1.75616118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.145769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.21, Y:-13.58, Z:-1.76 [[ 9.86324997e-01 1.64566810e-01 8.98696770e-03 1.16210416e+02] [-1.64561051e-01 9.86365932e-01 -1.38156803e-03 -1.35846170e+01] [-9.09179901e-03 -1.16229775e-04 9.99958662e-01 -1.75634237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.175769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:116.24, Y:-13.59, Z:-1.76 [[ 9.85543385e-01 1.69200983e-01 8.67547765e-03 1.16239329e+02] [-1.69195799e-01 9.85581556e-01 -1.33328881e-03 -1.35870482e+01] [-8.77598454e-03 -1.53840410e-04 9.99961478e-01 -1.75690457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.205769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:116.27, Y:-13.59, Z:-1.76 [[ 9.85323085e-01 1.70537230e-01 7.44792446e-03 1.16268579e+02] [-1.70533450e-01 9.85351223e-01 -1.14436382e-03 -1.35893834e+01] [-7.53397812e-03 -1.42552163e-04 9.99971609e-01 -1.75783275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.235769231 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:116.30, Y:-13.59, Z:-1.76 [[ 9.85422704e-01 1.70025170e-01 5.79111559e-03 1.16297379e+02] [-1.70022876e-01 9.85439714e-01 -8.89658552e-04 -1.35886545e+01] [-5.85805963e-03 -1.07932393e-04 9.99982836e-01 -1.75992916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:116.33, Y:-13.59, Z:-1.76 [[ 9.85677494e-01 1.68551427e-01 5.50402252e-03 1.16325157e+02] [-1.68549332e-01 9.85692857e-01 -8.45500777e-04 -1.35909526e+01] [-5.56778604e-03 -9.43082340e-05 9.99984495e-01 -1.76063020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29576923100001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:116.35, Y:-13.59, Z:-1.76 [[ 9.85947719e-01 1.66971350e-01 5.25972045e-03 1.16352947e+02] [-1.66969417e-01 9.85961745e-01 -8.07635676e-04 -1.35940078e+01] [-5.32073517e-03 -8.19259028e-05 9.99985841e-01 -1.76146689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32576923100001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:116.38, Y:-13.60, Z:-1.76 [[ 9.86180287e-01 1.65603270e-01 4.89890928e-03 1.16380897e+02] [-1.65601577e-01 9.86192452e-01 -7.51943112e-04 -1.35972643e+01] [-4.95579159e-03 -6.97156303e-05 9.99987718e-01 -1.76178721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:116.41, Y:-13.60, Z:-1.76 [[ 9.86458013e-01 1.63979882e-01 3.34470377e-03 1.16408549e+02] [-1.63979083e-01 9.86463682e-01 -5.13553743e-04 -1.35979090e+01] [-3.38364128e-03 -4.18622540e-05 9.99994275e-01 -1.76203104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:116.44, Y:-13.60, Z:-1.76 [[ 9.86662526e-01 1.62759602e-01 2.52434500e-03 1.16436260e+02] [-1.62759143e-01 9.86665754e-01 -3.87510657e-04 -1.36003542e+01] [-2.55375584e-03 -2.85179867e-05 9.99996739e-01 -1.76249967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41576923100001 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:116.46, Y:-13.60, Z:-1.76 [[ 9.87195163e-01 1.59488769e-01 3.00728595e-03 1.16464089e+02] [-1.59488103e-01 9.87199743e-01 -4.61270164e-04 -1.36026577e+01] [-3.04235932e-03 -2.42626570e-05 9.99995372e-01 -1.76284171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44576923100001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:116.49, Y:-13.61, Z:-1.76 [[ 9.87436869e-01 1.57973943e-01 3.55864234e-03 1.16491329e+02] [-1.57973003e-01 9.87443281e-01 -5.45407974e-04 -1.36065157e+01] [-3.60011771e-03 -2.36134733e-05 9.99993519e-01 -1.76256718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.475769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:116.52, Y:-13.61, Z:-1.76 [[ 9.87614498e-01 1.56852642e-01 3.85380159e-03 1.16517918e+02] [-1.56851531e-01 9.87622017e-01 -5.90610682e-04 -1.36096164e+01] [-3.89873815e-03 -2.11790076e-05 9.99992400e-01 -1.76256505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.505769231 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:116.55, Y:-13.61, Z:-1.76 [[ 9.87792519e-01 1.55712937e-01 4.40684178e-03 1.16545055e+02] [-1.55711477e-01 9.87802349e-01 -6.74480149e-04 -1.36123038e+01] [-4.45811394e-03 -1.99493971e-05 9.99990062e-01 -1.76194118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.535769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:116.57, Y:-13.62, Z:-1.76 [[ 9.87929031e-01 1.54844870e-01 4.39272224e-03 1.16573095e+02] [-1.54843413e-01 9.87938797e-01 -6.71870690e-04 -1.36163259e+01] [-4.44377645e-03 -1.64235433e-05 9.99990126e-01 -1.76291495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.565769231 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:116.60, Y:-13.62, Z:-1.76 [[ 9.88212524e-01 1.53027980e-01 4.29474107e-03 1.16601378e+02] [-1.53026573e-01 9.88221856e-01 -6.56384356e-04 -1.36214465e+01] [-4.34460216e-03 -8.56226547e-06 9.99990562e-01 -1.76427114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.595769231 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:116.63, Y:-13.63, Z:-1.76 [[ 9.88277423e-01 1.52617401e-01 3.95790235e-03 1.16628647e+02] [-1.52616202e-01 9.88285348e-01 -6.04865530e-04 -1.36254174e+01] [-4.00384991e-03 -6.26507779e-06 9.99991985e-01 -1.76448659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.625769231 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:116.66, Y:-13.63, Z:-1.76 [[ 9.88084319e-01 1.53885504e-01 2.93769207e-03 1.16656623e+02] [-1.53884848e-01 9.88088686e-01 -4.49107146e-04 -1.36302227e+01] [-2.97181138e-03 -8.31057091e-06 9.99995584e-01 -1.76459706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65576923100001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:116.68, Y:-13.64, Z:-1.76 [[ 9.87912794e-01 1.54986980e-01 2.71067879e-03 1.16683211e+02] [-1.54986427e-01 9.87916513e-01 -4.14400421e-04 -1.36354307e+01] [-2.74215101e-03 -1.07269414e-05 9.99996240e-01 -1.76430252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68576923100001 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:116.71, Y:-13.64, Z:-1.76 [[ 9.87721314e-01 1.56200415e-01 2.83501225e-03 1.16710107e+02] [-1.56199815e-01 9.87725382e-01 -4.33102885e-04 -1.36406166e+01] [-2.86786440e-03 -1.50434373e-05 9.99995888e-01 -1.76370051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71576923100001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:116.74, Y:-13.64, Z:-1.76 [[ 9.87459458e-01 1.57815937e-01 4.23666363e-03 1.16737117e+02] [-1.57814617e-01 9.87468546e-01 -6.46317919e-04 -1.36439579e+01] [-4.28557135e-03 -3.03947051e-05 9.99990816e-01 -1.76261544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74576923100001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:116.77, Y:-13.65, Z:-1.76 [[ 9.87429202e-01 1.57982681e-01 5.00441237e-03 1.16765247e+02] [-1.57980844e-01 9.87441882e-01 -7.62778137e-04 -1.36484685e+01] [-5.06207210e-03 -3.74118821e-05 9.99987187e-01 -1.76321177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77576923100001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:116.79, Y:-13.66, Z:-1.76 [[ 9.87369928e-01 1.58251568e-01 7.55427444e-03 1.16793172e+02] [-1.58247398e-01 9.87398824e-01 -1.15031303e-03 -1.36576548e+01] [-7.64112054e-03 -5.96597847e-05 9.99970804e-01 -1.76350948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80576923100001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:116.82, Y:-13.66, Z:-1.76 [[ 9.87404223e-01 1.57999999e-01 8.30064464e-03 1.16821704e+02] [-1.57994960e-01 9.87439110e-01 -1.26350004e-03 -1.36638213e+01] [-8.39601416e-03 -6.38747461e-05 9.99964751e-01 -1.76281547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83576923100001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:116.85, Y:-13.67, Z:-1.76 [[ 9.87412331e-01 1.57961753e-01 8.06054565e-03 1.16850619e+02] [-1.57957003e-01 9.87445229e-01 -1.22658036e-03 -1.36684339e+01] [-8.15310013e-03 -6.20790587e-05 9.99966761e-01 -1.76297908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.865769231 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:116.88, Y:-13.67, Z:-1.76 [[ 9.87418221e-01 1.57924931e-01 8.06061569e-03 1.16879627e+02] [-1.57920183e-01 9.87451119e-01 -1.22611988e-03 -1.36727615e+01] [-8.15309888e-03 -6.22407937e-05 9.99966761e-01 -1.76336220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.895769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:116.91, Y:-13.68, Z:-1.76 [[ 9.87396784e-01 1.58087826e-01 7.47199762e-03 1.16907583e+02] [-1.58083752e-01 9.87425053e-01 -1.13647125e-03 -1.36764663e+01] [-7.55769992e-03 -5.90533644e-05 9.99971438e-01 -1.76412115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.925769231 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:116.93, Y:-13.68, Z:-1.76 [[ 9.87157649e-01 1.59616531e-01 6.50688329e-03 1.16934919e+02] [-1.59613477e-01 9.87179092e-01 -9.89328595e-04 -1.36810599e+01] [-6.58137234e-03 -6.19629793e-05 9.99978341e-01 -1.76480964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.955769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.96, Y:-13.68, Z:-1.76 [[ 9.86684931e-01 1.62550392e-01 5.49696031e-03 1.16961621e+02] [-1.62548258e-01 9.86700241e-01 -8.35741406e-04 -1.36840485e+01] [-5.55970216e-03 -6.89078706e-05 9.99984542e-01 -1.76362200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.985769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:116.99, Y:-13.69, Z:-1.76 [[ 9.86462822e-01 1.63905406e-01 5.11066027e-03 1.16989415e+02] [-1.63903582e-01 9.86476058e-01 -7.76588705e-04 -1.36864229e+01] [-5.16883108e-03 -7.15796394e-05 9.99986639e-01 -1.76455292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01576923100001 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:117.02, Y:-13.69, Z:-1.76 [[ 9.86443143e-01 1.64011343e-01 5.49589590e-03 1.17016855e+02] [-1.64009237e-01 9.86458450e-01 -8.34749354e-04 -1.36891352e+01] [-5.55838131e-03 -7.79449188e-05 9.99984549e-01 -1.76489817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04576923100001 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:117.04, Y:-13.69, Z:-1.77 [[ 9.86639692e-01 1.62778377e-01 6.73191982e-03 1.17043902e+02] [-1.62775195e-01 9.86662654e-01 -1.02170948e-03 -1.36932638e+01] [-6.80844609e-03 -8.77304356e-05 9.99976818e-01 -1.76533632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:117.07, Y:-13.70, Z:-1.76 [[ 9.87550857e-01 1.57047186e-01 8.91551492e-03 1.17072040e+02] [-1.57041377e-01 9.87591098e-01 -1.35228223e-03 -1.36992109e+01] [-9.01725529e-03 -6.46572689e-05 9.99959342e-01 -1.76482279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10576923100001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:117.10, Y:-13.70, Z:-1.77 [[ 9.88182546e-01 1.53057218e-01 8.29119696e-03 1.17099901e+02] [-1.53052056e-01 9.88217328e-01 -1.25727469e-03 -1.37035009e+01] [-8.38593947e-03 -2.65678409e-05 9.99964837e-01 -1.76516423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13576923100001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:117.13, Y:-13.71, Z:-1.77 [[ 9.89393784e-01 1.45100710e-01 6.76192203e-03 1.17128045e+02] [-1.45097094e-01 9.89416890e-01 -1.02502538e-03 -1.37078068e+01] [-6.83909177e-03 3.30185065e-05 9.99976613e-01 -1.76683088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16576923100001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:117.16, Y:-13.71, Z:-1.77 [[ 9.89773496e-01 1.42517516e-01 6.09791366e-03 1.17155095e+02] [-1.42514527e-01 9.89792279e-01 -9.24211172e-04 -1.37129774e+01] [-6.16738414e-03 4.57184416e-05 9.99980980e-01 -1.76737569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:117.18, Y:-13.72, Z:-1.77 [[ 9.90026464e-01 1.40760978e-01 5.82649644e-03 1.17183929e+02] [-1.40758221e-01 9.90043607e-01 -8.82641866e-04 -1.37179246e+01] [-5.89272708e-03 5.37115343e-05 9.99982636e-01 -1.76772021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.225769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:117.21, Y:-13.72, Z:-1.77 [[ 9.90399172e-01 1.38117427e-01 5.74954480e-03 1.17212286e+02] [-1.38114699e-01 9.90415858e-01 -8.70739722e-04 -1.37220987e+01] [-5.81470468e-03 6.82832492e-05 9.99983092e-01 -1.76837088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.255769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:117.24, Y:-13.73, Z:-1.77 [[ 9.90570490e-01 1.36891414e-01 5.55381073e-03 1.17240461e+02] [-1.36888851e-01 9.90586057e-01 -8.40849673e-04 -1.37268715e+01] [-5.61663257e-03 7.26661014e-05 9.99984224e-01 -1.76913510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.285769231 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:117.27, Y:-13.74, Z:-1.77 [[ 9.90872224e-01 1.34717946e-01 4.82819628e-03 1.17268484e+02] [-1.34715984e-01 9.90883984e-01 -7.30836272e-04 -1.37361012e+01] [-4.88263912e-03 7.37301510e-05 9.99988077e-01 -1.77017096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.315769231 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:117.30, Y:-13.74, Z:-1.77 [[ 9.90970405e-01 1.34013588e-01 4.24441579e-03 1.17296154e+02] [-1.34012066e-01 9.90979492e-01 -6.42340945e-04 -1.37439506e+01] [-4.29221142e-03 6.77379381e-05 9.99990786e-01 -1.77060789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.345769231 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:117.32, Y:-13.75, Z:-1.77 [[ 9.90980104e-01 1.33989586e-01 2.28562861e-03 1.17323300e+02] [-1.33989144e-01 9.90982739e-01 -3.46202523e-04 -1.37531942e+01] [-2.31140603e-03 3.68303920e-05 9.99997328e-01 -1.77069772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.375769231 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:117.35, Y:-13.76, Z:-1.77 [[ 9.90847705e-01 1.34974845e-01 1.61780765e-03 1.17351259e+02] [-1.34974625e-01 9.90849025e-01 -2.45042278e-04 -1.37587708e+01] [-1.63607768e-03 2.44365980e-05 9.99998661e-01 -1.77075065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40576923100001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:117.38, Y:-13.76, Z:-1.77 [[ 9.90600145e-01 1.36775432e-01 1.95810571e-03 1.17378032e+02] [-1.36775113e-01 9.90602080e-01 -2.96490180e-04 -1.37645257e+01] [-1.98025616e-03 2.58830865e-05 9.99998039e-01 -1.77138082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43576923100001 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:117.41, Y:-13.77, Z:-1.77 [[ 9.90199715e-01 1.39625538e-01 3.03870471e-03 1.17405654e+02] [-1.39624786e-01 9.90204377e-01 -4.59500246e-04 -1.37705810e+01] [-3.07309667e-03 3.07185193e-05 9.99995278e-01 -1.77149455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:117.43, Y:-13.78, Z:-1.77 [[ 9.88872422e-01 1.48699001e-01 4.46540138e-03 1.17434286e+02] [-1.48697471e-01 9.88882504e-01 -6.74431748e-04 -1.37755833e+01] [-4.51604463e-03 2.93306290e-06 9.99989803e-01 -1.77081816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49576923100001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:117.46, Y:-13.78, Z:-1.77 [[ 9.88014731e-01 1.54296077e-01 4.42861779e-03 1.17462330e+02] [-1.54294628e-01 9.88024656e-01 -6.68924218e-04 -1.37783005e+01] [-4.47879595e-03 -2.24049554e-05 9.99989970e-01 -1.77070079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:117.49, Y:-13.78, Z:-1.77 [[ 9.86316443e-01 1.64821025e-01 3.72870490e-03 1.17490730e+02] [-1.64820073e-01 9.86323490e-01 -5.63194860e-04 -1.37781038e+01] [-3.77053558e-03 -5.90770625e-05 9.99992890e-01 -1.77058595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55576923100001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:117.52, Y:-13.78, Z:-1.77 [[ 9.85698067e-01 1.68487311e-01 3.36842732e-03 1.17517929e+02] [-1.68486555e-01 9.85703821e-01 -5.08735238e-04 -1.37797503e+01] [-3.40598711e-03 -6.60753750e-05 9.99994197e-01 -1.77076225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58576923100001 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:117.55, Y:-13.78, Z:-1.77 [[ 9.85266138e-01 1.70996425e-01 3.29544825e-03 1.17546273e+02] [-1.70995718e-01 9.85271646e-01 -4.97353479e-04 -1.37816000e+01] [-3.33195739e-03 -7.34819975e-05 9.99994446e-01 -1.77068180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.615769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:117.57, Y:-13.78, Z:-1.77 [[ 9.84800953e-01 1.73606510e-01 5.27842477e-03 1.17574198e+02] [-1.73604737e-01 9.84815090e-01 -7.95816027e-04 -1.37804906e+01] [-5.33643121e-03 -1.32639161e-04 9.99985752e-01 -1.77055358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.645769231 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:117.60, Y:-13.78, Z:-1.77 [[ 9.84782855e-01 1.73683136e-01 6.07428380e-03 1.17602657e+02] [-1.73680793e-01 9.84801576e-01 -9.15092512e-04 -1.37819446e+01] [-6.14090040e-03 -1.53819011e-04 9.99981133e-01 -1.77060967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.675769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:117.63, Y:-13.78, Z:-1.77 [[ 9.85004039e-01 1.72422170e-01 6.13500992e-03 1.17631333e+02] [-1.72419758e-01 9.85023134e-01 -9.23815802e-04 -1.37796849e+01] [-6.20241302e-03 -1.47834629e-04 9.99980754e-01 -1.77071652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.705769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:117.66, Y:-13.78, Z:-1.77 [[ 9.85136341e-01 1.71680225e-01 5.68248220e-03 1.17658905e+02] [-1.71678145e-01 9.85152721e-01 -8.55430452e-04 -1.37803792e+01] [-5.74497329e-03 -1.32842376e-04 9.99983489e-01 -1.77073635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.735769231 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:117.69, Y:-13.78, Z:-1.77 [[ 9.85312763e-01 1.70664574e-01 5.68873842e-03 1.17686741e+02] [-1.70662476e-01 9.85329177e-01 -8.55833072e-04 -1.37814513e+01] [-5.75134033e-03 -1.27590936e-04 9.99983453e-01 -1.77185487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76576923100001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:117.71, Y:-13.78, Z:-1.77 [[ 9.85888952e-01 1.67283684e-01 6.25640637e-03 1.17714084e+02] [-1.67281081e-01 9.85908796e-01 -9.40791651e-04 -1.37811652e+01] [-6.32562516e-03 -1.19062324e-04 9.99979986e-01 -1.77283909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:117.74, Y:-13.78, Z:-1.77 [[ 9.86318609e-01 1.64721088e-01 6.52414147e-03 1.17741951e+02] [-1.64718206e-01 9.86340180e-01 -9.80410783e-04 -1.37842336e+01] [-6.59651720e-03 -1.07647477e-04 9.99978237e-01 -1.77292549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82576923100001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:117.77, Y:-13.79, Z:-1.77 [[ 9.87329593e-01 1.58550603e-01 6.47933257e-03 1.17769895e+02] [-1.58547630e-01 9.87350850e-01 -9.73265931e-04 -1.37874345e+01] [-6.55168642e-03 -6.63485655e-05 9.99978535e-01 -1.77245242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85576923100001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:117.80, Y:-13.79, Z:-1.77 [[ 9.87809384e-01 1.55518314e-01 6.83196874e-03 1.17798077e+02] [-1.55514940e-01 9.87833008e-01 -1.02554166e-03 -1.37914227e+01] [-6.90833474e-03 -4.94335323e-05 9.99976136e-01 -1.77246502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:117.83, Y:-13.80, Z:-1.77 [[ 9.88189217e-01 1.53067821e-01 7.23279924e-03 1.17825696e+02] [-1.53063976e-01 9.88215686e-01 -1.08538532e-03 -1.37955090e+01] [-7.31370322e-03 -3.45149417e-05 9.99973254e-01 -1.77200649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:117.85, Y:-13.80, Z:-1.77 [[ 9.88579036e-01 1.50468039e-01 8.41777040e-03 1.17853737e+02] [-1.50462743e-01 9.88614874e-01 -1.26255653e-03 -1.37982889e+01] [-8.51190743e-03 -1.84239158e-05 9.99963773e-01 -1.77209437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:117.88, Y:-13.80, Z:-1.77 [[ 9.88595678e-01 1.50349549e-01 8.57895989e-03 1.17882272e+02] [-1.50344049e-01 9.88632901e-01 -1.28615075e-03 -1.38013248e+01] [-8.67481418e-03 -1.83124930e-05 9.99962373e-01 -1.77226978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.975769231 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:117.91, Y:-13.80, Z:-1.77 [[ 9.88370727e-01 1.51881488e-01 7.43765042e-03 1.17909745e+02] [-1.51877400e-01 9.88398711e-01 -1.11475714e-03 -1.38038465e+01] [-7.52067507e-03 -2.78176835e-05 9.99971719e-01 -1.77274691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.005769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.94, Y:-13.81, Z:-1.77 [[ 9.88135272e-01 1.53410761e-01 7.33638519e-03 1.17937065e+02] [-1.53406827e-01 9.88162505e-01 -1.09934932e-03 -1.38074978e+01] [-7.41819278e-03 -3.91457317e-05 9.99972484e-01 -1.77311199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.035769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:117.97, Y:-13.81, Z:-1.77 [[ 9.87935126e-01 1.54691186e-01 7.40426172e-03 1.17965351e+02] [-1.54687219e-01 9.87962871e-01 -1.10897552e-03 -1.38106470e+01] [-7.48668441e-03 -4.97487858e-05 9.99971973e-01 -1.77312927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.065769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:117.99, Y:-13.81, Z:-1.77 [[ 9.87477178e-01 1.57640582e-01 6.18621296e-03 1.17993798e+02] [-1.57637872e-01 9.87496554e-01 -9.26249920e-04 -1.38117595e+01] [-6.25487856e-03 -6.05307898e-05 9.99980436e-01 -1.77339079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.095769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:118.02, Y:-13.81, Z:-1.77 [[ 9.87203198e-01 1.59379239e-01 5.30133270e-03 1.18021849e+02] [-1.59377275e-01 9.87217430e-01 -7.93530743e-04 -1.38139409e+01] [-5.36004037e-03 -6.15358732e-05 9.99985633e-01 -1.77417819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.125769231 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:118.05, Y:-13.82, Z:-1.77 [[ 9.86928278e-01 1.61082144e-01 5.01172501e-03 1.18048668e+02] [-1.61080412e-01 9.86941000e-01 -7.50157762e-04 -1.38156454e+01] [-5.06711392e-03 -6.69388195e-05 9.99987160e-01 -1.77475625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:118.08, Y:-13.81, Z:-1.77 [[ 9.86584671e-01 1.63120968e-01 6.49895321e-03 1.18076738e+02] [-1.63118108e-01 9.86606071e-01 -9.71332101e-04 -1.38141071e+01] [-6.57035133e-03 -1.01795587e-04 9.99978410e-01 -1.77334053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:118.10, Y:-13.81, Z:-1.77 [[ 9.86520901e-01 1.63491874e-01 6.84979109e-03 1.18103867e+02] [-1.63488709e-01 9.86544675e-01 -1.02328235e-03 -1.38147541e+01] [-6.92492327e-03 -1.10374080e-04 9.99976016e-01 -1.77383962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21576923100001 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:118.13, Y:-13.81, Z:-1.78 [[ 9.86741530e-01 1.62194176e-01 5.84820586e-03 1.18130648e+02] [-1.62191848e-01 9.86758857e-01 -8.73309812e-04 -1.38149540e+01] [-5.91241469e-03 -8.68002557e-05 9.99982518e-01 -1.77512520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24576923100001 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:118.16, Y:-13.82, Z:-1.78 [[ 9.87018493e-01 1.60523266e-01 5.17445490e-03 1.18158534e+02] [-1.60521423e-01 9.87032054e-01 -7.72271581e-04 -1.38175379e+01] [-5.23132040e-03 -6.83645313e-05 9.99986314e-01 -1.77644174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27576923100001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:118.19, Y:-13.82, Z:-1.78 [[ 9.87856110e-01 1.55300663e-01 4.69147214e-03 1.18186847e+02] [-1.55299090e-01 9.87867250e-01 -6.99965628e-04 -1.38166846e+01] [-4.74325680e-03 -3.71160315e-05 9.99988750e-01 -1.77668538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30576923100001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:118.21, Y:-13.82, Z:-1.78 [[ 9.88378142e-01 1.51919581e-01 5.39350394e-03 1.18213424e+02] [-1.51917453e-01 9.88392857e-01 -8.04549325e-04 -1.38188180e+01] [-5.45312757e-03 -2.41684140e-05 9.99985131e-01 -1.77657581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:118.24, Y:-13.82, Z:-1.78 [[ 9.88929138e-01 1.48266412e-01 6.01918532e-03 1.18241042e+02] [-1.48263701e-01 9.88947456e-01 -8.96619232e-04 -1.38222520e+01] [-6.08559652e-03 -5.73380481e-06 9.99981483e-01 -1.77717103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.365769231 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:118.27, Y:-13.83, Z:-1.78 [[ 9.89988485e-01 1.41027391e-01 5.83735268e-03 1.18268593e+02] [-1.41024718e-01 9.90005694e-01 -8.69141456e-04 -1.38268826e+01] [-5.90158514e-03 3.72290171e-05 9.99982585e-01 -1.77872566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.395769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:118.30, Y:-13.83, Z:-1.78 [[ 9.90579900e-01 1.36804625e-01 5.99637368e-03 1.18296302e+02] [-1.36801730e-01 9.90598047e-01 -8.92358239e-04 -1.38309271e+01] [-6.06207479e-03 6.36378452e-05 9.99981623e-01 -1.77912139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.425769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:118.32, Y:-13.84, Z:-1.78 [[ 9.91577515e-01 1.29330761e-01 6.89822997e-03 1.18323907e+02] [-1.29326753e-01 9.91601502e-01 -1.02585507e-03 -1.38369023e+01] [-6.97296981e-03 1.25089138e-04 9.99975681e-01 -1.77878768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.455769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:118.35, Y:-13.84, Z:-1.78 [[ 9.91974161e-01 1.26210377e-01 7.62913514e-03 1.18351710e+02] [-1.26205387e-01 9.92003485e-01 -1.13394683e-03 -1.38433622e+01] [-7.71124450e-03 1.62008006e-04 9.99970255e-01 -1.77841234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.485769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:118.38, Y:-13.85, Z:-1.78 [[ 9.92407372e-01 1.22814857e-01 6.64223554e-03 1.18379751e+02] [-1.22811000e-01 9.92429586e-01 -9.87024935e-04 -1.38511607e+01] [-6.71317240e-03 1.63791234e-04 9.99977453e-01 -1.77843018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:118.41, Y:-13.86, Z:-1.78 [[ 9.92491481e-01 1.22188482e-01 5.53498021e-03 1.18408410e+02] [-1.22185795e-01 9.92506904e-01 -8.22335858e-04 -1.38560840e+01] [-5.59398604e-03 1.39865377e-04 9.99984344e-01 -1.77950133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54576923100001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:118.44, Y:-13.86, Z:-1.78 [[ 9.92498418e-01 1.22167611e-01 4.68676014e-03 1.18436613e+02] [-1.22165685e-01 9.92509476e-01 -6.96186910e-04 -1.38614918e+01] [-4.73670534e-03 1.18403145e-04 9.99988775e-01 -1.78013354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57576923100001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:118.46, Y:-13.87, Z:-1.78 [[ 9.92384890e-01 1.23045910e-01 5.65095386e-03 1.18464436e+02] [-1.23043126e-01 9.92400970e-01 -8.39019439e-04 -1.38697620e+01] [-5.71125000e-03 1.37319187e-04 9.99983681e-01 -1.78033174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60576923100001 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:118.49, Y:-13.88, Z:-1.78 [[ 9.92305042e-01 1.23620596e-01 6.97512044e-03 1.18491741e+02] [-1.23616371e-01 9.92329543e-01 -1.03520278e-03 -1.38754208e+01] [-7.04959046e-03 1.64997858e-04 9.99975138e-01 -1.77957676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:118.52, Y:-13.88, Z:-1.78 [[ 9.92103050e-01 1.25124941e-01 8.67686210e-03 1.18520146e+02] [-1.25118468e-01 9.92140974e-01 -1.28698190e-03 -1.38813326e+01] [-8.76970395e-03 1.91182976e-04 9.99961527e-01 -1.77959647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.55, Y:-13.89, Z:-1.78 [[ 9.91932752e-01 1.26529203e-01 7.73149636e-03 1.18547281e+02] [-1.26524109e-01 9.91962870e-01 -1.14651947e-03 -1.38871518e+01] [-7.81442551e-03 1.59049533e-04 9.99969454e-01 -1.78041227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69576923100001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:118.58, Y:-13.89, Z:-1.78 [[ 9.91758929e-01 1.27965164e-01 6.25654306e-03 1.18575584e+02] [-1.27961858e-01 9.91778656e-01 -9.27491447e-04 -1.38935090e+01] [-6.32379246e-03 1.19249048e-04 9.99979998e-01 -1.78187772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.725769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:118.60, Y:-13.90, Z:-1.78 [[ 9.91403796e-01 1.30810847e-01 2.65227186e-03 1.18602667e+02] [-1.30810263e-01 9.91407343e-01 -3.93407893e-04 -1.38993794e+01] [-2.68094382e-03 4.30816994e-05 9.99996405e-01 -1.78295623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.755769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:118.63, Y:-13.90, Z:-1.78 [[ 9.91413778e-01 1.30735178e-01 2.65224469e-03 1.18631689e+02] [-1.30734592e-01 9.91417325e-01 -3.93591573e-04 -1.39035705e+01] [-2.68093760e-03 4.34719798e-05 9.99996405e-01 -1.78333929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.785769231 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:118.66, Y:-13.91, Z:-1.78 [[ 9.91162700e-01 1.32627491e-01 2.53994894e-03 1.18660647e+02] [-1.32626961e-01 9.91165954e-01 -3.76483106e-04 -1.39080380e+01] [-2.56744293e-03 3.62903014e-05 9.99996703e-01 -1.78354975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.815769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:118.69, Y:-13.92, Z:-1.78 [[ 9.90655915e-01 1.36284893e-01 5.22354294e-03 1.18687143e+02] [-1.36282709e-01 9.90669685e-01 -7.73402807e-04 -1.39158241e+01] [-5.28020876e-03 5.42974806e-05 9.99986058e-01 -1.78243012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.845769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.71, Y:-13.92, Z:-1.78 [[ 9.90458393e-01 1.37669814e-01 6.26048423e-03 1.18714585e+02] [-1.37666708e-01 9.90478177e-01 -9.26356831e-04 -1.39229172e+01] [-6.32840438e-03 5.56576416e-05 9.99979974e-01 -1.78234553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.875769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:118.74, Y:-13.93, Z:-1.78 [[ 9.90356764e-01 1.38404288e-01 6.14273878e-03 1.18742761e+02] [-1.38401315e-01 9.90375813e-01 -9.08519595e-04 -1.39289663e+01] [-6.20936292e-03 4.95954023e-05 9.99980720e-01 -1.78278082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:118.77, Y:-13.93, Z:-1.78 [[ 9.90151229e-01 1.39894990e-01 5.47129033e-03 1.18771668e+02] [-1.39892655e-01 9.90166345e-01 -8.09016832e-04 -1.39336261e+01] [-5.53066494e-03 3.56556810e-05 9.99984705e-01 -1.78349779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:118.80, Y:-13.94, Z:-1.78 [[ 9.89964415e-01 1.41165518e-01 6.53856643e-03 1.18799794e+02] [-1.41162214e-01 9.89986008e-01 -9.66403480e-04 -1.39382187e+01] [-6.60951213e-03 3.37065411e-05 9.99978156e-01 -1.78372077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:118.83, Y:-13.95, Z:-1.78 [[ 9.89702044e-01 1.42941246e-01 7.59369572e-03 1.18828017e+02] [-1.42936845e-01 9.89731175e-01 -1.12188811e-03 -1.39458705e+01] [-7.67608148e-03 2.49160496e-05 9.99970538e-01 -1.78475934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:118.86, Y:-13.95, Z:-1.79 [[ 9.89707628e-01 1.42919946e-01 7.25946509e-03 1.18855831e+02] [-1.42915926e-01 9.89734251e-01 -1.07224869e-03 -1.39513679e+01] [-7.33818698e-03 2.37195310e-05 9.99973075e-01 -1.78505922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02576923100001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:118.88, Y:-13.96, Z:-1.78 [[ 9.89838193e-01 1.42040456e-01 6.69776422e-03 1.18884154e+02] [-1.42037016e-01 9.89860853e-01 -9.88862632e-04 -1.39558025e+01] [-6.77031310e-03 2.74835575e-05 9.99977081e-01 -1.78080131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.91, Y:-13.96, Z:-1.79 [[ 9.90228819e-01 1.39342957e-01 5.51594869e-03 1.18912171e+02] [-1.39340583e-01 9.90244181e-01 -8.14222517e-04 -1.39625035e+01] [-5.57559227e-03 3.76710927e-05 9.99984456e-01 -1.78607054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08576923100001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:118.94, Y:-13.97, Z:-1.79 [[ 9.90430816e-01 1.37916535e-01 5.08214963e-03 1.18939139e+02] [-1.37914502e-01 9.90443854e-01 -7.50081921e-04 -1.39687767e+01] [-5.13703256e-03 4.20021163e-05 9.99986804e-01 -1.78647463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.115769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.97, Y:-13.98, Z:-1.79 [[ 9.90723267e-01 1.35692934e-01 7.40510438e-03 1.18966886e+02] [-1.35688561e-01 9.90750938e-01 -1.09203368e-03 -1.39783997e+01] [-7.48479537e-03 7.71152169e-05 9.99971986e-01 -1.78594573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.145769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:118.99, Y:-13.98, Z:-1.79 [[ 9.90855230e-01 1.34608358e-01 9.30069777e-03 1.18994668e+02] [-1.34601418e-01 9.90898874e-01 -1.37097416e-03 -1.39847910e+01] [-9.40059553e-03 1.06549812e-04 9.99955808e-01 -1.78570490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.175769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:119.02, Y:-13.99, Z:-1.79 [[ 9.91053622e-01 1.33093833e-01 9.93730596e-03 1.19023244e+02] [-1.33085840e-01 9.91103433e-01 -1.46421460e-03 -1.39913268e+01] [-1.00437760e-02 1.28600465e-04 9.99949552e-01 -1.78581193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.205769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:119.05, Y:-14.00, Z:-1.79 [[ 9.91495883e-01 1.29877086e-01 8.23753504e-03 1.19051427e+02] [-1.29871485e-01 9.91530093e-01 -1.21355794e-03 -1.40014609e+01] [-8.32537725e-03 1.33416792e-04 9.99965335e-01 -1.78662156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.235769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.08, Y:-14.01, Z:-1.79 [[ 9.91531206e-01 1.29646353e-01 7.59543092e-03 1.19081208e+02] [-1.29641585e-01 9.91560289e-01 -1.11881862e-03 -1.40090591e+01] [-7.67637843e-03 1.24659867e-04 9.99970528e-01 -1.78648363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:-14.02, Z:-1.79 [[ 9.90909902e-01 1.34211748e-01 9.20723496e-03 1.19108672e+02] [-1.34204937e-01 9.90952670e-01 -1.35637387e-03 -1.40175689e+01] [-9.30597538e-03 1.08387901e-04 9.99956693e-01 -1.78573210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:-14.02, Z:-1.79 [[ 9.90393496e-01 1.37952126e-01 9.48333779e-03 1.19138236e+02] [-1.37945077e-01 9.90438895e-01 -1.39664967e-03 -1.40230886e+01] [-9.58533740e-03 7.50529945e-05 9.99954057e-01 -1.78536218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:-14.03, Z:-1.79 [[ 9.89834921e-01 1.41951000e-01 8.76027603e-03 1.19166476e+02] [-1.41945142e-01 9.89873685e-01 -1.29002626e-03 -1.40284185e+01] [-8.85468724e-03 3.34344211e-05 9.99960796e-01 -1.78600748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:119.19, Y:-14.03, Z:-1.79 [[ 9.88709238e-01 1.49712350e-01 6.34468032e-03 1.19194365e+02] [-1.49709438e-01 9.88729595e-01 -9.34208707e-04 -1.40339911e+01] [-6.41303579e-03 -2.61977437e-05 9.99979436e-01 -1.78862204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.22, Y:-14.04, Z:-1.79 [[ 9.88259557e-01 1.52667518e-01 5.97301775e-03 1.19222559e+02] [-1.52664992e-01 9.88277606e-01 -8.79392209e-04 -1.40389582e+01] [-6.03725431e-03 -4.28029493e-05 9.99981775e-01 -1.78959007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.25, Y:-14.05, Z:-1.79 [[ 9.87906685e-01 1.54957649e-01 5.33928372e-03 1.19250137e+02] [-1.54955664e-01 9.87921113e-01 -7.85986575e-04 -1.40452252e+01] [-5.39658575e-03 -5.08708610e-05 9.99985437e-01 -1.78962517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:119.28, Y:-14.05, Z:-1.79 [[ 9.87879322e-01 1.55150200e-01 4.78117325e-03 1.19278874e+02] [-1.55148612e-01 9.87890891e-01 -7.03516861e-04 -1.40504254e+01] [-4.83242829e-03 -4.68026349e-05 9.99988323e-01 -1.79030378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.475769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:119.31, Y:-14.06, Z:-1.79 [[ 9.87884541e-01 1.55129202e-01 4.36620476e-03 1.19306387e+02] [-1.55127878e-01 9.87894189e-01 -6.42401195e-04 -1.40551190e+01] [-4.41300349e-03 -4.27018670e-05 9.99990262e-01 -1.79071310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.505769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:119.33, Y:-14.06, Z:-1.79 [[ 9.87652424e-01 1.56599606e-01 4.38772272e-03 1.19334911e+02] [-1.56598285e-01 9.87662169e-01 -6.45201014e-04 -1.40586188e+01] [-4.43462597e-03 -4.98755087e-05 9.99990166e-01 -1.79126271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.535769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:119.36, Y:-14.06, Z:-1.79 [[ 9.87310867e-01 1.58719418e-01 5.03962577e-03 1.19362385e+02] [-1.58717704e-01 9.87323727e-01 -7.40819292e-04 -1.40616669e+01] [-5.09332450e-03 -6.84588923e-05 9.99987027e-01 -1.79172452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.565769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:119.39, Y:-14.06, Z:-1.79 [[ 9.86312848e-01 1.64768419e-01 6.19151093e-03 1.19391853e+02] [-1.64765954e-01 9.86332273e-01 -9.09518978e-04 -1.40622023e+01] [-6.25674705e-03 -1.23079952e-04 9.99980419e-01 -1.79021460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.595769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:119.42, Y:-14.06, Z:-1.79 [[ 9.85787999e-01 1.67872600e-01 6.38839975e-03 1.19419478e+02] [-1.67870043e-01 9.85808687e-01 -9.38189980e-04 -1.40637292e+01] [-6.45523637e-03 -1.47564522e-04 9.99979154e-01 -1.79039662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.625769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:119.45, Y:-14.06, Z:-1.79 [[ 9.85333318e-01 1.70508314e-01 6.72072519e-03 1.19447019e+02] [-1.70505548e-01 9.85356222e-01 -9.86540114e-04 -1.40647176e+01] [-6.79052167e-03 -1.73850090e-04 9.99976929e-01 -1.79115857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.48, Y:-14.06, Z:-1.79 [[ 9.84653914e-01 1.74374634e-01 7.08211305e-03 1.19475965e+02] [-1.74371666e-01 9.84679360e-01 -1.03921282e-03 -1.40626537e+01] [-7.15482290e-03 -2.11654881e-04 9.99974382e-01 -1.79201355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.50, Y:-14.06, Z:-1.79 [[ 9.84462533e-01 1.75463801e-01 6.78061431e-03 1.19503607e+02] [-1.75461108e-01 9.84485861e-01 -9.94609240e-04 -1.40636069e+01] [-6.84993684e-03 -2.10578569e-04 9.99976517e-01 -1.79186402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:119.53, Y:-14.06, Z:-1.79 [[ 9.84337077e-01 1.76197952e-01 5.89922015e-03 1.19532329e+02] [-1.76195929e-01 9.84354736e-01 -8.64902760e-04 -1.40640453e+01] [-5.95931939e-03 -1.88062722e-04 9.99982225e-01 -1.79138617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:119.56, Y:-14.06, Z:-1.79 [[ 9.84204586e-01 1.76941595e-01 5.74493021e-03 1.19561427e+02] [-1.76939692e-01 9.84221335e-01 -8.41909922e-04 -1.40601675e+01] [-5.80325177e-03 -1.87894575e-04 9.99983143e-01 -1.79109385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:119.59, Y:-14.06, Z:-1.79 [[ 9.84321593e-01 1.76215676e-01 7.68354181e-03 1.19589389e+02] [-1.76212256e-01 9.84351550e-01 -1.12520932e-03 -1.40604650e+01] [-7.76158581e-03 -2.46366411e-04 9.99969848e-01 -1.79127820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.62, Y:-14.06, Z:-1.79 [[ 9.84600230e-01 1.74423183e-01 1.17872728e-02 1.19616459e+02] [-1.74415021e-01 9.84670719e-01 -1.72485256e-03 -1.40589449e+01] [-1.19074367e-02 -3.57587208e-04 9.99929040e-01 -1.79182248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:-14.06, Z:-1.79 [[ 9.84831783e-01 1.73086436e-01 1.21427170e-02 1.19644417e+02] [-1.73077686e-01 9.84906575e-01 -1.77581520e-03 -1.40607268e+01] [-1.22668113e-02 -3.52754109e-04 9.99924698e-01 -1.79234111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.67, Y:-14.06, Z:-1.79 [[ 9.85145708e-01 1.71338567e-01 1.14468500e-02 1.19671881e+02] [-1.71330682e-01 9.85212159e-01 -1.67325800e-03 -1.40628043e+01] [-1.15642694e-02 -3.12793677e-04 9.99933083e-01 -1.79353286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:-14.06, Z:-1.79 [[ 9.86170209e-01 1.65506734e-01 8.70856886e-03 1.19699643e+02] [-1.65501946e-01 9.86208642e-01 -1.27265019e-03 -1.40645609e+01] [-8.79909805e-03 -1.86235386e-04 9.99961270e-01 -1.79405733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.925769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:119.73, Y:-14.07, Z:-1.79 [[ 9.86902572e-01 1.61103413e-01 8.30681988e-03 1.19727069e+02] [-1.61098905e-01 9.86937521e-01 -1.21333104e-03 -1.40681144e+01] [-8.39378400e-03 -1.40780064e-04 9.99964762e-01 -1.79482593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.955769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:119.76, Y:-14.07, Z:-1.80 [[ 9.88227778e-01 1.52701622e-01 9.38474981e-03 1.19755244e+02] [-1.52695496e-01 9.88272335e-01 -1.37007707e-03 -1.40713527e+01] [-9.48390160e-03 -7.90608129e-05 9.99955024e-01 -1.79526224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.78, Y:-14.08, Z:-1.80 [[ 9.88715904e-01 1.49467731e-01 1.00129359e-02 1.19784233e+02] [-1.49460597e-01 9.88766603e-01 -1.46126557e-03 -1.40753848e+01] [-1.01188687e-02 -5.17628659e-05 9.99948802e-01 -1.79516489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.81, Y:-14.08, Z:-1.79 [[ 9.89335507e-01 1.45349412e-01 9.42355903e-03 1.19812864e+02] [-1.45342910e-01 9.89380386e-01 -1.37484043e-03 -1.40781812e+01] [-9.52331672e-03 -9.46904222e-06 9.99954652e-01 -1.79476051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.84, Y:-14.08, Z:-1.80 [[ 9.89488720e-01 1.44366313e-01 8.39290164e-03 1.19841357e+02] [-1.44361122e-01 9.89524314e-01 -1.22414121e-03 -1.40806811e+01] [-8.48170499e-03 -3.34779413e-07 9.99964030e-01 -1.79513502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.87, Y:-14.08, Z:-1.80 [[ 9.89559226e-01 1.43950083e-01 7.13527267e-03 1.19870428e+02] [-1.43946323e-01 9.89584950e-01 -1.04045852e-03 -1.40831247e+01] [-7.21073254e-03 2.49905729e-06 9.99974002e-01 -1.79537012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.90, Y:-14.09, Z:-1.80 [[ 9.89615341e-01 1.43553772e-01 7.33425355e-03 1.19899163e+02] [-1.43549791e-01 9.89642519e-01 -1.06910916e-03 -1.40858216e+01] [-7.41176381e-03 5.17626800e-06 9.99972532e-01 -1.79633674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.93, Y:-14.09, Z:-1.80 [[ 9.89634923e-01 1.43340970e-01 8.72274831e-03 1.19926306e+02] [-1.43335334e-01 9.89673363e-01 -1.27103595e-03 -1.40891840e+01] [-8.81486319e-03 7.58351441e-06 9.99961148e-01 -1.79653148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.95, Y:-14.09, Z:-1.80 [[ 9.89733527e-01 1.42433106e-01 1.18471863e-02 1.19954637e+02] [-1.42422659e-01 9.89804430e-01 -1.72521993e-03 -1.40904508e+01] [-1.19721259e-02 2.02002242e-05 9.99928331e-01 -1.79528235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:-14.09, Z:-1.80 [[ 9.89879930e-01 1.41386348e-01 1.21500921e-02 1.19983517e+02] [-1.41375290e-01 9.89954494e-01 -1.76860028e-03 -1.40927936e+01] [-1.22780942e-02 3.29791289e-05 9.99924621e-01 -1.79548042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:-14.10, Z:-1.80 [[ 9.90061306e-01 1.40176361e-01 1.13665005e-02 1.20011850e+02] [-1.40166609e-01 9.90126550e-01 -1.65405597e-03 -1.40957459e+01] [-1.14861334e-02 4.44129912e-05 9.99934031e-01 -1.79643048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:-14.10, Z:-1.80 [[ 9.90234430e-01 1.39080632e-01 9.60991307e-03 1.20040443e+02] [-1.39073613e-01 9.90281059e-01 -1.39809132e-03 -1.40995273e+01] [-9.71096231e-03 4.79528267e-05 9.99952846e-01 -1.79814029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:-14.10, Z:-1.80 [[ 9.90458319e-01 1.37648421e-01 6.72535856e-03 1.20068647e+02] [-1.37644952e-01 9.90481151e-01 -9.78314847e-04 -1.41045267e+01] [-6.79600438e-03 4.32684268e-05 9.99976906e-01 -1.80061071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.315769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:-14.11, Z:-1.80 [[ 9.90930756e-01 1.34198487e-01 6.85587413e-03 1.20097133e+02] [-1.34194801e-01 9.90954470e-01 -9.96966164e-04 -1.41096815e+01] [-6.92765047e-03 6.79017692e-05 9.99976001e-01 -1.80029485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.345769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.12, Y:-14.11, Z:-1.80 [[ 9.91182319e-01 1.32284821e-01 7.63783109e-03 1.20124749e+02] [-1.32280192e-01 9.91211742e-01 -1.11030223e-03 -1.41148148e+01] [-7.71758399e-03 9.01781799e-05 9.99970215e-01 -1.80036767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:-14.12, Z:-1.80 [[ 9.91337922e-01 1.31061562e-01 8.48480878e-03 1.20152489e+02] [-1.31055810e-01 9.91374225e-01 -1.23284864e-03 -1.41208128e+01] [-8.57319980e-03 1.10186125e-04 9.99963243e-01 -1.80034064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.18, Y:-14.13, Z:-1.80 [[ 9.91383552e-01 1.30707993e-01 8.60662350e-03 1.20181037e+02] [-1.30702066e-01 9.91420903e-01 -1.24995388e-03 -1.41266309e+01] [-8.69616541e-03 1.14280239e-04 9.99962181e-01 -1.80010764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:-14.13, Z:-1.80 [[ 9.91296359e-01 1.31438917e-01 7.43901852e-03 1.20208609e+02] [-1.31434511e-01 9.91324267e-01 -1.08016640e-03 -1.41310560e+01] [-7.51645549e-03 9.30212549e-05 9.99971747e-01 -1.80057957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.24, Y:-14.14, Z:-1.80 [[ 9.91242731e-01 1.31871419e-01 6.91210355e-03 1.20236275e+02] [-1.31867629e-01 9.91266827e-01 -1.00330195e-03 -1.41352956e+01] [-6.98404580e-03 8.30330604e-05 9.99975608e-01 -1.80174958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.26, Y:-14.14, Z:-1.80 [[ 9.90977337e-01 1.33850293e-01 6.92944543e-03 1.20264814e+02] [-1.33846536e-01 9.91001561e-01 -1.00527394e-03 -1.41412306e+01] [-7.00164745e-03 6.87214268e-05 9.99975486e-01 -1.80280490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:-14.15, Z:-1.80 [[ 9.90745175e-01 1.35541960e-01 7.23712434e-03 1.20292953e+02] [-1.35537909e-01 9.90771605e-01 -1.04954704e-03 -1.41460782e+01] [-7.31259496e-03 5.89289621e-05 9.99973261e-01 -1.80252530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:-14.15, Z:-1.80 [[ 9.90085212e-01 1.40264634e-01 7.55677759e-03 1.20320797e+02] [-1.40260358e-01 9.90114050e-01 -1.09556780e-03 -1.41506433e+01] [-7.63574108e-03 2.47891484e-05 9.99970847e-01 -1.80165868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.35, Y:-14.15, Z:-1.80 [[ 9.89719236e-01 1.42850317e-01 7.04419594e-03 1.20349143e+02] [-1.42846670e-01 9.89744304e-01 -1.02079965e-03 -1.41545572e+01] [-7.11777436e-03 4.06512301e-06 9.99974668e-01 -1.80211009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.38, Y:-14.16, Z:-1.80 [[ 9.89378590e-01 1.45202114e-01 6.80824028e-03 1.20376801e+02] [-1.45198764e-01 9.89402014e-01 -9.86368477e-04 -1.41576331e+01] [-6.87930944e-03 -1.26562225e-05 9.99976337e-01 -1.80329836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.645769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.41, Y:-14.16, Z:-1.80 [[ 9.89057336e-01 1.47371922e-01 6.86318886e-03 1.20405314e+02] [-1.47368574e-01 9.89081147e-01 -9.93829127e-04 -1.41598013e+01] [-6.93471322e-03 -2.84643679e-05 9.99975954e-01 -1.80461396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:-14.16, Z:-1.81 [[ 9.88433460e-01 1.51517190e-01 6.46813572e-03 1.20433265e+02] [-1.51514305e-01 9.88454621e-01 -9.36502626e-04 -1.41590360e+01] [-6.53535489e-03 -5.43445605e-05 9.99978643e-01 -1.80568382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:-14.16, Z:-1.81 [[ 9.88442340e-01 1.51459242e-01 6.46821236e-03 1.20461482e+02] [-1.51456360e-01 9.88463502e-01 -9.35972880e-04 -1.41629847e+01] [-6.53535358e-03 -5.44966750e-05 9.99978643e-01 -1.80605604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:-14.16, Z:-1.81 [[ 9.87955702e-01 1.54649071e-01 5.21488540e-03 1.20489408e+02] [-1.54647242e-01 9.87969464e-01 -7.54631325e-04 -1.41609920e+01] [-5.26885056e-03 -6.09253252e-05 9.99986118e-01 -1.80606575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.52, Y:-14.16, Z:-1.81 [[ 9.87813891e-01 1.55558623e-01 5.02321078e-03 1.20517909e+02] [-1.55556940e-01 9.87826660e-01 -7.26426722e-04 -1.41615444e+01] [-5.07506347e-03 -6.38208891e-05 9.99987120e-01 -1.80546960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:-14.16, Z:-1.81 [[ 9.87674661e-01 1.56434727e-01 5.19042399e-03 1.20545516e+02] [-1.56432944e-01 9.87688297e-01 -7.50292921e-04 -1.41620085e+01] [-5.24389290e-03 -7.09079996e-05 9.99986248e-01 -1.80523043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.57, Y:-14.16, Z:-1.80 [[ 9.87671065e-01 1.56459620e-01 5.12384478e-03 1.20573897e+02] [-1.56457886e-01 9.87684354e-01 -7.40162525e-04 -1.41625785e+01] [-5.17654686e-03 -7.06288103e-05 9.99986599e-01 -1.80486464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.60, Y:-14.16, Z:-1.81 [[ 9.87996667e-01 1.54372840e-01 5.62242430e-03 1.20601657e+02] [-1.54370718e-01 9.88012663e-01 -8.12050821e-04 -1.41598665e+01] [-5.68038500e-03 -6.56341722e-05 9.99983864e-01 -1.80614527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.63, Y:-14.16, Z:-1.81 [[ 9.88378697e-01 1.51863578e-01 6.70857669e-03 1.20630002e+02] [-1.51860509e-01 9.88401462e-01 -9.67497088e-04 -1.41612448e+01] [-6.77769458e-03 -6.25143576e-05 9.99977029e-01 -1.80665504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.66, Y:-14.16, Z:-1.81 [[ 9.89132475e-01 1.46777689e-01 8.55904333e-03 1.20657758e+02] [-1.46772510e-01 9.89169505e-01 -1.23353373e-03 -1.41598525e+01] [-8.64739988e-03 -3.61040021e-05 9.99962610e-01 -1.80631082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.69, Y:-14.16, Z:-1.81 [[ 9.89457359e-01 1.44494684e-01 9.76832347e-03 1.20685633e+02] [-1.44487837e-01 9.89505576e-01 -1.40679483e-03 -1.41610776e+01] [-9.86908492e-03 -1.94404335e-05 9.99951299e-01 -1.80618637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.975769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.71, Y:-14.16, Z:-1.81 [[ 9.89683319e-01 1.42908282e-01 1.02054687e-02 1.20713496e+02] [-1.42900732e-01 9.89735936e-01 -1.46900817e-03 -1.41623784e+01] [-1.03106526e-02 -4.51607251e-06 9.99946844e-01 -1.80587947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.005769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.74, Y:-14.16, Z:-1.81 [[ 9.89908879e-01 1.41324905e-01 1.03769768e-02 1.20741034e+02] [-1.41317019e-01 9.89963268e-01 -1.49298883e-03 -1.41602549e+01] [-1.04838224e-02 1.14794732e-05 9.99945043e-01 -1.80636100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.77, Y:-14.16, Z:-1.81 [[ 9.90006445e-01 1.40622281e-01 1.06118928e-02 1.20768991e+02] [-1.40614003e-01 9.90063318e-01 -1.52589423e-03 -1.41611830e+01] [-1.07210206e-02 1.84643998e-05 9.99942528e-01 -1.80682799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.065769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.80, Y:-14.16, Z:-1.81 [[ 9.90093133e-01 1.39989083e-01 1.08924267e-02 1.20795956e+02] [-1.39980332e-01 9.90153047e-01 -1.56545327e-03 -1.41628486e+01] [-1.10043158e-02 2.52190247e-05 9.99939450e-01 -1.80678853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:-14.16, Z:-1.81 [[ 9.90434388e-01 1.37554125e-01 1.08897411e-02 1.20823667e+02] [-1.37545242e-01 9.90494250e-01 -1.56414367e-03 -1.41633795e+01] [-1.10013804e-02 5.13496054e-05 9.99939482e-01 -1.80723363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:-14.16, Z:-1.81 [[ 9.90717878e-01 1.35686523e-01 8.20087976e-03 1.20850705e+02] [-1.35681423e-01 9.90751818e-01 -1.17762365e-03 -1.41625735e+01] [-8.28482419e-03 5.39857612e-05 9.99965679e-01 -1.80824745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:-14.16, Z:-1.81 [[ 9.90832323e-01 1.34928657e-01 6.75018235e-03 1.20878962e+02] [-1.34925187e-01 9.90855315e-01 -9.68872263e-04 -1.41648889e+01] [-6.81918269e-03 4.92203351e-05 9.99976748e-01 -1.81016966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.91, Y:-14.17, Z:-1.81 [[ 9.91005822e-01 1.33695214e-01 5.74888132e-03 1.20905550e+02] [-1.33692677e-01 9.91022496e-01 -8.25158936e-04 -1.41682565e+01] [-5.80759052e-03 4.91539756e-05 9.99983135e-01 -1.81079940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.93, Y:-14.17, Z:-1.81 [[ 9.91248210e-01 1.31873330e-01 6.03410038e-03 1.20932052e+02] [-1.31870507e-01 9.91266574e-01 -8.65143993e-04 -1.41713765e+01] [-6.09549143e-03 6.18525590e-05 9.99981420e-01 -1.81137239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.96, Y:-14.17, Z:-1.81 [[ 9.91696487e-01 1.28343134e-01 8.13124401e-03 1.20960482e+02] [-1.28337898e-01 9.91729816e-01 -1.16472774e-03 -1.41727498e+01] [-8.21348194e-03 1.11509646e-04 9.99966263e-01 -1.81091168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.99, Y:-14.18, Z:-1.81 [[ 9.91888925e-01 1.26812237e-01 8.66123234e-03 1.20988681e+02] [-1.26806243e-01 9.91926731e-01 -1.23996174e-03 -1.41758676e+01] [-8.74855021e-03 1.31605985e-04 9.99961722e-01 -1.81113266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.02, Y:-14.18, Z:-1.81 [[ 9.92038826e-01 1.25665389e-01 8.19618732e-03 1.21016602e+02] [-1.25659987e-01 9.92072675e-01 -1.17285096e-03 -1.41800307e+01] [-8.27860025e-03 1.33580893e-04 9.99965723e-01 -1.81174851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:-14.18, Z:-1.81 [[ 9.92030441e-01 1.25785594e-01 7.32041912e-03 1.21043046e+02] [-1.25781289e-01 9.92057443e-01 -1.04733232e-03 -1.41830194e+01] [-7.39401559e-03 1.18213789e-04 9.99972657e-01 -1.81236447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:-14.19, Z:-1.81 [[ 9.91963643e-01 1.26323123e-01 7.11334898e-03 1.21071031e+02] [-1.26319079e-01 9.91989141e-01 -1.01669461e-03 -1.41850120e+01] [-7.18479698e-03 1.09972394e-04 9.99974183e-01 -1.81268578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:-14.18, Z:-1.81 [[ 9.91611963e-01 1.29038487e-01 7.40158805e-03 1.21099414e+02] [-1.29034189e-01 9.91639582e-01 -1.05732426e-03 -1.41846527e+01] [-7.47614320e-03 9.33974786e-05 9.99972049e-01 -1.81223455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.425769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:121.13, Y:-14.19, Z:-1.81 [[ 9.91427896e-01 1.30469397e-01 6.96162183e-03 1.21125928e+02] [-1.30465633e-01 9.91452334e-01 -9.94103519e-04 -1.41876546e+01] [-7.03181630e-03 7.73295638e-05 9.99975273e-01 -1.81274342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.455769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.15, Y:-14.19, Z:-1.82 [[ 9.91237101e-01 1.32022724e-01 4.36012656e-03 1.21154271e+02] [-1.32021263e-01 9.91246689e-01 -6.22547867e-04 -1.41897562e+01] [-4.40415148e-03 4.14631299e-05 9.99990301e-01 -1.81522803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.18, Y:-14.19, Z:-1.82 [[ 9.91255609e-01 1.31899608e-01 3.84853048e-03 1.21182657e+02] [-1.31898470e-01 9.91263079e-01 -5.49341680e-04 -1.41924374e+01] [-3.88736412e-03 3.69227409e-05 9.99992443e-01 -1.81590961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.21, Y:-14.20, Z:-1.82 [[ 9.91342516e-01 1.31214581e-01 4.76970054e-03 1.21209173e+02] [-1.31212826e-01 9.91353989e-01 -6.80369969e-04 -1.41951265e+01] [-4.81773612e-03 4.86337876e-05 9.99988393e-01 -1.81621989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.24, Y:-14.20, Z:-1.82 [[ 9.91823614e-01 1.27406035e-01 7.32260845e-03 1.21237110e+02] [-1.27401804e-01 9.91850640e-01 -1.04329116e-03 -1.41984248e+01] [-7.39585547e-03 1.01847280e-04 9.99972645e-01 -1.81532266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:-14.20, Z:-1.82 [[ 9.92147348e-01 1.24826038e-01 7.88039032e-03 1.21264215e+02] [-1.24821061e-01 9.92178635e-01 -1.12218854e-03 -1.42017921e+01] [-7.95883326e-03 1.29737701e-04 9.99968320e-01 -1.81534707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.29, Y:-14.20, Z:-1.82 [[ 9.92237433e-01 1.24168477e-01 6.86046383e-03 1.21291561e+02] [-1.24164692e-01 9.92261143e-01 -9.76514881e-04 -1.42046208e+01] [-6.92862405e-03 1.17107239e-04 9.99975990e-01 -1.81590786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.32, Y:-14.21, Z:-1.82 [[ 9.92024313e-01 1.25880940e-01 6.46155451e-03 1.21319697e+02] [-1.25877623e-01 9.92045351e-01 -9.19208925e-04 -1.42078958e+01] [-6.52586600e-03 9.85124817e-05 9.99978701e-01 -1.81657621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:-14.21, Z:-1.82 [[ 9.91574832e-01 1.29274754e-01 8.20922679e-03 1.21346264e+02] [-1.29269520e-01 9.91608808e-01 -1.16724657e-03 -1.42104780e+01] [-8.29123710e-03 9.62095171e-05 9.99965622e-01 -1.81564795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.37, Y:-14.21, Z:-1.81 [[ 9.91496866e-01 1.29767360e-01 9.71581451e-03 1.21374516e+02] [-1.29760069e-01 9.91544462e-01 -1.37983375e-03 -1.42127534e+01] [-9.81271946e-03 1.07376086e-04 9.99951848e-01 -1.81434406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.725769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.40, Y:-14.22, Z:-1.81 [[ 9.91545917e-01 1.29300872e-01 1.08618264e-02 1.21401433e+02] [-1.29291740e-01 9.91605400e-01 -1.54174762e-03 -1.42151913e+01] [-1.09699950e-02 1.24369132e-04 9.99939820e-01 -1.81461677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:-14.22, Z:-1.82 [[ 9.91761324e-01 1.27626239e-01 1.10008813e-02 1.21429010e+02] [-1.27616779e-01 9.91822324e-01 -1.56056436e-03 -1.42197663e+01] [-1.11100887e-02 1.43810335e-04 9.99938271e-01 -1.81587012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:-14.23, Z:-1.82 [[ 9.92617254e-01 1.20841283e-01 1.04101747e-02 1.21455263e+02] [-1.20832445e-01 9.92671820e-01 -1.47608794e-03 -1.42290863e+01] [-1.05122594e-02 2.07303492e-04 9.99944723e-01 -1.81800505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.815769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:-14.23, Z:-1.82 [[ 9.93037620e-01 1.17314705e-01 1.06557814e-02 1.21482515e+02] [-1.17305253e-01 9.93094758e-01 -1.50994166e-03 -1.42349502e+01] [-1.07593390e-02 2.49449743e-04 9.99942086e-01 -1.81789817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:-14.24, Z:-1.82 [[ 9.93547592e-01 1.12853821e-01 1.12781597e-02 1.21509834e+02] [-1.12842954e-01 9.93611552e-01 -1.59729317e-03 -1.42406516e+01] [-1.13863704e-02 3.14325929e-04 9.99935124e-01 -1.81662302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.54, Y:-14.25, Z:-1.82 [[ 9.93616442e-01 1.12307012e-01 1.06537195e-02 1.21537881e+02] [-1.12297290e-01 9.93673510e-01 -1.50826902e-03 -1.42471348e+01] [-1.07557080e-02 3.02257072e-04 9.99942110e-01 -1.81712811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:-14.25, Z:-1.82 [[ 9.93636812e-01 1.12201651e-01 9.83239604e-03 1.21564408e+02] [-1.12193369e-01 9.93685419e-01 -1.39163030e-03 -1.42547611e+01] [-9.92645180e-03 2.79645459e-04 9.99950692e-01 -1.81891363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.59, Y:-14.27, Z:-1.82 [[ 9.93674912e-01 1.12060478e-01 7.25392871e-03 1.21590818e+02] [-1.12055968e-01 9.93701367e-01 -1.02648013e-03 -1.42658673e+01] [-7.32326673e-03 2.07141544e-04 9.99973163e-01 -1.82057851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.62, Y:-14.27, Z:-1.82 [[ 9.93655280e-01 1.12300897e-01 6.13953463e-03 1.21617777e+02] [-1.12297672e-01 9.93674232e-01 -8.68636989e-04 -1.42715741e+01] [-6.19824607e-03 1.73670286e-04 9.99980776e-01 -1.82108662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:-14.28, Z:-1.82 [[ 9.93529163e-01 1.13446304e-01 5.45322575e-03 1.21644116e+02] [-1.13443779e-01 9.93544118e-01 -7.71164376e-04 -1.42806235e+01] [-5.50550611e-03 1.47539760e-04 9.99984834e-01 -1.82108436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.67, Y:-14.29, Z:-1.82 [[ 9.93452486e-01 1.14083200e-01 6.09766645e-03 1.21671904e+02] [-1.14080058e-01 9.93471186e-01 -8.61768955e-04 -1.42887557e+01] [-6.15616929e-03 1.60504369e-04 9.99981038e-01 -1.82127081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:-14.30, Z:-1.82 [[ 9.93345919e-01 1.14917165e-01 7.61120765e-03 1.21698203e+02] [-1.14912297e-01 9.93375059e-01 -1.07523312e-03 -1.42986439e+01] [-7.68434659e-03 1.93457075e-04 9.99970456e-01 -1.82044593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:-14.30, Z:-1.82 [[ 9.93221105e-01 1.15929081e-01 8.50205658e-03 1.21725387e+02] [-1.15923049e-01 9.93257472e-01 -1.20051396e-03 -1.43038378e+01] [-8.58390570e-03 2.06791481e-04 9.99963136e-01 -1.82111336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:-14.31, Z:-1.82 [[ 9.93078233e-01 1.17122092e-01 8.83390972e-03 1.21753536e+02] [-1.17115632e-01 9.93117503e-01 -1.24677131e-03 -1.43096954e+01] [-8.91913483e-03 2.03552532e-04 9.99960203e-01 -1.82154123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.145769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.78, Y:-14.32, Z:-1.82 [[ 9.92746953e-01 1.19882595e-01 9.03608412e-03 1.21779769e+02] [-1.19875955e-01 9.92788059e-01 -1.27489495e-03 -1.43197375e+01] [-9.12375413e-03 1.82438869e-04 9.99958361e-01 -1.82171691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.175769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.81, Y:-14.33, Z:-1.82 [[ 9.92563039e-01 1.21394772e-01 9.05113014e-03 1.21807510e+02] [-1.21388178e-01 9.92604292e-01 -1.27641933e-03 -1.43261331e+01] [-9.13914126e-03 1.68226451e-04 9.99958223e-01 -1.82171412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:-14.33, Z:-1.82 [[ 9.91970409e-01 1.26239572e-01 7.63401779e-03 1.21835229e+02] [-1.26235026e-01 9.91999778e-01 -1.07636316e-03 -1.43316356e+01] [-7.70882358e-03 1.04039961e-04 9.99970281e-01 -1.82213236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.235769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.86, Y:-14.34, Z:-1.82 [[ 9.91576636e-01 1.29315350e-01 7.30178279e-03 1.21863010e+02] [-1.29311278e-01 9.91603517e-01 -1.02908371e-03 -1.43364956e+01] [-7.37354982e-03 7.62124962e-05 9.99972812e-01 -1.82302008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.89, Y:-14.34, Z:-1.82 [[ 9.91169427e-01 1.32407417e-01 7.17236549e-03 1.21891446e+02] [-1.32403572e-01 9.91195376e-01 -1.01039218e-03 -1.43422913e+01] [-7.24299892e-03 5.18230215e-05 9.99973768e-01 -1.82333777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:121.92, Y:-14.35, Z:-1.82 [[ 9.90822211e-01 1.34955009e-01 7.64802685e-03 1.21920010e+02] [-1.34950716e-01 9.90851727e-01 -1.07700235e-03 -1.43479585e+01] [-7.72340748e-03 3.50111500e-05 9.99970173e-01 -1.82404082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.95, Y:-14.35, Z:-1.82 [[ 9.90399753e-01 1.37934172e-01 9.08263455e-03 1.21947546e+02] [-1.37928247e-01 9.90441399e-01 -1.27851703e-03 -1.43516196e+01] [-9.17216846e-03 1.34910862e-05 9.99957935e-01 -1.82333159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.97, Y:-14.36, Z:-1.82 [[ 9.90227186e-01 1.39102301e-01 1.00334334e-02 1.21974536e+02] [-1.39095137e-01 9.90278016e-01 -1.41173087e-03 -1.43550173e+01] [-1.01322636e-02 2.33248824e-06 9.99948667e-01 -1.82352924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.00, Y:-14.36, Z:-1.82 [[ 9.90126160e-01 1.39815460e-01 1.00908451e-02 1.22003176e+02] [-1.39808260e-01 9.90177579e-01 -1.41890385e-03 -1.43599816e+01] [-1.01901133e-02 -5.88968013e-06 9.99948079e-01 -1.82333227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:-14.36, Z:-1.82 [[ 9.90003615e-01 1.40674904e-01 1.01692157e-02 1.22031610e+02] [-1.40667642e-01 9.90055842e-01 -1.42943140e-03 -1.43648900e+01] [-1.02691765e-02 -1.53373393e-05 9.99947270e-01 -1.82432689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:-14.37, Z:-1.82 [[ 9.89930850e-01 1.41177172e-01 1.02916843e-02 1.22059716e+02] [-1.41169766e-01 9.89984346e-01 -1.44614875e-03 -1.43689655e+01] [-1.03927696e-02 -2.12874094e-05 9.99945993e-01 -1.82483028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:-14.37, Z:-1.82 [[ 9.89645145e-01 1.43220130e-01 9.51217460e-03 1.22087484e+02] [-1.43213902e-01 9.89690857e-01 -1.33625808e-03 -1.43717322e+01] [-9.60549129e-03 -3.98543139e-05 9.99953865e-01 -1.82448564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.505769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:122.11, Y:-14.37, Z:-1.83 [[ 9.89050174e-01 1.47400839e-01 7.26261086e-03 1.22114992e+02] [-1.47397322e-01 9.89076837e-01 -1.02006203e-03 -1.43711101e+01] [-7.33363817e-03 -6.15968690e-05 9.99973107e-01 -1.82518161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.535769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.14, Y:-14.37, Z:-1.83 [[ 9.88639719e-01 1.50146377e-01 6.89716533e-03 1.22143276e+02] [-1.50143277e-01 9.88663775e-01 -9.68136976e-04 -1.43722136e+01] [-6.96433977e-03 -7.84243341e-05 9.99975746e-01 -1.82602623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.565769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:-14.37, Z:-1.83 [[ 9.88087299e-01 1.53737330e-01 6.95148649e-03 1.22171608e+02] [-1.53734273e-01 9.88111746e-01 -9.75251218e-04 -1.43736795e+01] [-7.01877797e-03 -1.05048379e-04 9.99975363e-01 -1.82621522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:-14.38, Z:-1.83 [[ 9.88096345e-01 1.53679174e-01 6.95156530e-03 1.22199840e+02] [-1.53676120e-01 9.88120792e-01 -9.74689011e-04 -1.43775042e+01] [-7.01877561e-03 -1.05202930e-04 9.99975363e-01 -1.82658743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:-14.38, Z:-1.83 [[ 9.87569819e-01 1.57006218e-01 7.40943228e-03 1.22227795e+02] [-1.57002844e-01 9.87597605e-01 -1.03845672e-03 -1.43787810e+01] [-7.48058173e-03 -1.37753423e-04 9.99972011e-01 -1.82678563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.26, Y:-14.38, Z:-1.83 [[ 9.86924987e-01 1.60932436e-01 8.93420775e-03 1.22255654e+02] [-1.60927697e-01 9.86965405e-01 -1.25152860e-03 -1.43778152e+01] [-9.01916551e-03 -2.02596636e-04 9.99959306e-01 -1.82738442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:122.28, Y:-14.38, Z:-1.83 [[ 9.86859636e-01 1.61297745e-01 9.54443026e-03 1.22284023e+02] [-1.61292367e-01 9.86905765e-01 -1.33555868e-03 -1.43767716e+01] [-9.63487585e-03 -2.21434795e-04 9.99953559e-01 -1.82836013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:122.31, Y:-14.38, Z:-1.83 [[ 9.87065333e-01 1.60062421e-01 9.05818769e-03 1.22311928e+02] [-1.60057531e-01 9.87106875e-01 -1.26692425e-03 -1.43787036e+01] [-9.14418631e-03 -1.99294153e-04 9.99958171e-01 -1.82891699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:122.34, Y:-14.38, Z:-1.83 [[ 9.87376567e-01 1.58174182e-01 8.27305654e-03 1.22339560e+02] [-1.58170041e-01 9.87411211e-01 -1.15660841e-03 -1.43808463e+01] [-8.35185437e-03 -1.66541650e-04 9.99965109e-01 -1.82912668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:122.37, Y:-14.38, Z:-1.83 [[ 9.87861220e-01 1.55169665e-01 7.25148648e-03 1.22367129e+02] [-1.55166405e-01 9.87887827e-01 -1.01345480e-03 -1.43808449e+01] [-7.32091267e-03 -1.24034397e-04 9.99973194e-01 -1.82949978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:122.39, Y:-14.38, Z:-1.83 [[ 9.87964596e-01 1.54514278e-01 7.16198625e-03 1.22394351e+02] [-1.54511083e-01 9.87990548e-01 -1.00062821e-03 -1.43821482e+01] [-7.23058607e-03 -1.18021010e-04 9.99973852e-01 -1.83042450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:122.42, Y:-14.38, Z:-1.83 [[ 9.87974004e-01 1.54445149e-01 7.35270561e-03 1.22422852e+02] [-1.54441790e-01 9.88001357e-01 -1.02599596e-03 -1.43835141e+01] [-7.42294322e-03 -1.21907680e-04 9.99972442e-01 -1.83082760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.865769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:122.45, Y:-14.38, Z:-1.83 [[ 9.87742584e-01 1.55848875e-01 8.70150492e-03 1.22450477e+02] [-1.55844231e-01 9.87780898e-01 -1.21345957e-03 -1.43832589e+01] [-8.78429666e-03 -1.57493652e-04 9.99961405e-01 -1.83153120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.895769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:122.48, Y:-14.39, Z:-1.83 [[ 9.87631821e-01 1.56504414e-01 9.47393187e-03 1.22478091e+02] [-1.56498947e-01 9.87677243e-01 -1.32024616e-03 -1.43852191e+01] [-9.56381126e-03 -1.78743246e-04 9.99954250e-01 -1.83275974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.925769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:122.51, Y:-14.39, Z:-1.83 [[ 9.87743957e-01 1.55748154e-01 1.02170125e-02 1.22505603e+02] [-1.55741763e-01 9.87796780e-01 -1.42302872e-03 -1.43851112e+01] [-1.03139661e-02 -1.85627521e-04 9.99946792e-01 -1.83262043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.955769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:122.53, Y:-14.39, Z:-1.83 [[ 9.87939636e-01 1.54518422e-01 9.96660347e-03 1.22533287e+02] [-1.54512286e-01 9.87989893e-01 -1.38731984e-03 -1.43869333e+01] [-1.00612700e-02 -1.69374430e-04 9.99949370e-01 -1.83190141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.985769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:122.56, Y:-14.39, Z:-1.83 [[ 9.88049835e-01 1.53846198e-01 9.42711094e-03 1.22560235e+02] [-1.53840684e-01 9.88094795e-01 -1.31164813e-03 -1.43889914e+01] [-9.51667132e-03 -1.54299482e-04 9.99954704e-01 -1.83252017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:122.59, Y:-14.39, Z:-1.83 [[ 9.88155586e-01 1.53224831e-01 8.40762097e-03 1.22587237e+02] [-1.53220426e-01 9.88191345e-01 -1.16942949e-03 -1.43901670e+01] [-8.48752391e-03 -1.32640987e-04 9.99963972e-01 -1.83235636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04576923100001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:122.62, Y:-14.39, Z:-1.83 [[ 9.88326092e-01 1.52120918e-01 8.41204167e-03 1.22615586e+02] [-1.52116480e-01 9.88361882e-01 -1.16872421e-03 -1.43925579e+01] [-8.49192874e-03 -1.24529533e-04 9.99963935e-01 -1.83286589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:122.64, Y:-14.39, Z:-1.83 [[ 9.88842925e-01 1.48697372e-01 8.87479892e-03 1.22643920e+02] [-1.48692300e-01 9.88882744e-01 -1.23234593e-03 -1.43946362e+01] [-8.95938211e-03 -1.01017709e-04 9.99959859e-01 -1.83327521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10576923100001 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:122.67, Y:-14.40, Z:-1.83 [[ 9.89151850e-01 1.46616568e-01 9.06641052e-03 1.22671264e+02] [-1.46611193e-01 9.89193396e-01 -1.25830400e-03 -1.43978850e+01] [-9.15292163e-03 -8.45835348e-05 9.99958108e-01 -1.83394175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13576923100001 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:122.70, Y:-14.40, Z:-1.83 [[ 9.89443190e-01 1.44658332e-01 8.72589194e-03 1.22698321e+02] [-1.44653281e-01 9.89481664e-01 -1.21051990e-03 -1.44020585e+01] [-8.80922187e-03 -6.44882298e-05 9.99961196e-01 -1.83490441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16576923100001 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:122.73, Y:-14.41, Z:-1.84 [[ 9.89788638e-01 1.42299961e-01 8.31704403e-03 1.22726023e+02] [-1.42295295e-01 9.89823580e-01 -1.15312854e-03 -1.44062903e+01] [-8.39649644e-03 -4.21227009e-05 9.99964748e-01 -1.83546429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19576923100001 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:122.75, Y:-14.41, Z:-1.84 [[ 9.90313960e-01 1.38560389e-01 8.90393004e-03 1.22752309e+02] [-1.38554896e-01 9.90353986e-01 -1.23387476e-03 -1.44106896e+01] [-8.98900877e-03 -1.17597011e-05 9.99959598e-01 -1.83512066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22576923100002 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:122.78, Y:-14.41, Z:-1.83 [[ 9.90467593e-01 1.37422408e-01 9.43550213e-03 1.22779979e+02] [-1.37416196e-01 9.90512535e-01 -1.30668793e-03 -1.44147327e+01] [-9.52555133e-03 -2.35875669e-06 9.99954631e-01 -1.83437875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.255769231 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:122.81, Y:-14.42, Z:-1.83 [[ 9.90570178e-01 1.36618464e-01 1.03013788e-02 1.22807203e+02] [-1.36611024e-01 9.90623740e-01 -1.42582205e-03 -1.44198913e+01] [-1.03995840e-02 5.09490782e-06 9.99945923e-01 -1.83392249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.285769231 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:122.83, Y:-14.42, Z:-1.83 [[ 9.90651810e-01 1.36033050e-01 1.01980423e-02 1.22833444e+02] [-1.36025734e-01 9.90704300e-01 -1.41086910e-03 -1.44242049e+01] [-1.02951692e-02 1.04838388e-05 9.99947003e-01 -1.83413947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.315769231 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:122.86, Y:-14.43, Z:-1.84 [[ 9.90868744e-01 1.34437429e-01 1.02815610e-02 1.22861140e+02] [-1.34429915e-01 9.90922084e-01 -1.42158702e-03 -1.44301500e+01] [-1.03793404e-02 2.64567753e-05 9.99946133e-01 -1.83531173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.345769231 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:122.89, Y:-14.44, Z:-1.84 [[ 9.90889831e-01 1.34279656e-01 1.03109619e-02 1.22889030e+02] [-1.34272098e-01 9.90943476e-01 -1.42493791e-03 -1.44354596e+01] [-1.04089206e-02 2.74819907e-05 9.99945825e-01 -1.83603224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.375769231 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:122.92, Y:-14.44, Z:-1.84 [[ 9.90928103e-01 1.33970373e-01 1.06505623e-02 1.22916040e+02] [-1.33962300e-01 9.90985337e-01 -1.47107519e-03 -1.44401518e+01] [-1.07516316e-02 3.09559276e-05 9.99942199e-01 -1.83632111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40576923100001 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:122.94, Y:-14.44, Z:-1.84 [[ 9.91034483e-01 1.33125200e-01 1.13285260e-02 1.22943107e+02] [-1.33116022e-01 9.91099228e-01 -1.56370257e-03 -1.44446275e+01] [-1.14358615e-02 4.16748541e-05 9.99934608e-01 -1.83664302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43576923100001 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:122.97, Y:-14.45, Z:-1.84 [[ 9.91223462e-01 1.31674224e-01 1.17451190e-02 1.22970824e+02] [-1.31664273e-01 9.91293042e-01 -1.61987108e-03 -1.44496909e+01] [-1.18561500e-02 5.92416634e-05 9.99929712e-01 -1.83735394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46576923100001 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:123.00, Y:-14.46, Z:-1.84 [[ 9.91890720e-01 1.26575065e-01 1.14695960e-02 1.22997459e+02] [-1.26565242e-01 9.91957025e-01 -1.58115295e-03 -1.44583878e+01] [-1.15774809e-02 1.16678732e-04 9.99932972e-01 -1.83772305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49576923100001 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:123.02, Y:-14.46, Z:-1.84 [[ 9.92315590e-01 1.23305366e-01 1.02740525e-02 1.23023517e+02] [-1.23297315e-01 9.92368766e-01 -1.41577566e-03 -1.44643970e+01] [-1.03702215e-02 1.38133175e-04 9.99946218e-01 -1.83880432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52576923100001 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:123.05, Y:-14.47, Z:-1.84 [[ 9.92751392e-01 1.19844316e-01 9.05613995e-03 1.23052024e+02] [-1.19837923e-01 9.92792686e-01 -1.24725354e-03 -1.44699583e+01] [-9.14034575e-03 1.52943689e-04 9.99958214e-01 -1.83997274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55576923100001 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:123.08, Y:-14.48, Z:-1.84 [[ 9.93244989e-01 1.15837564e-01 6.78605114e-03 1.23079178e+02] [-1.15833882e-01 9.93268160e-01 -9.34506685e-04 -1.44768426e+01] [-6.84861952e-03 1.42139438e-04 9.99976538e-01 -1.84008215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58576923100001 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:123.11, Y:-14.48, Z:-1.84 [[ 9.93396861e-01 1.14560812e-01 6.20450914e-03 1.23106793e+02] [-1.14557711e-01 9.93416228e-01 -8.54094606e-04 -1.44827928e+01] [-6.26150583e-03 1.37680538e-04 9.99980387e-01 -1.84012982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.615769231 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:123.13, Y:-14.49, Z:-1.84 [[ 9.93770771e-01 1.11228984e-01 6.91146064e-03 1.23134819e+02] [-1.11225059e-01 9.93794789e-01 -9.50901172e-04 -1.44901193e+01] [-6.97434134e-03 1.76250172e-04 9.99975663e-01 -1.84072093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.645769231 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:123.16, Y:-14.50, Z:-1.84 [[ 9.94014076e-01 1.08966162e-01 7.89885169e-03 1.23162113e+02] [-1.08960967e-01 9.94045435e-01 -1.08633616e-03 -1.44960111e+01] [-7.97019135e-03 2.19166918e-04 9.99968214e-01 -1.84136309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.675769231 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:123.19, Y:-14.50, Z:-1.84 [[ 9.94291874e-01 1.06325800e-01 8.85967898e-03 1.23190832e+02] [-1.06319166e-01 9.94331309e-01 -1.21777900e-03 -1.45023910e+01] [-8.93893752e-03 2.68874077e-04 9.99960011e-01 -1.84149822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.705769231 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:123.22, Y:-14.51, Z:-1.84 [[ 9.94620516e-01 1.03171175e-01 9.25942924e-03 1.23217941e+02] [-1.03163796e-01 9.94663567e-01 -1.27233231e-03 -1.45086819e+01] [-9.34128494e-03 3.10249948e-04 9.99956321e-01 -1.84153548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.735769231 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:123.25, Y:-14.52, Z:-1.84 [[ 9.95196017e-01 9.76137141e-02 7.51333257e-03 1.23245795e+02] [-9.76086998e-02 9.95224335e-01 -1.03208285e-03 -1.45181164e+01] [-7.57819684e-03 2.93758116e-04 9.99971242e-01 -1.84257105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76576923100001 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:123.27, Y:-14.53, Z:-1.84 [[ 9.95509800e-01 9.43938062e-02 7.07436684e-03 1.23273813e+02] [-9.43892822e-02 9.95534891e-01 -9.71413433e-04 -1.45261548e+01] [-7.13447443e-03 2.99307184e-04 9.99974505e-01 -1.84311386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79576923100001 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:123.30, Y:-14.54, Z:-1.84 [[ 9.96164311e-01 8.71058622e-02 8.32072351e-03 1.23301848e+02] [-8.70993534e-02 9.96198975e-01 -1.14212443e-03 -1.45423016e+01] [-8.38858197e-03 4.13013961e-04 9.99964730e-01 -1.84380968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82576923100001 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:123.33, Y:-14.55, Z:-1.84 [[ 9.96431149e-01 8.39095512e-02 9.17352021e-03 1.23330877e+02] [-8.39015077e-02 9.96473257e-01 -1.25885944e-03 -1.45529075e+01] [-9.24679789e-03 4.84694578e-04 9.99957130e-01 -1.84341380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85576923100001 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:123.36, Y:-14.57, Z:-1.84 [[ 9.96670879e-01 8.10449396e-02 8.88123880e-03 1.23359502e+02] [-8.10372870e-02 9.96710325e-01 -1.21875038e-03 -1.45700939e+01] [-8.95079596e-03 4.94981519e-04 9.99959818e-01 -1.84227959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88576923100001 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:123.39, Y:-14.58, Z:-1.84 [[ 9.96544259e-01 8.27048847e-02 7.70989020e-03 1.23390054e+02] [-8.26991680e-02 9.96573995e-01 -1.05789172e-03 -1.45811818e+01] [-7.77096890e-03 4.16634412e-04 9.99969719e-01 -1.84164673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91576923100001 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:123.42, Y:-14.60, Z:-1.84 [[ 9.95937771e-01 8.98227832e-02 6.31057881e-03 1.23417186e+02] [-8.98190939e-02 9.95957720e-01 -8.66200963e-04 -1.45967880e+01] [-6.36287427e-03 2.95871786e-04 9.99979713e-01 -1.84277582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94576923100001 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:123.45, Y:-14.61, Z:-1.84 [[ 9.95594476e-01 9.35268324e-02 6.66108794e-03 1.23446313e+02] [-9.35228055e-02 9.95616718e-01 -9.14159499e-04 -1.46060444e+01] [-6.71738895e-03 2.87168516e-04 9.99977397e-01 -1.84369388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97576923100002 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:123.48, Y:-14.62, Z:-1.84 [[ 9.95271032e-01 9.68555038e-02 7.38811346e-03 1.23476050e+02] [-9.68506419e-02 9.95298410e-01 -1.01387429e-03 -1.46152918e+01] [-7.45157688e-03 2.93536182e-04 9.99972194e-01 -1.84398105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00576923100002 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:123.51, Y:-14.63, Z:-1.84 [[ 9.94672344e-01 1.02536209e-01 1.06420936e-02 1.23505966e+02] [-1.02526444e-01 9.94729207e-01 -1.46057467e-03 -1.46300229e+01] [-1.07357631e-02 3.61697218e-04 9.99942305e-01 -1.84370299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03576923100002 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:123.54, Y:-14.64, Z:-1.84 [[ 9.94395651e-01 1.05019295e-01 1.21752584e-02 1.23537447e+02] [-1.05006697e-01 9.94470111e-01 -1.67119409e-03 -1.46395301e+01] [-1.22834382e-02 3.83344469e-04 9.99924482e-01 -1.84321481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06576923100002 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:123.57, Y:-14.65, Z:-1.84 [[ 9.93819227e-01 1.10317822e-01 1.23823016e-02 1.23567723e+02] [-1.10305177e-01 9.93896309e-01 -1.70167908e-03 -1.46513257e+01] [-1.24944494e-02 3.25329426e-04 9.99921888e-01 -1.84316770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09576923100002 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:123.60, Y:-14.66, Z:-1.84 [[ 9.93450801e-01 1.13774447e-01 1.05299906e-02 1.23599244e+02] [-1.13765480e-01 9.93506576e-01 -1.44866689e-03 -1.46582863e+01] [-1.06264362e-02 2.41229850e-04 9.99943509e-01 -1.84407324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12576923100002 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:123.63, Y:-14.67, Z:-1.85 [[ 9.93003367e-01 1.17753026e-01 8.86215164e-03 1.23630697e+02] [-1.17746823e-01 9.93042898e-01 -1.22027642e-03 -1.46657600e+01] [-8.94418799e-03 1.68248395e-04 9.99959986e-01 -1.84592339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15576923100002 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:123.66, Y:-14.67, Z:-1.85 [[ 9.92000154e-01 1.26065607e-01 6.56939045e-03 1.23661420e+02] [-1.26062378e-01 9.92021904e-01 -9.05058360e-04 -1.46749722e+01] [-6.63107596e-03 6.96650507e-05 9.99978012e-01 -1.84574358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.185769231 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:123.69, Y:-14.68, Z:-1.85 [[ 9.91416476e-01 1.30576883e-01 6.56122671e-03 1.23691681e+02] [-1.30573748e-01 9.91438186e-01 -9.05780154e-04 -1.46794349e+01] [-6.62332466e-03 4.12814044e-05 9.99978065e-01 -1.84549573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.215769231 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:123.72, Y:-14.68, Z:-1.84 [[ 9.90839639e-01 1.34886957e-01 6.50524714e-03 1.23722139e+02] [-1.34883963e-01 9.90860994e-01 -8.98826966e-04 -1.46831928e+01] [-6.56703568e-03 1.31398754e-05 9.99978437e-01 -1.84499176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.245769231 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:123.75, Y:-14.69, Z:-1.85 [[ 9.89661631e-01 1.43273318e-01 6.52775575e-03 1.23751577e+02] [-1.43270485e-01 9.89683159e-01 -9.02093026e-04 -1.46873877e+01] [-6.58965579e-03 -4.24678745e-05 9.99978287e-01 -1.84577028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.275769231 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:123.78, Y:-14.69, Z:-1.85 [[ 9.89145825e-01 1.46751264e-01 7.38947553e-03 1.23781866e+02] [-1.46747733e-01 9.89173423e-01 -1.02082052e-03 -1.46924245e+01] [-7.45927951e-03 -7.46484216e-05 9.99972176e-01 -1.84656043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.305769231 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:123.81, Y:-14.70, Z:-1.85 [[ 9.88430957e-01 1.51374652e-01 9.48464669e-03 1.23812483e+02] [-1.51369047e-01 9.88476451e-01 -1.31025835e-03 -1.46962773e+01] [-9.57368981e-03 -1.40582018e-04 9.99954161e-01 -1.84655483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.335769231 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:123.84, Y:-14.70, Z:-1.85 [[ 9.88334688e-01 1.51995821e-01 9.58198043e-03 1.23842678e+02] [-1.51990129e-01 9.88381125e-01 -1.32370453e-03 -1.46994437e+01] [-9.67184615e-03 -1.48103336e-04 9.99953216e-01 -1.84730261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.365769231 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:123.87, Y:-14.70, Z:-1.85 [[ 9.88446775e-01 1.51302788e-01 8.96881053e-03 1.23872305e+02] [-1.51297773e-01 9.88487455e-01 -1.23904539e-03 -1.47023571e+01] [-9.05302772e-03 -1.32230638e-04 9.99959012e-01 -1.84839481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.395769231 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:123.90, Y:-14.70, Z:-1.85 [[ 9.88891172e-01 1.48483752e-01 6.84292458e-03 1.23903206e+02] [-1.48480765e-01 9.88914844e-01 -9.45235566e-04 -1.47049801e+01] [-6.90742181e-03 -8.13075715e-05 9.99976140e-01 -1.84886889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.425769231 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:123.93, Y:-14.71, Z:-1.85 [[ 9.89086840e-01 1.47178787e-01 6.75483920e-03 1.23932526e+02] [-1.47175846e-01 9.89109903e-01 -9.33141766e-04 -1.47077939e+01] [-6.81861701e-03 -7.11909331e-05 9.99976750e-01 -1.84933972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.455769231 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:123.96, Y:-14.71, Z:-1.85 [[ 9.89268937e-01 1.45919958e-01 7.37131912e-03 1.23961464e+02] [-1.45916420e-01 9.89296397e-01 -1.01833455e-03 -1.47088302e+01] [-7.44101478e-03 -6.81897631e-05 9.99972313e-01 -1.84900409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.485769231 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:123.99, Y:-14.71, Z:-1.85 [[ 9.89216580e-01 1.46271389e-01 7.43223740e-03 1.23991045e+02] [-1.46267806e-01 9.89244497e-01 -1.02641666e-03 -1.47115789e+01] [-7.50243534e-03 -7.17486781e-05 9.99971854e-01 -1.84937943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.515769231 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:124.02, Y:-14.72, Z:-1.85 [[ 9.89218275e-01 1.46259924e-01 7.43227006e-03 1.24020930e+02] [-1.46256341e-01 9.89246193e-01 -1.02618010e-03 -1.47156650e+01] [-7.50243388e-03 -7.19005141e-05 9.99971854e-01 -1.84977345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.545769231 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:124.05, Y:-14.72, Z:-1.85 [[ 9.89157278e-01 1.46676944e-01 7.33168361e-03 1.24049745e+02] [-1.46673469e-01 9.89184446e-01 -1.01233902e-03 -1.47183094e+01] [-7.40087419e-03 -7.40009589e-05 9.99972610e-01 -1.85090548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.575769231 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:124.08, Y:-14.72, Z:-1.85 [[ 9.89065945e-01 1.47353552e-01 5.95704085e-03 1.24079722e+02] [-1.47351271e-01 9.89083883e-01 -8.22327745e-04 -1.47210876e+01] [-6.01318600e-03 -6.44411724e-05 9.99981919e-01 -1.85192928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.605769231 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:124.11, Y:-14.72, Z:-1.85 [[ 9.89100802e-01 1.47124999e-01 5.81712054e-03 1.24108681e+02] [-1.47122821e-01 9.89117905e-01 -8.02884447e-04 -1.47245095e+01] [-5.87194246e-03 -6.16975339e-05 9.99982758e-01 -1.85152944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.635769231 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:124.14, Y:-14.73, Z:-1.85 [[ 9.89153032e-01 1.46742066e-01 6.56082187e-03 1.24138008e+02] [-1.46739289e-01 9.89174788e-01 -9.05324612e-04 -1.47284153e+01] [-6.62264879e-03 -6.72257503e-05 9.99978068e-01 -1.85102840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.665769231 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:124.17, Y:-14.73, Z:-1.85 [[ 9.89304132e-01 1.45628120e-01 8.35372441e-03 1.24166344e+02] [-1.45623580e-01 9.89339398e-01 -1.15250303e-03 -1.47340129e+01] [-8.43250553e-03 -7.63232406e-05 9.99964443e-01 -1.85099924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.695769231 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:124.20, Y:-14.74, Z:-1.85 [[ 9.89285395e-01 1.45699938e-01 9.27010969e-03 1.24195419e+02] [-1.45694354e-01 9.89328823e-01 -1.27851793e-03 -1.47399956e+01] [-9.35746669e-03 -8.57835214e-05 9.99956214e-01 -1.85095401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72576923100002 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:124.22, Y:-14.75, Z:-1.85 [[ 9.89132012e-01 1.46669738e-01 1.02884168e-02 1.24224627e+02] [-1.46662915e-01 9.89185512e-01 -1.41866304e-03 -1.47465690e+01] [-1.03852277e-02 -1.05684173e-04 9.99946066e-01 -1.85069790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75576923100002 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:124.25, Y:-14.75, Z:-1.85 [[ 9.88950099e-01 1.47951422e-01 9.38502284e-03 1.24254617e+02] [-1.47945804e-01 9.88994623e-01 -1.29396038e-03 -1.47509094e+01] [-9.47318041e-03 -1.08812500e-04 9.99955122e-01 -1.85100692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78576923100002 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:124.29, Y:-14.75, Z:-1.85 [[ 9.88588816e-01 1.50393835e-01 8.59339364e-03 1.24285113e+02] [-1.50389217e-01 9.88626158e-01 -1.18481448e-03 -1.47548876e+01] [-8.67384253e-03 -1.21059396e-04 9.99962374e-01 -1.85186417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81576923100002 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:124.31, Y:-14.76, Z:-1.85 [[ 9.87486304e-01 1.57497670e-01 8.07986663e-03 1.24313745e+02] [-1.57463949e-01 9.87513758e-01 -4.65642340e-03 -1.47574524e+01] [-8.71235530e-03 3.32586663e-03 9.99956516e-01 -1.85050045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84576923100002 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:124.34, Y:-14.76, Z:-1.85 [[ 9.86783586e-01 1.61682362e-01 1.08151560e-02 1.24340566e+02] [-1.61715023e-01 9.86835023e-01 2.21098697e-03 -1.47636898e+01] [-1.03152971e-02 -3.93073886e-03 9.99939070e-01 -1.85025214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87576923100002 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:124.37, Y:-14.76, Z:-1.85 [[ 9.85479381e-01 1.69520663e-01 9.65060677e-03 1.24369885e+02] [-1.69515751e-01 9.85526580e-01 -1.33067913e-03 -1.47599833e+01] [-9.73650709e-03 -3.24573001e-04 9.99952546e-01 -1.85059921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90576923100002 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:124.40, Y:-14.76, Z:-1.85 [[ 9.84886850e-01 1.72955234e-01 9.18581141e-03 1.24398912e+02] [-1.72950936e-01 9.84929627e-01 -1.26620617e-03 -1.47597844e+01] [-9.26637479e-03 -3.41624882e-04 9.99957008e-01 -1.85142252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.935769231 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:124.43, Y:-14.76, Z:-1.85 [[ 9.84372500e-01 1.75849711e-01 9.36267386e-03 1.24426930e+02] [-1.75845380e-01 9.84416953e-01 -1.29018879e-03 -1.47596257e+01] [-9.44365420e-03 -3.76356579e-04 9.99955337e-01 -1.85218414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.965769231 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:124.46, Y:-14.76, Z:-1.85 [[ 9.83782256e-01 1.79096944e-01 9.83649695e-03 1.24456327e+02] [-1.79092333e-01 9.83831338e-01 -1.35475817e-03 -1.47571322e+01] [-9.92008700e-03 -4.28854140e-04 9.99950703e-01 -1.85240609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.995769231 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:124.48, Y:-14.76, Z:-1.85 [[ 9.83789161e-01 1.79072729e-01 9.58353352e-03 1.24484802e+02] [-1.79068356e-01 9.83835750e-01 -1.31952283e-03 -1.47573715e+01] [-9.66491345e-03 -4.17975334e-04 9.99953206e-01 -1.85306344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.025769231 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:124.51, Y:-14.76, Z:-1.85 [[ 9.84021156e-01 1.77837635e-01 8.72584387e-03 1.24513445e+02] [-1.77833965e-01 9.84059774e-01 -1.20093679e-03 -1.47570466e+01] [-8.80032371e-03 -3.70004199e-04 9.99961208e-01 -1.85436149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.055769231 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:124.54, Y:-14.75, Z:-1.85 [[ 9.84653081e-01 1.74403356e-01 6.46365858e-03 1.24541831e+02] [-1.74401269e-01 9.84674264e-01 -8.89526805e-04 -1.47527347e+01] [-6.51973472e-03 -2.51394949e-04 9.99978715e-01 -1.85483318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.085769231 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:124.57, Y:-14.75, Z:-1.86 [[ 9.85016977e-01 1.72347427e-01 6.15790125e-03 1.24570345e+02] [-1.72345494e-01 9.85036199e-01 -8.47207742e-04 -1.47535080e+01] [-6.21176971e-03 -2.26772526e-04 9.99980681e-01 -1.85534609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.115769231 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:124.60, Y:-14.75, Z:-1.86 [[ 9.85869392e-01 1.67373910e-01 6.89314699e-03 1.24599464e+02] [-1.67371370e-01 9.85893466e-01 -9.47772984e-04 -1.47500967e+01] [-6.95454104e-03 -2.19335078e-04 9.99975793e-01 -1.85552076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.145769231 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:124.63, Y:-14.75, Z:-1.86 [[ 9.86330168e-01 1.64627614e-01 7.10972946e-03 1.24626514e+02] [-1.64624845e-01 9.86355770e-01 -9.77100020e-04 -1.47498296e+01] [-7.17358033e-03 -2.06694881e-04 9.99974248e-01 -1.85577397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.175769231 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:124.66, Y:-14.75, Z:-1.86 [[ 9.86703715e-01 1.62369584e-01 7.20395009e-03 1.24655316e+02] [-1.62366687e-01 9.86729994e-01 -9.89193805e-04 -1.47506955e+01] [-7.26896861e-03 -1.93640305e-04 9.99973562e-01 -1.85641849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.205769231 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:124.68, Y:-14.75, Z:-1.86 [[ 9.87020694e-01 1.60435326e-01 7.11730610e-03 1.24683163e+02] [-1.60435794e-01 9.87046147e-01 -5.08882299e-04 -1.47524557e+01] [-7.10675226e-03 -6.39593292e-04 9.99974542e-01 -1.85745670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.235769231 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:124.71, Y:-14.75, Z:-1.86 [[ 9.87668336e-01 1.56462796e-01 5.53634564e-03 1.24712644e+02] [-1.56458369e-01 9.87683793e-01 -1.22658662e-03 -1.47532405e+01] [-5.66007403e-03 3.45253161e-04 9.99983922e-01 -1.85817257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.265769231 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:124.74, Y:-14.76, Z:-1.86 [[ 9.87961431e-01 1.54596568e-01 5.66667208e-03 1.24740192e+02] [-1.54594649e-01 9.87977677e-01 -7.77719537e-04 -1.47557764e+01] [-5.71877829e-03 -1.07680275e-04 9.99983642e-01 -1.85813376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.295769231 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:124.77, Y:-14.76, Z:-1.86 [[ 9.88175312e-01 1.53149794e-01 7.39549814e-03 1.24766916e+02] [-1.53146491e-01 9.88202977e-01 -1.01423018e-03 -1.47573088e+01] [-7.46358243e-03 -1.30357370e-04 9.99972139e-01 -1.85744382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.325769231 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:124.79, Y:-14.76, Z:-1.86 [[ 9.88237921e-01 1.52697899e-01 8.31647799e-03 1.24794980e+02] [-1.52693714e-01 9.88272903e-01 -1.13962621e-03 -1.47607727e+01] [-8.39296837e-03 -1.43652080e-04 9.99964768e-01 -1.85699329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.355769231 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:124.82, Y:-14.76, Z:-1.86 [[ 9.88300553e-01 1.52269994e-01 8.71005741e-03 1.24823674e+02] [-1.52265393e-01 9.88338923e-01 -1.19279035e-03 -1.47640552e+01] [-8.79011494e-03 -1.47404954e-04 9.99961355e-01 -1.85719297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.385769231 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:124.85, Y:-14.76, Z:-1.86 [[ 9.88205312e-01 1.52916336e-01 8.17654548e-03 1.24851683e+02] [-1.52912306e-01 9.88239128e-01 -1.11942370e-03 -1.47641993e+01] [-8.25156034e-03 -1.44073977e-04 9.99965945e-01 -1.85758356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.415769231 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:124.88, Y:-14.77, Z:-1.86 [[ 9.88056459e-01 1.53889424e-01 7.90440206e-03 1.24879300e+02] [-1.53885693e-01 9.88088065e-01 -1.08175198e-03 -1.47655123e+01] [-7.97671552e-03 -1.47542356e-04 9.99968175e-01 -1.85786188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.445769231 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:124.91, Y:-14.77, Z:-1.86 [[ 9.87862382e-01 1.55106359e-01 8.36251391e-03 1.24906235e+02] [-1.55102230e-01 9.87897763e-01 -1.14392448e-03 -1.47672201e+01] [-8.43873874e-03 -1.67004602e-04 9.99964379e-01 -1.85865384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47576923100002 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:124.93, Y:-14.77, Z:-1.86 [[ 9.87484007e-01 1.57437666e-01 9.41892781e-03 1.24934025e+02] [-1.57432546e-01 9.87528904e-01 -1.28724682e-03 -1.47669899e+01] [-9.50412460e-03 -2.11710138e-04 9.99954812e-01 -1.85879707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50576923100002 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:124.96, Y:-14.77, Z:-1.86 [[ 9.87355530e-01 1.58258428e-01 9.12836349e-03 1.24961647e+02] [-1.58253660e-01 9.87397703e-01 -1.24693330e-03 -1.47683980e+01] [-9.21066285e-03 -2.13430445e-04 9.99957558e-01 -1.85911272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53576923100002 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:124.99, Y:-14.77, Z:-1.86 [[ 9.87322856e-01 1.58521011e-01 8.04162762e-03 1.24988599e+02] [-1.58517323e-01 9.87355586e-01 -1.09807967e-03 -1.47695634e+01] [-8.11401464e-03 -1.90578121e-04 9.99967063e-01 -1.85961001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56576923100002 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:125.02, Y:-14.77, Z:-1.86 [[ 9.87288423e-01 1.58863225e-01 4.90361454e-03 1.25016622e+02] [-1.58861858e-01 9.87300593e-01 -6.69515365e-04 -1.47698155e+01] [-4.94770292e-03 -1.17992548e-04 9.99987753e-01 -1.86102581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59576923100002 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:125.04, Y:-14.77, Z:-1.86 [[ 9.87351652e-01 1.58485265e-01 4.37453235e-03 1.25044905e+02] [-1.58484174e-01 9.87361337e-01 -5.97062828e-04 -1.47719197e+01] [-4.41386977e-03 -1.03783179e-04 9.99990253e-01 -1.86158463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62576923100002 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:125.07, Y:-14.77, Z:-1.86 [[ 9.87916996e-01 1.54876587e-01 5.76639599e-03 1.25073250e+02] [-1.54874634e-01 9.87933818e-01 -7.86313234e-04 -1.47719851e+01] [-5.81859912e-03 -1.16256261e-04 9.99983065e-01 -1.86280288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65576923100002 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:125.10, Y:-14.78, Z:-1.86 [[ 9.88377203e-01 1.51874769e-01 6.67531415e-03 1.25100598e+02] [-1.51872088e-01 9.88399738e-01 -9.09639709e-04 -1.47752043e+01] [-6.73603008e-03 -1.14726747e-04 9.99977306e-01 -1.86389434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.685769231 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:125.13, Y:-14.78, Z:-1.86 [[ 9.88935596e-01 1.48214665e-01 6.22893813e-03 1.25127025e+02] [-1.48212260e-01 9.88955209e-01 -8.48496823e-04 -1.47802200e+01] [-6.28590048e-03 -8.40962869e-05 9.99980240e-01 -1.86484511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.715769231 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:125.15, Y:-14.79, Z:-1.87 [[ 9.89574555e-01 1.43929775e-01 5.13995685e-03 1.25153346e+02] [-1.43928081e-01 9.89587903e-01 -6.99852499e-04 -1.47860704e+01] [-5.18716874e-03 -4.72279005e-05 9.99986545e-01 -1.86594399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.745769231 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:125.18, Y:-14.79, Z:-1.87 [[ 9.90565302e-01 1.36972591e-01 4.34645784e-03 1.25180629e+02] [-1.36971314e-01 9.90574838e-01 -5.91539815e-04 -1.47937080e+01] [-4.38651651e-03 -9.38122500e-06 9.99990379e-01 -1.86553713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.775769231 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:125.21, Y:-14.80, Z:-1.87 [[ 9.90755029e-01 1.35538608e-01 5.81021627e-03 1.25208252e+02] [-1.35536305e-01 9.90772066e-01 -7.90061782e-04 -1.47995042e+01] [-5.86368385e-03 -4.73755987e-06 9.99982808e-01 -1.86525779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.805769231 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:125.24, Y:-14.81, Z:-1.87 [[ 9.90720418e-01 1.35731894e-01 7.06447675e-03 1.25236001e+02] [-1.35728501e-01 9.90745604e-01 -9.59779352e-04 -1.48058229e+01] [-7.12937195e-03 -7.97784075e-06 9.99974586e-01 -1.86511793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.835769231 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:125.26, Y:-14.81, Z:-1.87 [[ 9.90142754e-01 1.39933197e-01 6.00231221e-03 1.25264152e+02] [-1.39930826e-01 9.90160946e-01 -8.15274816e-04 -1.48123446e+01] [-6.05733915e-03 -3.26700559e-05 9.99981654e-01 -1.86589635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.865769231 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:125.29, Y:-14.82, Z:-1.87 [[ 9.89802058e-01 1.42383468e-01 4.33985653e-03 1.25291393e+02] [-1.42382252e-01 9.89811571e-01 -5.89540956e-04 -1.48166750e+01] [-4.37958110e-03 -3.43896934e-05 9.99990409e-01 -1.86709385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.895769231 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:125.32, Y:-14.82, Z:-1.87 [[ 9.89361691e-01 1.45439633e-01 3.27983318e-03 1.25318701e+02] [-1.45438955e-01 9.89367127e-01 -4.45640874e-04 -1.48240231e+01] [-3.30977297e-03 -3.61155013e-05 9.99994522e-01 -1.86698452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.925769231 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:125.35, Y:-14.83, Z:-1.87 [[ 9.89311098e-01 1.45747487e-01 4.60663837e-03 1.25346462e+02] [-1.45746155e-01 9.89321822e-01 -6.25215544e-04 -1.48301205e+01] [-4.64857146e-03 -5.28671552e-05 9.99989194e-01 -1.86681184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.955769231 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:125.37, Y:-14.84, Z:-1.87 [[ 9.89336976e-01 1.45374794e-01 8.86096140e-03 1.25373798e+02] [-1.45369867e-01 9.89376652e-01 -1.20105982e-03 -1.48370812e+01] [-8.94143215e-03 -9.98638817e-05 9.99960020e-01 -1.86551461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.985769231 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:125.40, Y:-14.84, Z:-1.87 [[ 9.89421414e-01 1.44697549e-01 1.03867962e-02 1.25402223e+02] [-1.44690751e-01 9.89475925e-01 -1.40696474e-03 -1.48413712e+01] [-1.04810691e-02 -1.10792302e-04 9.99945066e-01 -1.86530901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.015769231 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:125.43, Y:-14.85, Z:-1.87 [[ 9.89485500e-01 1.44231886e-01 1.07521138e-02 1.25431165e+02] [-1.44224580e-01 9.89543911e-01 -1.45590954e-03 -1.48461343e+01] [-1.08496773e-02 -1.10117714e-04 9.99941134e-01 -1.86558959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.045769231 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:125.46, Y:-14.85, Z:-1.87 [[ 9.89547137e-01 1.43865110e-01 9.96461550e-03 1.25458436e+02] [-1.43858820e-01 9.89597302e-01 -1.34889612e-03 -1.48512044e+01] [-1.00550157e-02 -9.87015317e-05 9.99949442e-01 -1.86652818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.075769231 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:125.49, Y:-14.86, Z:-1.87 [[ 9.89692292e-01 1.42991789e-01 7.90666786e-03 1.25487135e+02] [-1.42987805e-01 9.89723872e-01 -1.06989240e-03 -1.48575395e+01] [-7.97840376e-03 -7.16928204e-05 9.99968169e-01 -1.86664498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.105769231 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:125.52, Y:-14.86, Z:-1.87 [[ 9.89805478e-01 1.42229659e-01 7.47255403e-03 1.25515734e+02] [-1.42226081e-01 9.89833683e-01 -1.01082824e-03 -1.48616486e+01] [-7.54035543e-03 -6.22687432e-05 9.99971569e-01 -1.86654373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.135769231 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:125.54, Y:-14.87, Z:-1.87 [[ 9.89919821e-01 1.41407424e-01 7.91760480e-03 1.25543086e+02] [-1.41403383e-01 9.89951482e-01 -1.07067914e-03 -1.48653990e+01] [-7.98944659e-03 -5.96896059e-05 9.99968082e-01 -1.86675217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.165769231 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:125.57, Y:-14.87, Z:-1.87 [[ 9.89926548e-01 1.41354789e-01 8.01582890e-03 1.25571642e+02] [-1.41350650e-01 9.89958999e-01 -1.08341950e-03 -1.48699112e+01] [-8.08848849e-03 -6.05368973e-05 9.99967286e-01 -1.86718173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.195769231 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:125.60, Y:-14.87, Z:-1.87 [[ 9.89883039e-01 1.41676716e-01 7.69921866e-03 1.25600175e+02] [-1.41672909e-01 9.89912978e-01 -1.04029158e-03 -1.48741029e+01] [-7.76894157e-03 -6.10037182e-05 9.99969819e-01 -1.86735387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22576923100002 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:125.63, Y:-14.88, Z:-1.87 [[ 9.89590470e-01 1.43786170e-01 6.01980073e-03 1.25627518e+02] [-1.43783883e-01 9.89608778e-01 -8.13342650e-04 -1.48764893e+01] [-6.07419507e-03 -6.06741870e-05 9.99981550e-01 -1.86729001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25576923100002 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:125.66, Y:-14.88, Z:-1.87 [[ 9.89383011e-01 1.45221155e-01 5.66333530e-03 1.25656446e+02] [-1.45219157e-01 9.89399218e-01 -7.64751512e-04 -1.48791559e+01] [-5.71435762e-03 -6.57926228e-05 9.99983671e-01 -1.86829140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28576923100002 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:125.68, Y:-14.88, Z:-1.87 [[ 9.89156994e-01 1.46763564e-01 5.37559877e-03 1.25684694e+02] [-1.46761786e-01 9.89171598e-01 -7.25856409e-04 -1.48824332e+01] [-5.42391890e-03 -7.09465345e-05 9.99985288e-01 -1.86886205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31576923100002 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:125.71, Y:-14.89, Z:-1.87 [[ 9.88690867e-01 1.49906719e-01 4.28304415e-03 1.25712811e+02] [-1.49905620e-01 9.88700142e-01 -5.78216386e-04 -1.48861056e+01] [-4.32132488e-03 -7.03751303e-05 9.99990661e-01 -1.86967487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34576923100002 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:125.74, Y:-14.89, Z:-1.87 [[ 9.88635910e-01 1.50278889e-01 3.91070526e-03 1.25739442e+02] [-1.50277976e-01 9.88643642e-01 -5.27864176e-04 -1.48883468e+01] [-3.94562073e-03 -6.58273914e-05 9.99992214e-01 -1.87025938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37576923100002 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:125.77, Y:-14.89, Z:-1.87 [[ 9.88872155e-01 1.48724923e-01 3.57196365e-03 1.25767566e+02] [-1.48724153e-01 9.88878604e-01 -4.81834589e-04 -1.48882525e+01] [-3.60389924e-03 -5.47644593e-05 9.99993504e-01 -1.87069120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40576923100002 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:125.80, Y:-14.89, Z:-1.87 [[ 9.88888665e-01 1.48615105e-01 3.57193843e-03 1.25795821e+02] [-1.48614333e-01 9.88895115e-01 -4.82022335e-04 -1.48918828e+01] [-3.60390826e-03 -5.41748236e-05 9.99993504e-01 -1.87106842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.435769231 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:125.82, Y:-14.89, Z:-1.87 [[ 9.89078006e-01 1.47342439e-01 3.86063283e-03 1.25823129e+02] [-1.47341530e-01 9.89085539e-01 -5.20301513e-04 -1.48949278e+01] [-3.89515860e-03 -5.42127668e-05 9.99992412e-01 -1.87126138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.465769231 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:125.85, Y:-14.90, Z:-1.87 [[ 9.89259336e-01 1.46084776e-01 5.02048368e-03 1.25850412e+02] [-1.46083229e-01 9.89272073e-01 -6.75468713e-04 -1.48992001e+01] [-5.06529999e-03 -6.51947349e-05 9.99987169e-01 -1.87132791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.495769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:125.88, Y:-14.90, Z:-1.87 [[ 9.89426520e-01 1.44887930e-01 6.53057243e-03 1.25878528e+02] [-1.44885291e-01 9.89448069e-01 -8.77918851e-04 -1.49029811e+01] [-6.58886213e-03 -7.75476957e-05 9.99978290e-01 -1.87079657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.525769231 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:125.91, Y:-14.90, Z:-1.87 [[ 9.89545047e-01 1.43985525e-01 8.29268652e-03 1.25907029e+02] [-1.43981245e-01 9.89579790e-01 -1.11393992e-03 -1.49034759e+01] [-8.36666621e-03 -9.16975986e-05 9.99964995e-01 -1.87144459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.555769231 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:125.94, Y:-14.91, Z:-1.87 [[ 9.89478701e-01 1.44452764e-01 8.08084112e-03 1.25936177e+02] [-1.44448720e-01 9.89511693e-01 -1.08498373e-03 -1.49054601e+01] [-8.15281567e-03 -9.36988635e-05 9.99966761e-01 -1.87172193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.585769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:125.97, Y:-14.91, Z:-1.87 [[ 9.89386560e-01 1.45089369e-01 7.95679318e-03 1.25965241e+02] [-1.45085471e-01 9.89418549e-01 -1.06800055e-03 -1.49081965e+01] [-8.02755429e-03 -9.77496992e-05 9.99967774e-01 -1.87217795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.615769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:125.99, Y:-14.91, Z:-1.87 [[ 9.89266476e-01 1.45833762e-01 9.18445007e-03 1.25993431e+02] [-1.45828605e-01 9.89309102e-01 -1.23227082e-03 -1.49100057e+01] [-9.26596674e-03 -1.20311331e-04 9.99957063e-01 -1.87095129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.645769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:126.02, Y:-14.91, Z:-1.87 [[ 9.89316575e-01 1.45449802e-01 9.85241264e-03 1.26022210e+02] [-1.45443856e-01 9.89365625e-01 -1.32117412e-03 -1.49121059e+01] [-9.93980290e-03 -1.25913428e-04 9.99950591e-01 -1.87034159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.675769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:126.05, Y:-14.92, Z:-1.87 [[ 9.89505839e-01 1.44190439e-01 9.34406421e-03 1.26050576e+02] [-1.44185038e-01 9.89549951e-01 -1.25258845e-03 -1.49156562e+01] [-9.42702956e-03 -1.07830673e-04 9.99955559e-01 -1.87131306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.705769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:126.08, Y:-14.92, Z:-1.87 [[ 9.89689311e-01 1.42974896e-01 8.55843979e-03 1.26079418e+02] [-1.42970323e-01 9.89726311e-01 -1.14691332e-03 -1.49204410e+01] [-8.63449285e-03 -8.85150405e-05 9.99962718e-01 -1.87210819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.735769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:126.11, Y:-14.93, Z:-1.87 [[ 9.89903533e-01 1.41500397e-01 8.28449193e-03 1.26108152e+02] [-1.41496064e-01 9.89938196e-01 -1.10982041e-03 -1.49251253e+01] [-8.35817503e-03 -7.36078516e-05 9.99965067e-01 -1.87256891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.765769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:126.14, Y:-14.93, Z:-1.87 [[ 9.90442982e-01 1.37723782e-01 7.40676981e-03 1.26136651e+02] [-1.37720215e-01 9.90470675e-01 -9.91945615e-04 -1.49297485e+01] [-7.47280280e-03 -3.75963547e-05 9.99972078e-01 -1.87347877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.795769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:126.16, Y:-14.93, Z:-1.87 [[ 9.90697592e-01 1.35923788e-01 6.55778033e-03 1.26163576e+02] [-1.35920953e-01 9.90719296e-01 -8.78113782e-04 -1.49345781e+01] [-6.61627606e-03 -2.13945417e-05 9.99978112e-01 -1.87450757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.825769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:126.19, Y:-14.94, Z:-1.87 [[ 9.90894684e-01 1.34477451e-01 6.59857890e-03 1.26190582e+02] [-1.34474552e-01 9.90916654e-01 -8.83087427e-04 -1.49392821e+01] [-6.65739707e-03 -1.22943030e-05 9.99977839e-01 -1.87458939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.855769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.22, Y:-14.94, Z:-1.87 [[ 9.90847038e-01 1.34677661e-01 9.16925708e-03 1.26219309e+02] [-1.34672080e-01 9.90889463e-01 -1.22624928e-03 -1.49434952e+01] [-9.25086861e-03 -1.98174603e-05 9.99957210e-01 -1.87261827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:-14.95, Z:-1.87 [[ 9.90652881e-01 1.36051829e-01 9.83708606e-03 1.26247827e+02] [-1.36045478e-01 9.90701720e-01 -1.31510377e-03 -1.49462566e+01] [-9.92454036e-03 -3.54797359e-05 9.99950750e-01 -1.87192780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.915769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.28, Y:-14.95, Z:-1.87 [[ 9.90177746e-01 1.39560386e-01 8.42200987e-03 1.26276011e+02] [-1.39555859e-01 9.90213560e-01 -1.12567237e-03 -1.49500024e+01] [-8.49668765e-03 -6.07250943e-05 9.99963901e-01 -1.87276042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.945769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:126.30, Y:-14.95, Z:-1.87 [[ 9.90063154e-01 1.40442289e-01 7.13538903e-03 1.26303914e+02] [-1.40439064e-01 9.90088865e-01 -9.53530861e-04 -1.49541141e+01] [-7.19858528e-03 -5.80315873e-05 9.99974088e-01 -1.87440323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97576923100002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:126.33, Y:-14.96, Z:-1.88 [[ 9.90103702e-01 1.40190451e-01 6.42620698e-03 1.26332155e+02] [-1.40187832e-01 9.90124555e-01 -8.58375858e-04 -1.49580980e+01] [-6.48308143e-03 -5.09949098e-05 9.99978983e-01 -1.87532777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.36, Y:-14.96, Z:-1.87 [[ 9.90346430e-01 1.38351377e-01 8.53497207e-03 1.26361261e+02] [-1.38346695e-01 9.90383205e-01 -1.13943367e-03 -1.49608112e+01] [-8.61053522e-03 -5.23511099e-05 9.99962927e-01 -1.87448877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.39, Y:-14.96, Z:-1.87 [[ 9.90468540e-01 1.37386437e-01 9.85077729e-03 1.26389786e+02] [-1.37380158e-01 9.90517523e-01 -1.31453001e-03 -1.49641980e+01] [-9.93796612e-03 -5.13007219e-05 9.99950616e-01 -1.87482077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.42, Y:-14.97, Z:-1.88 [[ 9.90530376e-01 1.36929498e-01 9.99437465e-03 1.26417116e+02] [-1.36923016e-01 9.90580794e-01 -1.33322479e-03 -1.49684991e+01] [-1.00827934e-02 -4.78602692e-05 9.99949166e-01 -1.87578918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:-14.97, Z:-1.88 [[ 9.90782905e-01 1.35197519e-01 8.41822984e-03 1.26444483e+02] [-1.35192861e-01 9.90818667e-01 -1.12256919e-03 -1.49741046e+01] [-8.49270784e-03 -2.58622160e-05 9.99963936e-01 -1.87728296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.47, Y:-14.98, Z:-1.88 [[ 9.90888650e-01 1.34471888e-01 7.54947896e-03 1.26472640e+02] [-1.34468124e-01 9.90917409e-01 -1.00628293e-03 -1.49783984e+01] [-7.61622689e-03 -1.80499319e-05 9.99970996e-01 -1.87761039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.50, Y:-14.98, Z:-1.88 [[ 9.90959984e-01 1.33962423e-01 7.23742903e-03 1.26501253e+02] [-1.33958952e-01 9.90986412e-01 -9.64368266e-04 -1.49843761e+01] [-7.30138294e-03 -1.38680477e-05 9.99973344e-01 -1.87751887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.185769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:126.53, Y:-14.99, Z:-1.88 [[ 9.91021849e-01 1.33457213e-01 8.05406677e-03 1.26528281e+02] [-1.33452902e-01 9.91054576e-01 -1.07278510e-03 -1.49902900e+01] [-8.12519064e-03 -1.16851145e-05 9.99966990e-01 -1.87735271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.215769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.56, Y:-15.00, Z:-1.88 [[ 9.91079718e-01 1.32962597e-01 9.05212375e-03 1.26556123e+02] [-1.32957137e-01 9.91121056e-01 -1.20504029e-03 -1.49959733e+01] [-9.13197573e-03 -9.25346172e-06 9.99958303e-01 -1.87761398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.245769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.58, Y:-15.00, Z:-1.88 [[ 9.91113205e-01 1.32707684e-01 9.12612986e-03 1.26583130e+02] [-1.32702127e-01 9.91155220e-01 -1.21450071e-03 -1.50007052e+01] [-9.20658482e-03 -7.34915340e-06 9.99957618e-01 -1.87733940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.275769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:126.61, Y:-15.01, Z:-1.88 [[ 9.91030620e-01 1.33428727e-01 7.42196179e-03 1.26610439e+02] [-1.33425074e-01 9.91058411e-01 -9.87414459e-04 -1.50083212e+01] [-7.48734712e-03 -1.17178409e-05 9.99971969e-01 -1.87894097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.305769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:126.64, Y:-15.02, Z:-1.88 [[ 9.90950368e-01 1.34079559e-01 6.32769478e-03 1.26638872e+02] [-1.34076919e-01 9.90970571e-01 -8.41493014e-04 -1.50153157e+01] [-6.38338632e-03 -1.45200090e-05 9.99979626e-01 -1.87927610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.335769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:126.67, Y:-15.02, Z:-1.88 [[ 9.90804507e-01 1.35178033e-01 5.77305131e-03 1.26667262e+02] [-1.35175855e-01 9.90821325e-01 -7.67522416e-04 -1.50212099e+01] [-5.82381452e-03 -1.99124801e-05 9.99983041e-01 -1.87892898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.365769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:126.69, Y:-15.03, Z:-1.88 [[ 9.90315683e-01 1.38711649e-01 5.82471539e-03 1.26694412e+02] [-1.38709495e-01 9.90332811e-01 -7.74198577e-04 -1.50260469e+01] [-5.87579713e-03 -4.12423360e-05 9.99982737e-01 -1.87840626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.395769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:126.72, Y:-15.03, Z:-1.88 [[ 9.90090028e-01 1.40302953e-01 6.06773784e-03 1.26722514e+02] [-1.40300648e-01 9.90108620e-01 -8.06050693e-04 -1.50308645e+01] [-6.12081083e-03 -5.32447960e-05 9.99981266e-01 -1.87826627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.425769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:126.75, Y:-15.04, Z:-1.88 [[ 9.89820109e-01 1.42124355e-01 7.53782191e-03 1.26750909e+02] [-1.42120854e-01 9.89848807e-01 -1.00083621e-03 -1.50390710e+01] [-7.60354723e-03 -8.06338804e-05 9.99971089e-01 -1.87925294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.455769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:126.78, Y:-15.04, Z:-1.88 [[ 9.89769086e-01 1.42419650e-01 8.59073092e-03 1.26778691e+02] [-1.42415117e-01 9.89806362e-01 -1.14019500e-03 -1.50439017e+01] [-8.66554629e-03 -9.49201910e-05 9.99962449e-01 -1.87962302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.485769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:126.81, Y:-15.05, Z:-1.88 [[ 9.89833137e-01 1.41927938e-01 9.31778625e-03 1.26807315e+02] [-1.41922592e-01 9.89876988e-01 -1.23592971e-03 -1.50478176e+01] [-9.39887514e-03 -9.90401903e-05 9.99955825e-01 -1.87992089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.515769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:126.84, Y:-15.05, Z:-1.88 [[ 9.89943061e-01 1.41197231e-01 8.72231799e-03 1.26835887e+02] [-1.41192521e-01 9.89981482e-01 -1.15657110e-03 -1.50538901e+01] [-8.79823793e-03 -8.65865328e-05 9.99961291e-01 -1.88035115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.86, Y:-15.06, Z:-1.88 [[ 9.90027324e-01 1.40674894e-01 7.51482611e-03 1.26863474e+02] [-1.40671384e-01 9.90055842e-01 -9.96271462e-04 -1.50594226e+01] [-7.58024787e-03 -7.07850168e-05 9.99971267e-01 -1.88054604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.575769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.89, Y:-15.06, Z:-1.88 [[ 9.90138009e-01 1.39917492e-01 7.05826647e-03 1.26891283e+02] [-1.39914379e-01 9.90163164e-01 -9.35289351e-04 -1.50647238e+01] [-7.11969880e-03 -6.14874362e-05 9.99974653e-01 -1.88065597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.605769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.92, Y:-15.07, Z:-1.88 [[ 9.90347395e-01 1.38327651e-01 8.80333568e-03 1.26919573e+02] [-1.38322754e-01 9.90386519e-01 -1.16574851e-03 -1.50728925e+01] [-8.87996023e-03 -6.32056341e-05 9.99960570e-01 -1.88086595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:-15.08, Z:-1.88 [[ 9.90246228e-01 1.38921870e-01 1.06358635e-02 1.26948268e+02] [-1.38914762e-01 9.90303341e-01 -1.40777655e-03 -1.50791271e+01] [-1.07283021e-02 -8.34330332e-05 9.99942447e-01 -1.88043134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:-15.08, Z:-1.88 [[ 9.89721649e-01 1.42374795e-01 1.34341281e-02 1.26976205e+02] [-1.42363784e-01 9.89812808e-01 -1.77733489e-03 -1.50839415e+01] [-1.35503198e-02 -1.53466493e-04 9.99908178e-01 -1.88002254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:-15.09, Z:-1.88 [[ 9.89474083e-01 1.44135304e-01 1.28861892e-02 1.27006145e+02] [-1.44125328e-01 9.89557975e-01 -1.70438455e-03 -1.50876914e+01] [-1.29972933e-02 -1.70781909e-04 9.99915517e-01 -1.88118259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.04, Y:-15.09, Z:-1.88 [[ 9.89305212e-01 1.45471694e-01 1.06387576e-02 1.27035612e+02] [-1.45464971e-01 9.89362402e-01 -1.40718934e-03 -1.50923581e+01] [-1.07302930e-02 -1.55426813e-04 9.99942417e-01 -1.88315897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.06, Y:-15.10, Z:-1.89 [[ 9.89370588e-01 1.45247456e-01 7.00118337e-03 1.27064022e+02] [-1.45244539e-01 9.89395354e-01 -9.26059255e-04 -1.50994030e+01] [-7.06144605e-03 -1.00667861e-04 9.99975063e-01 -1.88526936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:-15.10, Z:-1.88 [[ 9.89621909e-01 1.43502877e-01 7.44328709e-03 1.27093390e+02] [-1.43499533e-01 9.89649895e-01 -9.84168860e-04 -1.51042200e+01] [-7.50747936e-03 -9.41531543e-05 9.99971814e-01 -1.88446111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.12, Y:-15.11, Z:-1.88 [[ 9.89910516e-01 1.41404909e-01 9.04558475e-03 1.27122510e+02] [-1.41399885e-01 9.89951839e-01 -1.19574781e-03 -1.51084153e+01] [-9.12377786e-03 -9.53613114e-05 9.99958373e-01 -1.88336569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:-15.12, Z:-1.88 [[ 9.90434916e-01 1.37528238e-01 1.11651871e-02 1.27151912e+02] [-1.37520342e-01 9.90497844e-01 -1.47555404e-03 -1.51152454e+01] [-1.12620241e-02 -7.40001086e-05 9.99936579e-01 -1.88303829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:-15.12, Z:-1.88 [[ 9.90687561e-01 1.35723295e-01 1.08324874e-02 1.27181546e+02] [-1.35715755e-01 9.90746781e-01 -1.43158556e-03 -1.51217066e+01] [-1.09265515e-02 -5.18852042e-05 9.99940302e-01 -1.88415002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:-15.13, Z:-1.88 [[ 9.90903262e-01 1.34257123e-01 9.26012661e-03 1.27211230e+02] [-1.34251549e-01 9.90946529e-01 -1.22378758e-03 -1.51283000e+01] [-9.34059253e-03 -3.05312371e-05 9.99956375e-01 -1.88451288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.935769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:-15.13, Z:-1.89 [[ 9.90785378e-01 1.35192631e-01 8.20293489e-03 1.27240528e+02] [-1.35188288e-01 9.90819333e-01 -1.08413109e-03 -1.51321085e+01] [-8.27419302e-03 -3.47994935e-05 9.99965768e-01 -1.88510493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:-15.14, Z:-1.89 [[ 9.90606962e-01 1.36543595e-01 7.32763654e-03 1.27270589e+02] [-1.36540168e-01 9.90634062e-01 -9.68309102e-04 -1.51369659e+01] [-7.39122276e-03 -4.13029840e-05 9.99972684e-01 -1.88652556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:-15.14, Z:-1.89 [[ 9.90498045e-01 1.37379725e-01 6.35881670e-03 1.27299262e+02] [-1.37377162e-01 9.90518455e-01 -8.40206894e-04 -1.51428677e+01] [-6.41395268e-03 -4.13329050e-05 9.99979430e-01 -1.88770234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.33, Y:-15.15, Z:-1.89 [[ 9.90479962e-01 1.37562162e-01 5.10844012e-03 1.27329110e+02] [-1.37560510e-01 9.90493135e-01 -6.75112472e-04 -1.51508557e+01] [-5.15274480e-03 -3.40342492e-05 9.99986724e-01 -1.88812946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.055769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.36, Y:-15.16, Z:-1.89 [[ 9.90480450e-01 1.37564418e-01 4.95067780e-03 1.27359695e+02] [-1.37562866e-01 9.90492822e-01 -6.54263191e-04 -1.51558394e+01] [-4.99361416e-03 -3.29945287e-05 9.99987531e-01 -1.88864296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.085769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:127.39, Y:-15.16, Z:-1.89 [[ 9.90541841e-01 1.37111713e-01 5.21918401e-03 1.27387991e+02] [-1.37109983e-01 9.90555590e-01 -6.89658025e-04 -1.51635139e+01] [-5.26445209e-03 -3.24670995e-05 9.99986142e-01 -1.88908590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.115769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:127.42, Y:-15.17, Z:-1.89 [[ 9.90606897e-01 1.36594425e-01 6.31966377e-03 1.27418230e+02] [-1.36591876e-01 9.90627055e-01 -8.35255182e-04 -1.51703629e+01] [-6.37452111e-03 -3.58051836e-05 9.99979682e-01 -1.88910565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.145769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.45, Y:-15.18, Z:-1.89 [[ 9.90664656e-01 1.36115066e-01 7.49859298e-03 1.27448468e+02] [-1.36111463e-01 9.90693034e-01 -9.91071500e-04 -1.51764823e+01] [-7.56370359e-03 -3.88249576e-05 9.99971394e-01 -1.88903464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.175769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.48, Y:-15.18, Z:-1.89 [[ 9.90589734e-01 1.36606852e-01 8.39917648e-03 1.27478703e+02] [-1.36602350e-01 9.90625341e-01 -1.11009952e-03 -1.51822009e+01] [-8.47208426e-03 -4.76940583e-05 9.99964110e-01 -1.88823282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.205769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.51, Y:-15.19, Z:-1.89 [[ 9.90513192e-01 1.37202058e-01 7.69487295e-03 1.27509046e+02] [-1.37198297e-01 9.90543080e-01 -1.01694871e-03 -1.51878410e+01] [-7.76163060e-03 -4.84223591e-05 9.99969877e-01 -1.88903607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.235769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.54, Y:-15.19, Z:-1.89 [[ 9.90375477e-01 1.38247663e-01 6.63305759e-03 1.27540862e+02] [-1.38244899e-01 9.90397688e-01 -8.75634189e-04 -1.51942409e+01] [-6.69041928e-03 -4.97797470e-05 9.99977618e-01 -1.89033435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.57, Y:-15.20, Z:-1.89 [[ 9.90144072e-01 1.39904795e-01 6.43163630e-03 1.27571139e+02] [-1.39902217e-01 9.90164959e-01 -8.51158711e-04 -1.51997399e+01] [-6.48746207e-03 -5.70304254e-05 9.99978955e-01 -1.89023786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:-15.20, Z:-1.89 [[ 9.90016290e-01 1.40748358e-01 7.59246846e-03 1.27601264e+02] [-1.40744790e-01 9.90045400e-01 -1.00497235e-03 -1.52027633e+01] [-7.65833668e-03 -7.36613747e-05 9.99970672e-01 -1.88945455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:-15.21, Z:-1.89 [[ 9.90011381e-01 1.40782883e-01 7.59249401e-03 1.27632813e+02] [-1.40779317e-01 9.90040491e-01 -1.00477935e-03 -1.52069916e+01] [-7.65833223e-03 -7.41231325e-05 9.99970672e-01 -1.88987605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:-15.21, Z:-1.89 [[ 9.89725476e-01 1.42708359e-01 8.82073667e-03 1.27663285e+02] [-1.42703618e-01 9.89764777e-01 -1.16786436e-03 -1.52091632e+01] [-8.89711847e-03 -1.02885929e-04 9.99960415e-01 -1.88945447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:-15.21, Z:-1.89 [[ 9.89708860e-01 1.42826961e-01 8.76530707e-03 1.27693044e+02] [-1.42822284e-01 9.89747669e-01 -1.16047332e-03 -1.52126727e+01] [-8.84118912e-03 -1.03350449e-04 9.99960911e-01 -1.89028946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.415769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.72, Y:-15.22, Z:-1.89 [[ 9.89787019e-01 1.42302831e-01 8.45935896e-03 1.27723772e+02] [-1.42298455e-01 9.89823164e-01 -1.12000705e-03 -1.52160608e+01] [-8.53264962e-03 -9.51852743e-05 9.99963592e-01 -1.89115970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:-15.22, Z:-1.89 [[ 9.90106301e-01 1.40065847e-01 8.43033627e-03 1.27754774e+02] [-1.40061418e-01 9.90142188e-01 -1.11642253e-03 -1.52166495e+01] [-8.50360427e-03 -7.53878695e-05 9.99963841e-01 -1.89122741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.79, Y:-15.22, Z:-1.89 [[ 9.90215262e-01 1.39204055e-01 9.79619236e-03 1.27785268e+02] [-1.39198031e-01 9.90263715e-01 -1.29744502e-03 -1.52182555e+01] [-9.88142345e-03 -7.88608250e-05 9.99951174e-01 -1.89028251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.82, Y:-15.22, Z:-1.89 [[ 9.90239827e-01 1.38854576e-01 1.20204760e-02 1.27815881e+02] [-1.38845478e-01 9.90312778e-01 -1.59221559e-03 -1.52198449e+01] [-1.21251174e-02 -9.23134409e-05 9.99926484e-01 -1.88964630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:-15.22, Z:-1.89 [[ 9.90172161e-01 1.39206275e-01 1.34426141e-02 1.27847122e+02] [-1.39194926e-01 9.90263400e-01 -1.78077060e-03 -1.52198333e+01] [-1.35596232e-02 -1.07874206e-04 9.99908058e-01 -1.88886717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.88, Y:-15.22, Z:-1.89 [[ 9.90132708e-01 1.39582477e-01 1.24077284e-02 1.27879682e+02] [-1.39572836e-01 9.90210443e-01 -1.64383478e-03 -1.52217101e+01] [-1.25157128e-02 -1.04167271e-04 9.99921670e-01 -1.89034641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:-15.22, Z:-1.89 [[ 9.90393842e-01 1.37960736e-01 9.32061403e-03 1.27910951e+02] [-1.37955208e-01 9.90437697e-01 -1.23652693e-03 -1.52197715e+01] [-9.40207966e-03 -6.11785905e-05 9.99955798e-01 -1.89201866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:-15.22, Z:-1.89 [[ 9.90683044e-01 1.35940360e-01 8.20511372e-03 1.27939922e+02] [-1.35936005e-01 9.90717022e-01 -1.08874366e-03 -1.52220277e+01] [-8.27695003e-03 -3.67704969e-05 9.99965745e-01 -1.89280620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:127.97, Y:-15.23, Z:-1.89 [[ 9.91503264e-01 1.29868402e-01 7.44816332e-03 1.27970022e+02] [-1.29864643e-01 9.91531239e-01 -9.88155767e-04 -1.52261508e+01] [-7.51341682e-03 1.25065984e-05 9.99971774e-01 -1.89278046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.685769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.00, Y:-15.23, Z:-1.89 [[ 9.91925659e-01 1.26604789e-01 7.39693169e-03 1.28000155e+02] [-1.26600991e-01 9.91953238e-01 -9.81358812e-04 -1.52307513e+01] [-7.46165507e-03 3.69761053e-05 9.99972161e-01 -1.89282127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.03, Y:-15.23, Z:-1.89 [[ 9.92275041e-01 1.23807998e-01 7.86273209e-03 1.28029994e+02] [-1.23803619e-01 9.92306191e-01 -1.04315705e-03 -1.52349651e+01] [-7.93138891e-03 6.16640136e-05 9.99968544e-01 -1.89338260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.745769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.06, Y:-15.24, Z:-1.89 [[ 9.92819375e-01 1.19249277e-01 9.44980991e-03 1.28060228e+02] [-1.19242751e-01 9.92864339e-01 -1.25312615e-03 -1.52407917e+01] [-9.53181365e-03 1.17306593e-04 9.99954564e-01 -1.89378935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.09, Y:-15.25, Z:-1.89 [[ 9.93070097e-01 1.17033186e-01 1.07245196e-02 1.28090667e+02] [-1.17024629e-01 9.93127992e-01 -1.42417796e-03 -1.52467995e+01] [-1.08174967e-02 1.59275615e-04 9.99941476e-01 -1.89457326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.12, Y:-15.26, Z:-1.90 [[ 9.93452625e-01 1.13655321e-01 1.15909245e-02 1.28121759e+02] [-1.13645073e-01 9.93520217e-01 -1.54120736e-03 -1.52561873e+01] [-1.16909843e-02 2.13865040e-04 9.99931635e-01 -1.89548227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:-15.26, Z:-1.90 [[ 9.93614754e-01 1.12249679e-01 1.13899487e-02 1.28154053e+02] [-1.12239669e-01 9.93680008e-01 -1.51629912e-03 -1.52634295e+01] [-1.14881684e-02 2.28213103e-04 9.99933983e-01 -1.89588856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.19, Y:-15.27, Z:-1.90 [[ 9.93759280e-01 1.10984083e-01 1.11815067e-02 1.28185770e+02] [-1.10974332e-01 9.93822155e-01 -1.49069902e-03 -1.52711920e+01] [-1.12778730e-02 2.40535738e-04 9.99936374e-01 -1.89658621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.22, Y:-15.28, Z:-1.90 [[ 9.93859083e-01 1.10112737e-01 1.09228524e-02 1.28218218e+02] [-1.10103358e-01 9.93919073e-01 -1.45812899e-03 -1.52788818e+01] [-1.10169899e-02 2.46532016e-04 9.99939281e-01 -1.89678311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.25, Y:-15.29, Z:-1.90 [[ 9.93876745e-01 1.10067111e-01 9.70804582e-03 1.28248447e+02] [-1.10059685e-01 9.93924133e-01 -1.29755956e-03 -1.52904884e+01] [-9.79187966e-03 2.21149811e-04 9.99952034e-01 -1.89806207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.28, Y:-15.30, Z:-1.90 [[ 9.93829600e-01 1.10530116e-01 9.26385588e-03 1.28280686e+02] [-1.10523360e-01 9.93872753e-01 -1.23965193e-03 -1.52990137e+01] [-9.34411282e-03 2.08130305e-04 9.99956321e-01 -1.89882777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.31, Y:-15.31, Z:-1.90 [[ 9.93470003e-01 1.13684093e-01 9.65812809e-03 1.28311604e+02] [-1.13676880e-01 9.93516931e-01 -1.29440252e-03 -1.53102140e+01] [-9.74266675e-03 1.88044214e-04 9.99952521e-01 -1.89950549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.34, Y:-15.32, Z:-1.90 [[ 9.93200608e-01 1.16035924e-01 9.39237843e-03 1.28342771e+02] [-1.16029189e-01 9.93245004e-01 -1.26062676e-03 -1.53169631e+01] [-9.47521095e-03 1.62265213e-04 9.99955096e-01 -1.89991975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.37, Y:-15.32, Z:-1.90 [[ 9.92835606e-01 1.19130514e-01 9.24017204e-03 1.28374986e+02] [-1.19124122e-01 9.92878595e-01 -1.24097719e-03 -1.53245606e+01] [-9.32220728e-03 1.31358954e-04 9.99956539e-01 -1.90031703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.41, Y:-15.33, Z:-1.90 [[ 9.92094667e-01 1.25154457e-01 9.19422497e-03 1.28407071e+02] [-1.25148368e-01 9.92137267e-01 -1.23689064e-03 -1.53344812e+01] [-9.27673561e-03 7.64703580e-05 9.99956967e-01 -1.89977896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.44, Y:-15.34, Z:-1.90 [[ 9.91697089e-01 1.28250528e-01 9.41732565e-03 1.28437919e+02] [-1.28244275e-01 9.91741801e-01 -1.26735813e-03 -1.53416902e+01] [-9.50209484e-03 4.91172676e-05 9.99954853e-01 -1.90016054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.47, Y:-15.35, Z:-1.90 [[ 9.91163251e-01 1.32281253e-01 9.85296589e-03 1.28468972e+02] [-1.32274587e-01 9.91212223e-01 -1.32803080e-03 -1.53512932e+01] [-9.94205380e-03 1.29983373e-05 9.99950576e-01 -1.90180054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.50, Y:-15.36, Z:-1.90 [[ 9.90947871e-01 1.33884803e-01 9.85777357e-03 1.28501788e+02] [-1.33878201e-01 9.90996902e-01 -1.32954568e-03 -1.53583442e+01] [-9.94702903e-03 -2.23052461e-06 9.99950527e-01 -1.90232000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.53, Y:-15.37, Z:-1.90 [[ 9.90820324e-01 1.34858474e-01 9.39558596e-03 1.28534248e+02] [-1.34852504e-01 9.90864871e-01 -1.26890039e-03 -1.53654974e+01] [-9.48087803e-03 -9.76600579e-06 9.99955055e-01 -1.90326117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:-15.37, Z:-1.90 [[ 9.90750507e-01 1.35423926e-01 8.59034266e-03 1.28567023e+02] [-1.35418945e-01 9.90787747e-01 -1.16156733e-03 -1.53729000e+01] [-8.66851026e-03 -1.24717228e-05 9.99962428e-01 -1.90293112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:-15.38, Z:-1.90 [[ 9.90566764e-01 1.36707136e-01 9.41515671e-03 1.28599136e+02] [-1.36701190e-01 9.90611507e-01 -1.27517800e-03 -1.53827338e+01] [-9.50108852e-03 -2.39141812e-05 9.99954863e-01 -1.90307942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.63, Y:-15.39, Z:-1.90 [[ 9.90363650e-01 1.38126754e-01 1.00419637e-02 1.28632053e+02] [-1.38120043e-01 9.90414559e-01 -1.36219370e-03 -1.53884499e+01] [-1.01338625e-02 -3.79293317e-05 9.99948650e-01 -1.90339794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.66, Y:-15.39, Z:-1.90 [[ 9.89706481e-01 1.42709763e-01 1.07240067e-02 1.28663959e+02] [-1.42702353e-01 9.89764576e-01 -1.45698920e-03 -1.53928375e+01] [-1.08221685e-02 -8.83493382e-05 9.99941435e-01 -1.90350826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.70, Y:-15.40, Z:-1.90 [[ 9.89190180e-01 1.46245170e-01 1.07302671e-02 1.28696426e+02] [-1.46237938e-01 9.89248369e-01 -1.45974762e-03 -1.53976504e+01] [-1.08283803e-02 -1.25204134e-04 9.99941364e-01 -1.90363500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:-15.40, Z:-1.90 [[ 9.88646077e-01 1.49898098e-01 1.04639699e-02 1.28729053e+02] [-1.49891405e-01 9.88701439e-01 -1.42543840e-03 -1.54024500e+01] [-1.05594126e-02 -1.59205063e-04 9.99944235e-01 -1.90426429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:-15.41, Z:-1.90 [[ 9.87912994e-01 1.54677554e-01 1.01375587e-02 1.28761198e+02] [-1.54671503e-01 9.87964986e-01 -1.38287504e-03 -1.54057118e+01] [-1.02294527e-02 -2.01831217e-04 9.99947657e-01 -1.90481146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.435769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.79, Y:-15.41, Z:-1.91 [[ 9.87796938e-01 1.55417500e-01 1.01296855e-02 1.28792779e+02] [-1.55411480e-01 9.87848854e-01 -1.38361148e-03 -1.54091761e+01] [-1.02216356e-02 -2.07542224e-04 9.99947736e-01 -1.90527938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.83, Y:-15.41, Z:-1.91 [[ 9.87790439e-01 1.55469701e-01 9.96098286e-03 1.28825413e+02] [-1.55463866e-01 9.87840640e-01 -1.36222351e-03 -1.54108927e+01] [-1.00516482e-02 -2.02981542e-04 9.99949460e-01 -1.90585876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.86, Y:-15.41, Z:-1.91 [[ 9.87749949e-01 1.55725872e-01 9.97453043e-03 1.28858636e+02] [-1.55720015e-01 9.87800289e-01 -1.36597320e-03 -1.54137839e+01] [-1.00655614e-02 -2.03994070e-04 9.99949320e-01 -1.90690488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:-15.41, Z:-1.91 [[ 9.87619562e-01 1.56497626e-01 1.07747067e-02 1.28890880e+02] [-1.56490811e-01 9.87678309e-01 -1.47789288e-03 -1.54143338e+01] [-1.08732308e-02 -2.26546671e-04 9.99940859e-01 -1.90781327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.92, Y:-15.42, Z:-1.91 [[ 9.87527615e-01 1.57042579e-01 1.12622437e-02 1.28923799e+02] [-1.57035145e-01 9.87591804e-01 -1.54690164e-03 -1.54174966e+01] [-1.13654290e-02 -2.40959980e-04 9.99935382e-01 -1.90741743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.96, Y:-15.42, Z:-1.91 [[ 9.87543892e-01 1.56949302e-01 1.11345165e-02 1.28955763e+02] [-1.56942006e-01 9.87606633e-01 -1.53153322e-03 -1.54208636e+01] [-1.12368954e-02 -2.35017070e-04 9.99936836e-01 -1.90743433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.99, Y:-15.42, Z:-1.91 [[ 9.87727564e-01 1.55823054e-01 1.06506071e-02 1.28987505e+02] [-1.55816293e-01 9.87784962e-01 -1.46681581e-03 -1.54227009e+01] [-1.07490732e-02 -2.10723706e-04 9.99942205e-01 -1.90801150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:-15.43, Z:-1.91 [[ 9.87825867e-01 1.55180792e-01 1.09076877e-02 1.29020199e+02] [-1.55173640e-01 9.87886066e-01 -1.50417244e-03 -1.54258524e+01] [-1.10089714e-02 -2.06725160e-04 9.99939378e-01 -1.90884355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.05, Y:-15.43, Z:-1.91 [[ 9.88271149e-01 1.52371262e-01 1.01555245e-02 1.29052980e+02] [-1.52364896e-01 9.88323314e-01 -1.40219031e-03 -1.54287109e+01] [-1.02505951e-02 -1.61601206e-04 9.99947448e-01 -1.90989664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.08, Y:-15.43, Z:-1.91 [[ 9.88491097e-01 1.50986978e-01 9.39596070e-03 1.29084369e+02] [-1.50981448e-01 9.88535743e-01 -1.29916803e-03 -1.54330488e+01] [-9.48440044e-03 -1.34399726e-04 9.99955013e-01 -1.91091979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.12, Y:-15.44, Z:-1.91 [[ 9.88659949e-01 1.49923371e-01 8.63068060e-03 1.29117457e+02] [-1.49918660e-01 9.88697613e-01 -1.19391876e-03 -1.54373982e+01] [-8.71212964e-03 -1.13520409e-04 9.99962042e-01 -1.91175310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.15, Y:-15.44, Z:-1.91 [[ 9.88744282e-01 1.49369246e-01 8.57748293e-03 1.29149523e+02] [-1.49364557e-01 9.88781481e-01 -1.18822520e-03 -1.54410896e+01] [-8.65874058e-03 -1.06321072e-04 9.99962507e-01 -1.91194607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.18, Y:-15.44, Z:-1.91 [[ 9.88752892e-01 1.49263718e-01 9.38406881e-03 1.29180489e+02] [-1.49258083e-01 9.88797416e-01 -1.30192163e-03 -1.54447664e+01] [-9.47327265e-03 -1.13369338e-04 9.99955121e-01 -1.91148957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.21, Y:-15.45, Z:-1.91 [[ 9.88745370e-01 1.49338266e-01 8.98199302e-03 1.29212579e+02] [-1.49333096e-01 9.88786160e-01 -1.24725893e-03 -1.54501063e+01] [-9.06753387e-03 -1.08087332e-04 9.99958883e-01 -1.91158015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.25, Y:-15.46, Z:-1.91 [[ 9.88947502e-01 1.47926066e-01 1.00357465e-02 1.29245200e+02] [-1.47919518e-01 9.88998417e-01 -1.39574615e-03 -1.54565302e+01] [-1.01318046e-02 -1.04163119e-04 9.99948667e-01 -1.91256850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.28, Y:-15.46, Z:-1.91 [[ 9.89078723e-01 1.46976282e-01 1.10114578e-02 1.29276757e+02] [-1.46968314e-01 9.89140011e-01 -1.53375453e-03 -1.54615033e+01] [-1.11172990e-02 -1.01331416e-04 9.99938196e-01 -1.91297500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.31, Y:-15.47, Z:-1.91 [[ 9.89186649e-01 1.46212070e-01 1.14805981e-02 1.29309046e+02] [-1.46203333e-01 9.89253265e-01 -1.60117860e-03 -1.54668362e+01] [-1.15913308e-02 -9.46372216e-05 9.99932814e-01 -1.91423222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.34, Y:-15.47, Z:-1.91 [[ 9.89266051e-01 1.45778539e-01 1.00646532e-02 1.29341598e+02] [-1.45771787e-01 9.89317245e-01 -1.40522385e-03 -1.54723921e+01] [-1.01619865e-02 -7.70022350e-05 9.99948363e-01 -1.91404228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.37, Y:-15.48, Z:-1.91 [[ 9.89198852e-01 1.46242741e-01 9.93441560e-03 1.29372999e+02] [-1.46236164e-01 9.89248732e-01 -1.38920427e-03 -1.54771506e+01] [-1.00307691e-02 -7.85715576e-05 9.99949687e-01 -1.91409915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.41, Y:-15.48, Z:-1.91 [[ 9.88948095e-01 1.47839671e-01 1.11846865e-02 1.29405468e+02] [-1.47831419e-01 9.89011335e-01 -1.56550299e-03 -1.54825598e+01] [-1.12932252e-02 -1.05246881e-04 9.99936224e-01 -1.91444256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.44, Y:-15.49, Z:-1.91 [[ 9.88882984e-01 1.48223095e-01 1.18473077e-02 1.29438321e+02] [-1.48213837e-01 9.88953943e-01 -1.66053235e-03 -1.54874586e+01] [-1.19625709e-02 -1.13862734e-04 9.99928439e-01 -1.91443700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.47, Y:-15.49, Z:-1.92 [[ 9.88873064e-01 1.48330384e-01 1.13208386e-02 1.29470219e+02] [-1.48321914e-01 9.88937857e-01 -1.58884254e-03 -1.54929633e+01] [-1.14312795e-02 -1.07964857e-04 9.99934655e-01 -1.91516164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.50, Y:-15.50, Z:-1.92 [[ 9.88876845e-01 1.48364682e-01 1.05121775e-02 1.29502805e+02] [-1.48357362e-01 9.88932713e-01 -1.47708544e-03 -1.54986536e+01] [-1.06149835e-02 -9.89033270e-05 9.99943655e-01 -1.91593226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:-15.50, Z:-1.92 [[ 9.88854429e-01 1.48515643e-01 1.04891730e-02 1.29534516e+02] [-1.48508342e-01 9.88910054e-01 -1.47590525e-03 -1.55040566e+01] [-1.05920436e-02 -9.82742411e-05 9.99943898e-01 -1.91614340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:-15.51, Z:-1.92 [[ 9.88607249e-01 1.50012647e-01 1.23253365e-02 1.29565860e+02] [-1.50002662e-01 9.88684069e-01 -1.73586994e-03 -1.55101146e+01] [-1.24462663e-02 -1.32739688e-04 9.99922533e-01 -1.91631520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.185769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.60, Y:-15.51, Z:-1.92 [[ 9.88595830e-01 1.50087900e-01 1.23250642e-02 1.29599009e+02] [-1.50077897e-01 9.88672648e-01 -1.73780119e-03 -1.55149381e+01] [-1.24462768e-02 -1.31736709e-04 9.99922533e-01 -1.91675896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:-15.52, Z:-1.92 [[ 9.88357594e-01 1.51577639e-01 1.31713875e-02 1.29631878e+02] [-1.51566332e-01 9.88445342e-01 -1.85822939e-03 -1.55200765e+01] [-1.33008626e-02 -1.59743753e-04 9.99911527e-01 -1.91642016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:-15.52, Z:-1.92 [[ 9.88101225e-01 1.53185564e-01 1.37895667e-02 1.29663847e+02] [-1.53173290e-01 9.88197424e-01 -1.94810723e-03 -1.55239585e+01] [-1.39252362e-02 -1.87266167e-04 9.99903022e-01 -1.91676697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:-15.53, Z:-1.92 [[ 9.87593672e-01 1.56496782e-01 1.29420431e-02 1.29697360e+02] [-1.56486236e-01 9.87678445e-01 -1.82978432e-03 -1.55260080e+01] [-1.30689324e-02 -2.18168202e-04 9.99914574e-01 -1.91768747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.73, Y:-15.53, Z:-1.92 [[ 9.87290079e-01 1.58495677e-01 1.17226643e-02 1.29729690e+02] [-1.58487143e-01 9.87359647e-01 -1.65934064e-03 -1.55294257e+01] [-1.18374840e-02 -2.19641014e-04 9.99929910e-01 -1.91907060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.76, Y:-15.53, Z:-1.92 [[ 9.86655495e-01 1.62502037e-01 1.01991601e-02 1.29761847e+02] [-1.62495774e-01 9.86708181e-01 -1.44532596e-03 -1.55320177e+01] [-1.02984631e-02 -2.31281614e-04 9.99946943e-01 -1.92043082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:-15.54, Z:-1.92 [[ 9.86549620e-01 1.63168327e-01 9.79509870e-03 1.29792752e+02] [-1.63162565e-01 9.86598219e-01 -1.38983961e-03 -1.55350436e+01] [-9.89060473e-03 -2.27047693e-04 9.99951061e-01 -1.92093204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:-15.54, Z:-1.92 [[ 9.86596045e-01 1.62922710e-01 9.18886665e-03 1.29823644e+02] [-1.62917624e-01 9.86638813e-01 -1.30435573e-03 -1.55377629e+01] [-9.27860165e-03 -2.10156118e-04 9.99956931e-01 -1.92132569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:-15.54, Z:-1.92 [[ 9.86693451e-01 1.62378452e-01 8.32297043e-03 1.29854668e+02] [-1.62374245e-01 9.86728536e-01 -1.18318200e-03 -1.55375277e+01] [-8.40463569e-03 -1.83998109e-04 9.99964663e-01 -1.92156165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:-15.54, Z:-1.92 [[ 9.86710658e-01 1.62276820e-01 8.26510424e-03 1.29883749e+02] [-1.62272667e-01 9.86745256e-01 -1.17516142e-03 -1.55389718e+01] [-8.34625386e-03 -1.81656211e-04 9.99965153e-01 -1.92260400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:-15.54, Z:-1.92 [[ 9.86826442e-01 1.61517354e-01 9.25836695e-03 1.29914847e+02] [-1.61512110e-01 9.86869852e-01 -1.31621851e-03 -1.55391903e+01] [-9.34939536e-03 -1.96459156e-04 9.99956274e-01 -1.92290798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:-15.54, Z:-1.92 [[ 9.86957878e-01 1.60615708e-01 1.08046843e-02 1.29945624e+02] [-1.60608513e-01 9.87016994e-01 -1.53605118e-03 -1.55424198e+01] [-1.09111210e-02 -2.19306466e-04 9.99940448e-01 -1.92258067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:-15.55, Z:-1.92 [[ 9.87099608e-01 1.59571662e-01 1.30862014e-02 1.29976272e+02] [-1.59561015e-01 9.87186316e-01 -1.86040374e-03 -1.55461508e+01] [-1.32153867e-02 -2.51643769e-04 9.99912641e-01 -1.92244183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:-15.55, Z:-1.92 [[ 9.87295648e-01 1.58218775e-01 1.46329514e-02 1.30006319e+02] [-1.58205313e-01 9.87404047e-01 -2.08037747e-03 -1.55501350e+01] [-1.47777902e-02 -2.61063022e-04 9.99890768e-01 -1.92190651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:-15.55, Z:-1.92 [[ 9.88181971e-01 1.52656242e-01 1.38731509e-02 1.30038752e+02] [-1.52643583e-01 9.88279335e-01 -1.97312830e-03 -1.55535240e+01] [-1.40117587e-02 -1.67837645e-04 9.99901816e-01 -1.92395093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.07, Y:-15.56, Z:-1.93 [[ 9.89093854e-01 1.46816560e-01 1.17577991e-02 1.30070619e+02] [-1.46807035e-01 9.89163734e-01 -1.67380730e-03 -1.55601306e+01] [-1.18761310e-02 -7.05750986e-05 9.99929474e-01 -1.92614768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:-15.57, Z:-1.93 [[ 9.89375014e-01 1.44959623e-01 1.11260950e-02 1.30101952e+02] [-1.44950955e-01 9.89437570e-01 -1.58587951e-03 -1.55669125e+01] [-1.12384649e-02 -4.37085190e-05 9.99936846e-01 -1.92582808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:-15.57, Z:-1.93 [[ 9.89600321e-01 1.43452723e-01 1.06076090e-02 1.30133088e+02] [-1.43444738e-01 9.89657171e-01 -1.51380395e-03 -1.55733110e+01] [-1.07150556e-02 -2.35448165e-05 9.99942592e-01 -1.92549377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.16, Y:-15.58, Z:-1.93 [[ 9.89672037e-01 1.42928126e-01 1.09913179e-02 1.30163940e+02] [-1.42919500e-01 9.89733070e-01 -1.57037201e-03 -1.55799941e+01] [-1.11029212e-02 -1.67203942e-05 9.99938361e-01 -1.92548944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:-15.59, Z:-1.93 [[ 9.89530848e-01 1.43883724e-01 1.12327812e-02 1.30195646e+02] [-1.43874758e-01 9.89594600e-01 -1.60651255e-03 -1.55863736e+01] [-1.13470506e-02 -2.64199419e-05 9.99935620e-01 -1.92652911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:-15.60, Z:-1.93 [[ 9.89282344e-01 1.45588031e-01 1.11610534e-02 1.30225288e+02] [-1.45579268e-01 9.89345300e-01 -1.59799669e-03 -1.55960438e+01] [-1.12747850e-02 -4.39480714e-05 9.99936437e-01 -1.92697003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:-15.60, Z:-1.93 [[ 9.89121810e-01 1.46701691e-01 1.08008415e-02 1.30256585e+02] [-1.46693535e-01 9.89180778e-01 -1.54787748e-03 -1.56021201e+01] [-1.09110611e-02 -5.33742451e-05 9.99940471e-01 -1.92760108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.29, Y:-15.61, Z:-1.93 [[ 9.88897760e-01 1.48255757e-01 1.00723114e-02 1.30288093e+02] [-1.48248730e-01 9.88949051e-01 -1.44491574e-03 -1.56075436e+01] [-1.01752199e-02 -6.43334379e-05 9.99948229e-01 -1.92801128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.32, Y:-15.61, Z:-1.93 [[ 9.88331112e-01 1.52091955e-01 8.34571398e-03 1.30318381e+02] [-1.52087258e-01 9.88366344e-01 -1.19826209e-03 -1.56136615e+01] [-8.43086884e-03 -8.49970533e-05 9.99964456e-01 -1.92890215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.35, Y:-15.62, Z:-1.93 [[ 9.88023637e-01 1.54105039e-01 7.80574841e-03 1.30350231e+02] [-1.54100986e-01 9.88054466e-01 -1.12170304e-03 -1.56198607e+01] [-7.88536467e-03 -9.46044132e-05 9.99968906e-01 -1.92974039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.935769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:-15.63, Z:-1.93 [[ 9.87354612e-01 1.58316041e-01 8.17933390e-03 1.30381271e+02] [-1.58311724e-01 9.87388482e-01 -1.17674101e-03 -1.56272630e+01] [-8.26247706e-03 -1.33023786e-04 9.99965856e-01 -1.93007703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.41, Y:-15.63, Z:-1.93 [[ 9.86977249e-01 1.60610943e-01 8.94618265e-03 1.30412491e+02] [-1.60605856e-01 9.87017780e-01 -1.28882972e-03 -1.56318412e+01] [-9.03704149e-03 -1.64763706e-04 9.99959152e-01 -1.92995567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:-15.64, Z:-1.93 [[ 9.86623480e-01 1.62745102e-01 9.38832074e-03 1.30442621e+02] [-1.62739576e-01 9.86668128e-01 -1.35465887e-03 -1.56355905e+01] [-9.48362095e-03 -1.91313093e-04 9.99955011e-01 -1.92981041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.47, Y:-15.64, Z:-1.93 [[ 9.86168674e-01 1.65500648e-01 8.99344353e-03 1.30473425e+02] [-1.65495692e-01 9.86209659e-01 -1.29758399e-03 -1.56386556e+01] [-9.08417187e-03 -2.08739486e-04 9.99958716e-01 -1.93094500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:-15.64, Z:-1.93 [[ 9.86110865e-01 1.65846343e-01 8.96396968e-03 1.30505723e+02] [-1.65841438e-01 9.86151584e-01 -1.29294037e-03 -1.56425597e+01] [-9.05426233e-03 -2.11615071e-04 9.99958987e-01 -1.93186402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:-15.65, Z:-1.93 [[ 9.86667771e-01 1.62406694e-01 1.05249572e-02 1.30537116e+02] [-1.62399714e-01 9.86723883e-01 -1.52022912e-03 -1.56469558e+01] [-1.06321220e-02 -2.09288966e-04 9.99943455e-01 -1.93208447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:-15.65, Z:-1.93 [[ 9.87267378e-01 1.58680152e-01 1.11235543e-02 1.30568768e+02] [-1.58672094e-01 9.87330025e-01 -1.60883879e-03 -1.56527326e+01] [-1.12379099e-02 -1.76643595e-04 9.99936837e-01 -1.93202946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:-15.66, Z:-1.93 [[ 9.87945902e-01 1.54408842e-01 1.09910672e-02 1.30601314e+02] [-1.54400690e-01 9.88007031e-01 -1.59158039e-03 -1.56591526e+01] [-1.11050058e-02 -1.24633033e-04 9.99938330e-01 -1.93179353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.63, Y:-15.67, Z:-1.93 [[ 9.89089807e-01 1.46986606e-01 9.81281970e-03 1.30633861e+02] [-1.46979727e-01 9.89138482e-01 -1.42256743e-03 -1.56666290e+01] [-9.91533594e-03 -3.52386115e-05 9.99950841e-01 -1.93306977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.67, Y:-15.67, Z:-1.93 [[ 9.89404152e-01 1.44890352e-01 9.28491233e-03 1.30665930e+02] [-1.44884085e-01 9.89447718e-01 -1.34769844e-03 -1.56721403e+01] [-9.38220382e-03 -1.18175948e-05 9.99955986e-01 -1.93414520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:-15.68, Z:-1.93 [[ 9.89527209e-01 1.44067555e-01 8.96899476e-03 1.30698337e+02] [-1.44061658e-01 9.89567855e-01 -1.30349315e-03 -1.56774868e+01] [-9.06321998e-03 -2.24631916e-06 9.99958928e-01 -1.93403193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:-15.68, Z:-1.93 [[ 9.89371660e-01 1.44994534e-01 1.09683147e-02 1.30729725e+02] [-1.44985741e-01 9.89432456e-01 -1.59677924e-03 -1.56842209e+01] [-1.10839308e-02 -1.04411064e-05 9.99938571e-01 -1.93331443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.295769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:130.76, Y:-15.69, Z:-1.93 [[ 9.89288947e-01 1.45503678e-01 1.16644118e-02 1.30762013e+02] [-1.45493743e-01 9.89357711e-01 -1.70035712e-03 -1.56911986e+01] [-1.17876839e-02 -1.49544293e-05 9.99930523e-01 -1.93241040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:-15.70, Z:-1.93 [[ 9.89227479e-01 1.45834431e-01 1.27009239e-02 1.30793519e+02] [-1.45822645e-01 9.89309011e-01 -1.85410136e-03 -1.57007785e+01] [-1.28355302e-02 -1.79543050e-05 9.99917621e-01 -1.93361182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:-15.71, Z:-1.93 [[ 9.89252371e-01 1.45634675e-01 1.30494352e-02 1.30825083e+02] [-1.45622182e-01 9.89338436e-01 -1.90761558e-03 -1.57078099e+01] [-1.31881227e-02 -1.31739824e-05 9.99913033e-01 -1.93452961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.385769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:130.86, Y:-15.72, Z:-1.94 [[ 9.89286592e-01 1.45411831e-01 1.29398144e-02 1.30857378e+02] [-1.45399497e-01 9.89371214e-01 -1.89394848e-03 -1.57152618e+01] [-1.30776824e-02 -7.78466986e-06 9.99914483e-01 -1.93596813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.89, Y:-15.73, Z:-1.94 [[ 9.89370140e-01 1.44991229e-01 1.11476183e-02 1.30888748e+02] [-1.44982028e-01 9.89432940e-01 -1.63340073e-03 -1.57258038e+01] [-1.12666496e-02 -1.66411570e-07 9.99936529e-01 -1.93662286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:-15.74, Z:-1.94 [[ 9.89474513e-01 1.44272854e-01 1.12040843e-02 1.30920119e+02] [-1.44263490e-01 9.89537944e-01 -1.64379457e-03 -1.57360737e+01] [-1.13240214e-02 1.01525335e-05 9.99935881e-01 -1.93627244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.95, Y:-15.74, Z:-1.94 [[ 9.89467970e-01 1.44221140e-01 1.23854643e-02 1.30952479e+02] [-1.44209660e-01 9.89545483e-01 -1.81975483e-03 -1.57435975e+01] [-1.25184273e-02 1.44855333e-05 9.99921641e-01 -1.93615603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.99, Y:-15.75, Z:-1.94 [[ 9.89419756e-01 1.44446630e-01 1.35542553e-02 1.30985110e+02] [-1.44432862e-01 9.89512593e-01 -1.99437708e-03 -1.57514667e+01] [-1.37001874e-02 1.55961944e-05 9.99906148e-01 -1.93591181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.02, Y:-15.76, Z:-1.94 [[ 9.89228225e-01 1.45752793e-01 1.35514745e-02 1.31017353e+02] [-1.45739117e-01 9.89321042e-01 -1.99662414e-03 -1.57601025e+01] [-1.36977724e-02 1.37019890e-07 9.99906181e-01 -1.93624014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.05, Y:-15.77, Z:-1.94 [[ 9.88646946e-01 1.49871904e-01 1.07530718e-02 1.31047634e+02] [-1.49863519e-01 9.88705421e-01 -1.58591692e-03 -1.57707532e+01] [-1.08693048e-02 -4.35812704e-05 9.99940926e-01 -1.93739722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.08, Y:-15.78, Z:-1.94 [[ 9.88144740e-01 1.53275254e-01 8.75612341e-03 1.31080464e+02] [-1.53269818e-01 9.88183532e-01 -1.29251940e-03 -1.57770755e+01] [-8.85076820e-03 -6.48531978e-05 9.99960829e-01 -1.93927178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.11, Y:-15.78, Z:-1.94 [[ 9.87064369e-01 1.60198553e-01 6.35262196e-03 1.31112328e+02] [-1.60195832e-01 9.87084807e-01 -9.38221601e-04 -1.57842346e+01] [-6.42087836e-03 -9.15784456e-05 9.99979382e-01 -1.94080976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.14, Y:-15.79, Z:-1.94 [[ 9.86566703e-01 1.63209462e-01 6.98653918e-03 1.31143815e+02] [-1.63206235e-01 9.86591434e-01 -1.03350945e-03 -1.57907648e+01] [-7.06153823e-03 -1.20620745e-04 9.99975060e-01 -1.94078779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.685769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:-15.79, Z:-1.94 [[ 9.86156375e-01 1.65765519e-01 4.17091058e-03 1.31176134e+02] [-1.65712786e-01 9.86114763e-01 -1.08141576e-02 -1.57928376e+01] [-5.90561095e-03 9.97327728e-03 9.99932826e-01 -1.94076587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.715769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.21, Y:-15.81, Z:-1.94 [[ 9.85488767e-01 1.69382580e-01 1.10196016e-02 1.31206339e+02] [-1.69476420e-01 9.85499961e-01 8.22008780e-03 -1.58061282e+01] [-9.46747732e-03 -9.96836682e-03 9.99905495e-01 -1.93949793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:-15.81, Z:-1.94 [[ 9.85193830e-01 1.71155623e-01 9.94337129e-03 1.31238403e+02] [-1.71149438e-01 9.85243976e-01 -1.47592486e-03 -1.58067309e+01] [-1.00492595e-02 -2.47730347e-04 9.99949474e-01 -1.94210269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:-15.81, Z:-1.94 [[ 9.84688179e-01 1.74007661e-01 1.05130190e-02 1.31270709e+02] [-1.74000888e-01 9.84744256e-01 -1.56249291e-03 -1.58122149e+01] [-1.06245208e-02 -2.90706335e-04 9.99943516e-01 -1.94266581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:-15.82, Z:-1.94 [[ 9.84537416e-01 1.74857304e-01 1.05356578e-02 1.31303803e+02] [-1.74850530e-01 9.84593741e-01 -1.56780028e-03 -1.58173022e+01] [-1.06474840e-02 -2.98607304e-04 9.99943269e-01 -1.94306289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.835769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.34, Y:-15.82, Z:-1.94 [[ 9.84486773e-01 1.75155454e-01 1.03130860e-02 1.31336997e+02] [-1.75148961e-01 9.84540746e-01 -1.53653392e-03 -1.58216957e+01] [-1.04227856e-02 -2.93628963e-04 9.99945638e-01 -1.94341595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:-15.82, Z:-1.94 [[ 9.84425061e-01 1.75616392e-01 8.13520307e-03 1.31368952e+02] [-1.75612359e-01 9.84458647e-01 -1.21310907e-03 -1.58247445e+01] [-8.22181285e-03 -2.34427230e-04 9.99966173e-01 -1.94373886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:-15.83, Z:-1.94 [[ 9.84238488e-01 1.76677972e-01 7.71321076e-03 1.31400535e+02] [-1.76674369e-01 9.84268684e-01 -1.15140163e-03 -1.58284431e+01] [-7.79529911e-03 -2.29472851e-04 9.99969590e-01 -1.94375945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.925769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.43, Y:-15.83, Z:-1.94 [[ 9.83553434e-01 1.80371926e-01 9.41335681e-03 1.31433857e+02] [-1.80366709e-01 9.83598429e-01 -1.40725027e-03 -1.58292879e+01] [-9.51279141e-03 -3.13750358e-04 9.99954703e-01 -1.94379713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.47, Y:-15.83, Z:-1.94 [[ 9.83205423e-01 1.82247294e-01 9.64466233e-03 1.31465579e+02] [-1.82241890e-01 9.83252668e-01 -1.44367354e-03 -1.58317561e+01] [-9.74624557e-03 -3.38233837e-04 9.99952447e-01 -1.94438826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.50, Y:-15.83, Z:-1.95 [[ 9.83004985e-01 1.83368344e-01 8.78920874e-03 1.31498582e+02] [-1.83363890e-01 9.83044226e-01 -1.31688201e-03 -1.58346141e+01] [-8.88165538e-03 -3.17121923e-04 9.99960507e-01 -1.94542634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:-15.84, Z:-1.95 [[ 9.83141172e-01 1.82666924e-01 8.13820009e-03 1.31531533e+02] [-1.82663070e-01 9.83174813e-01 -1.22064081e-03 -1.58354532e+01] [-8.22424406e-03 -2.86486379e-04 9.99966139e-01 -1.94604848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:-15.84, Z:-1.95 [[ 9.83357064e-01 1.81459526e-01 9.01807401e-03 1.31564279e+02] [-1.81454726e-01 9.83398367e-01 -1.35447089e-03 -1.58386012e+01] [-9.11414090e-03 -3.04443633e-04 9.99958419e-01 -1.94571569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.60, Y:-15.84, Z:-1.95 [[ 9.84074460e-01 1.77402843e-01 1.12110856e-02 1.31597036e+02] [-1.77395132e-01 9.84138264e-01 -1.68649375e-03 -1.58391905e+01] [-1.13324471e-02 -3.29156581e-04 9.99935732e-01 -1.94565848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:-15.84, Z:-1.95 [[ 9.84389834e-01 1.75637929e-01 1.13124952e-02 1.31630110e+02] [-1.75629948e-01 9.84454784e-01 -1.70290571e-03 -1.58419380e+01] [-1.14357348e-02 -3.10489871e-04 9.99934562e-01 -1.94569945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.66, Y:-15.85, Z:-1.95 [[ 9.84375673e-01 1.75717300e-01 1.13121598e-02 1.31663211e+02] [-1.75709299e-01 9.84440620e-01 -1.70513043e-03 -1.58470664e+01] [-1.14357705e-02 -3.09162752e-04 9.99934562e-01 -1.94613068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:-15.85, Z:-1.95 [[ 9.84746895e-01 1.73779937e-01 8.60737128e-03 1.31695744e+02] [-1.73775231e-01 9.84784487e-01 -1.29745441e-03 -1.58468832e+01] [-8.70187726e-03 -2.18083727e-04 9.99962114e-01 -1.94655839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:-15.85, Z:-1.95 [[ 9.84817123e-01 1.73437997e-01 7.38204797e-03 1.31727676e+02] [-1.73434517e-01 9.84844773e-01 -1.11388257e-03 -1.58496742e+01] [-7.46336092e-03 -1.83331296e-04 9.99972132e-01 -1.94687040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:-15.85, Z:-1.95 [[ 9.84843526e-01 1.73271475e-01 7.76053920e-03 1.31760177e+02] [-1.73267613e-01 9.84874083e-01 -1.17230333e-03 -1.58531028e+01] [-7.84628066e-03 -1.90114760e-04 9.99969199e-01 -1.94729299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:-15.85, Z:-1.95 [[ 9.85028667e-01 1.72016705e-01 1.13480835e-02 1.31791920e+02] [-1.72008326e-01 9.85093998e-01 -1.71762873e-03 -1.58545485e+01] [-1.14743898e-02 -2.60051301e-04 9.99934133e-01 -1.94654114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.83, Y:-15.86, Z:-1.95 [[ 9.85184642e-01 1.71070608e-01 1.20859052e-02 1.31825061e+02] [-1.71061004e-01 9.85258737e-01 -1.83164778e-03 -1.58577475e+01] [-1.22210848e-02 -2.62915819e-04 9.99925285e-01 -1.94684185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:-15.86, Z:-1.95 [[ 9.85734640e-01 1.68038686e-01 9.49834479e-03 1.31856812e+02] [-1.68032601e-01 9.85780386e-01 -1.44085850e-03 -1.58613463e+01] [-9.60540196e-03 -1.75727446e-04 9.99953852e-01 -1.94869187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.89, Y:-15.87, Z:-1.95 [[ 9.86132055e-01 1.65742390e-01 8.54578500e-03 1.31889407e+02] [-1.65737367e-01 9.86169073e-01 -1.29764179e-03 -1.58663027e+01] [-8.64266312e-03 -1.36709739e-04 9.99962642e-01 -1.94944826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:-15.87, Z:-1.95 [[ 9.86498919e-01 1.63527368e-01 8.87034218e-03 1.31921206e+02] [-1.63521849e-01 9.86538791e-01 -1.34876743e-03 -1.58710310e+01] [-8.97149703e-03 -1.19937152e-04 9.99959748e-01 -1.94910202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:-15.87, Z:-1.95 [[ 9.87025215e-01 1.60140531e-01 1.16720132e-02 1.31952944e+02] [-1.60130706e-01 9.87094219e-01 -1.77758888e-03 -1.58735107e+01] [-1.18060408e-02 -1.14522673e-04 9.99930300e-01 -1.94807585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.435769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:-15.88, Z:-1.95 [[ 9.87105776e-01 1.59581004e-01 1.24936417e-02 1.31985669e+02] [-1.59569671e-01 9.87184831e-01 -1.90511495e-03 -1.58775528e+01] [-1.26375537e-02 -1.13056329e-04 9.99920137e-01 -1.94849163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.465769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:132.02, Y:-15.88, Z:-1.95 [[ 9.86910169e-01 1.60786084e-01 1.24961312e-02 1.32017832e+02] [-1.60774813e-01 9.86989270e-01 -1.90787249e-03 -1.58814311e+01] [-1.26403067e-02 -1.26164397e-04 9.99920100e-01 -1.94848357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.495769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.05, Y:-15.89, Z:-1.95 [[ 9.86656367e-01 1.62343965e-01 1.23956166e-02 1.32050992e+02] [-1.62332971e-01 9.86734218e-01 -1.89470691e-03 -1.58857829e+01] [-1.25387733e-02 -1.42792635e-04 9.99921376e-01 -1.94840332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:-15.89, Z:-1.95 [[ 9.86323220e-01 1.64385475e-01 1.19967163e-02 1.32084236e+02] [-1.64375302e-01 9.86396163e-01 -1.83591639e-03 -1.58895951e+01] [-1.21353129e-02 -1.61156887e-04 9.99926351e-01 -1.94832029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:-15.89, Z:-1.95 [[ 9.85763520e-01 1.67837633e-01 1.00404470e-02 1.32114637e+02] [-1.67830666e-01 9.85814638e-01 -1.53852281e-03 -1.58891463e+01] [-1.01562416e-02 -1.68475250e-04 9.99948410e-01 -1.94927546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:-15.89, Z:-1.95 [[ 9.85566517e-01 1.69022771e-01 9.48388410e-03 1.32145580e+02] [-1.69016608e-01 9.85612132e-01 -1.45338063e-03 -1.58917227e+01] [-9.59308565e-03 -1.70530637e-04 9.99953971e-01 -1.95054062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.615769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:132.18, Y:-15.89, Z:-1.95 [[ 9.85593137e-01 1.68833933e-01 1.00633212e-02 1.32175361e+02] [-1.68826985e-01 9.85644495e-01 -1.54220855e-03 -1.58939139e+01] [-1.01792342e-02 -1.78970002e-04 9.99948174e-01 -1.95116686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.645769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:132.21, Y:-15.90, Z:-1.95 [[ 9.85865718e-01 1.67208446e-01 1.04939167e-02 1.32206524e+02] [-1.67200800e-01 9.85921552e-01 -1.60799309e-03 -1.58987047e+01] [-1.06150487e-02 -1.69326001e-04 9.99943644e-01 -1.95102355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.675769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.24, Y:-15.90, Z:-1.95 [[ 9.86239294e-01 1.65027765e-01 9.89406811e-03 1.32237498e+02] [-1.65020856e-01 9.86288912e-01 -1.51628843e-03 -1.59039190e+01] [-1.00086394e-02 -1.37304362e-04 9.99949903e-01 -1.95187656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.705769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.27, Y:-15.91, Z:-1.95 [[ 9.86570788e-01 1.63172423e-01 7.26917120e-03 1.32268889e+02] [-1.63168648e-01 9.86597564e-01 -1.11333058e-03 -1.59097381e+01] [-7.35341144e-03 -8.77214107e-05 9.99972959e-01 -1.95322357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.30, Y:-15.91, Z:-1.95 [[ 9.86403070e-01 1.64224787e-01 6.26124172e-03 1.32298219e+02] [-1.64221996e-01 9.86422938e-01 -9.60843255e-04 -1.59138537e+01] [-6.33402673e-03 -8.04548745e-05 9.99979937e-01 -1.95361689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.765769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.33, Y:-15.92, Z:-1.95 [[ 9.85487241e-01 1.69636385e-01 6.19636264e-03 1.32328372e+02] [-1.69633759e-01 9.85506714e-01 -9.50738653e-04 -1.59165882e+01] [-6.26783685e-03 -1.14171476e-04 9.99980350e-01 -1.95376161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.795769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.36, Y:-15.92, Z:-1.95 [[ 9.84945835e-01 1.72702099e-01 7.46244377e-03 1.32357204e+02] [-1.72698378e-01 9.84974091e-01 -1.14506427e-03 -1.59208925e+01] [-7.54806877e-03 -1.60925646e-04 9.99971500e-01 -1.95371396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.39, Y:-15.93, Z:-1.95 [[ 9.84503313e-01 1.75151311e-01 8.67439523e-03 1.32387340e+02] [-1.75146379e-01 9.84541505e-01 -1.33084897e-03 -1.59261248e+01] [-8.77340208e-03 -2.09063699e-04 9.99961491e-01 -1.95345460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.42, Y:-15.93, Z:-1.95 [[ 9.83921473e-01 1.78354688e-01 9.38829288e-03 1.32417487e+02] [-1.78349057e-01 9.83966229e-01 -1.44037706e-03 -1.59301770e+01] [-9.49466114e-03 -2.57175267e-04 9.99954892e-01 -1.95337561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.885769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.45, Y:-15.93, Z:-1.95 [[ 9.83599371e-01 1.80133786e-01 9.17039861e-03 1.32447520e+02] [-1.80128491e-01 9.83642083e-01 -1.40694713e-03 -1.59330517e+01] [-9.27382870e-03 -2.67977744e-04 9.99956961e-01 -1.95347028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.48, Y:-15.93, Z:-1.95 [[ 9.82606698e-01 1.85486729e-01 8.87410237e-03 1.32477410e+02] [-1.85481987e-01 9.82646721e-01 -1.36157992e-03 -1.59312801e+01] [-8.97266260e-03 -3.08088599e-04 9.99959697e-01 -1.95373841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.945769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:132.51, Y:-15.93, Z:-1.95 [[ 9.82108859e-01 1.88122048e-01 8.50206348e-03 1.32506416e+02] [-1.88117795e-01 9.82145607e-01 -1.30435660e-03 -1.59323959e+01] [-8.59564253e-03 -3.18369266e-04 9.99963006e-01 -1.95446775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.53, Y:-15.93, Z:-1.95 [[ 9.81392061e-01 1.91812305e-01 8.81261425e-03 1.32534873e+02] [-1.91807887e-01 9.81431560e-01 -1.35176054e-03 -1.59318244e+01] [-8.90826206e-03 -3.63721849e-04 9.99960254e-01 -1.95462897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.56, Y:-15.93, Z:-1.95 [[ 9.81224514e-01 1.92609371e-01 1.00041635e-02 1.32563306e+02] [-1.92603726e-01 9.81275421e-01 -1.53381556e-03 -1.59334689e+01] [-1.01122670e-02 -4.21821744e-04 9.99948781e-01 -1.95468252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:132.59, Y:-15.93, Z:-1.95 [[ 9.81196457e-01 1.92679864e-01 1.13129453e-02 1.32591398e+02] [-1.92672656e-01 9.81261556e-01 -1.73389046e-03 -1.59346424e+01] [-1.14350441e-02 -4.78408039e-04 9.99934503e-01 -1.95492613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:-15.93, Z:-1.96 [[ 9.81560589e-01 1.90767830e-01 1.21014826e-02 1.32620947e+02] [-1.90759447e-01 9.81635063e-01 -1.85399208e-03 -1.59343037e+01] [-1.22329216e-02 -4.88666562e-04 9.99925056e-01 -1.95622903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.65, Y:-15.94, Z:-1.96 [[ 9.81925398e-01 1.88939599e-01 1.11508057e-02 1.32649247e+02] [-1.88932368e-01 9.81988617e-01 -1.70787998e-03 -1.59368589e+01] [-1.12726504e-02 -4.29737406e-04 9.99936369e-01 -1.95747591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.68, Y:-15.94, Z:-1.96 [[ 9.82719384e-01 1.84819954e-01 1.02076511e-02 1.32678699e+02] [-1.84813677e-01 9.82772335e-01 -1.56300708e-03 -1.59381285e+01] [-1.03206720e-02 -3.50516175e-04 9.99946679e-01 -1.95816041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.71, Y:-15.94, Z:-1.96 [[ 9.83158748e-01 1.82446723e-01 1.05862811e-02 1.32707019e+02] [-1.82439840e-01 9.83215683e-01 -1.62045539e-03 -1.59416045e+01] [-1.07042443e-02 -3.38194527e-04 9.99942651e-01 -1.95785211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.185769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.73, Y:-15.95, Z:-1.96 [[ 9.83620510e-01 1.79919742e-01 1.09352219e-02 1.32734852e+02] [-1.79912248e-01 9.83681241e-01 -1.67334851e-03 -1.59461476e+01] [-1.10578411e-02 -3.21440446e-04 9.99938809e-01 -1.95805785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:-15.95, Z:-1.96 [[ 9.84283148e-01 1.76296196e-01 1.03119316e-02 1.32764316e+02] [-1.76289339e-01 9.84337128e-01 -1.57731865e-03 -1.59514822e+01] [-1.04284924e-02 -2.65355443e-04 9.99945587e-01 -1.95735250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.79, Y:-15.95, Z:-1.96 [[ 9.84285447e-01 1.76293668e-01 1.01341926e-02 1.32793470e+02] [-1.76287048e-01 9.84337582e-01 -1.54995892e-03 -1.59543332e+01] [-1.02487146e-02 -2.60924881e-04 9.99947447e-01 -1.95762564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:-15.95, Z:-1.96 [[ 9.83590586e-01 1.80113085e-01 1.04324477e-02 1.32821464e+02] [-1.80106288e-01 9.83645861e-01 -1.59509110e-03 -1.59536381e+01] [-1.05491308e-02 -3.10032839e-04 9.99944308e-01 -1.95698183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.85, Y:-15.96, Z:-1.96 [[ 9.83068136e-01 1.82903497e-01 1.11063049e-02 1.32850264e+02] [-1.82895980e-01 9.83130805e-01 -1.69740180e-03 -1.59555320e+01] [-1.12294112e-02 -3.62636897e-04 9.99936882e-01 -1.95760020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.88, Y:-15.96, Z:-1.96 [[ 9.82127786e-01 1.87932654e-01 1.03116069e-02 1.32878690e+02] [-1.87926455e-01 9.82181839e-01 -1.57554644e-03 -1.59557150e+01] [-1.04239696e-02 -3.90435785e-04 9.99945593e-01 -1.95748649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.91, Y:-15.96, Z:-1.96 [[ 9.81780504e-01 1.89784996e-01 9.41795938e-03 1.32906169e+02] [-1.89779914e-01 9.81825603e-01 -1.43854190e-03 -1.59568757e+01] [-9.51980731e-03 -3.75007134e-04 9.99954615e-01 -1.95816612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.93, Y:-15.95, Z:-1.96 [[ 9.80968425e-01 1.93930623e-01 9.58453282e-03 1.32934858e+02] [-1.93925565e-01 9.81015155e-01 -1.46316197e-03 -1.59533769e+01] [-9.68632386e-03 -4.23370252e-04 9.99952997e-01 -1.95882202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:-15.95, Z:-1.96 [[ 9.80688316e-01 1.95269844e-01 1.09596586e-02 1.32962847e+02] [-1.95263324e-01 9.80749427e-01 -1.67221153e-03 -1.59539982e+01] [-1.10752114e-02 -5.00101062e-04 9.99938543e-01 -1.95908245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:-15.96, Z:-1.96 [[ 9.80507506e-01 1.96112097e-01 1.20447349e-02 1.32990640e+02] [-1.96104297e-01 9.80581323e-01 -1.83686326e-03 -1.59550989e+01] [-1.21710732e-02 -5.60966049e-04 9.99925772e-01 -1.95929644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:-15.95, Z:-1.96 [[ 9.80607198e-01 1.95590787e-01 1.24002984e-02 1.33018846e+02] [-1.95582488e-01 9.80685432e-01 -1.89022166e-03 -1.59532911e+01] [-1.25305020e-02 -5.71716252e-04 9.99921327e-01 -1.95908020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.05, Y:-15.95, Z:-1.96 [[ 9.80693711e-01 1.95195471e-01 1.17717297e-02 1.33046459e+02] [-1.95187973e-01 9.80764211e-01 -1.79369335e-03 -1.59529969e+01] [-1.18954120e-02 -5.38636275e-04 9.99929102e-01 -1.95939014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.08, Y:-15.95, Z:-1.96 [[ 9.80671307e-01 1.95406366e-01 1.00070133e-02 1.33075218e+02] [-1.95400968e-01 9.80722254e-01 -1.52382004e-03 -1.59490123e+01] [-1.01118648e-02 -4.61013496e-04 9.99948768e-01 -1.96183316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.10, Y:-15.95, Z:-1.96 [[ 9.80636578e-01 1.95613811e-01 9.33481084e-03 1.33102384e+02] [-1.95609129e-01 9.80680911e-01 -1.42087540e-03 -1.59502874e+01] [-9.43241365e-03 -4.32611824e-04 9.99955420e-01 -1.96282912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:-15.95, Z:-1.96 [[ 9.80693222e-01 1.95340349e-01 9.10782342e-03 1.33130293e+02] [-1.95335888e-01 9.80735424e-01 -1.38552408e-03 -1.59509725e+01] [-9.20301381e-03 -4.20310703e-04 9.99957563e-01 -1.96263040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.635769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.16, Y:-15.95, Z:-1.96 [[ 9.80754805e-01 1.95028751e-01 9.15411525e-03 1.33158450e+02] [-1.95024236e-01 9.80797436e-01 -1.39193211e-03 -1.59460156e+01] [-9.24979955e-03 -4.20130235e-04 9.99957131e-01 -1.96248042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.19, Y:-15.94, Z:-1.96 [[ 9.80805231e-01 1.94758065e-01 9.50759768e-03 1.33185991e+02] [-1.94753190e-01 9.80851216e-01 -1.44482837e-03 -1.59447367e+01] [-9.60693072e-03 -4.34539753e-04 9.99953758e-01 -1.96210814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.22, Y:-15.94, Z:-1.96 [[ 9.81144884e-01 1.92973662e-01 1.07648693e-02 1.33215233e+02] [-1.92967318e-01 9.81203823e-01 -1.63481763e-03 -1.59400180e+01] [-1.08780077e-02 -4.73275004e-04 9.99940721e-01 -1.96349603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.24, Y:-15.94, Z:-1.96 [[ 9.81629684e-01 1.90454245e-01 1.14168716e-02 1.33242603e+02] [-1.90446948e-01 9.81695959e-01 -1.73303665e-03 -1.59401584e+01] [-1.15379609e-02 -4.73108127e-04 9.99933324e-01 -1.96465590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.27, Y:-15.94, Z:-1.97 [[ 9.82815957e-01 1.84263929e-01 1.09361659e-02 1.33271052e+02] [-1.84256866e-01 9.82876725e-01 -1.65861736e-03 -1.59371809e+01] [-1.10545262e-02 -3.84948039e-04 9.99938823e-01 -1.96630106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.30, Y:-15.94, Z:-1.97 [[ 9.83427110e-01 1.81066135e-01 9.28304719e-03 1.33299664e+02] [-1.81060908e-01 9.83470877e-01 -1.40737389e-03 -1.59380058e+01] [-9.38443432e-03 -2.96747318e-04 9.99955921e-01 -1.96642328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.33, Y:-15.94, Z:-1.97 [[ 9.84043696e-01 1.77764739e-01 7.59612234e-03 1.33326371e+02] [-1.77761143e-01 9.84072990e-01 -1.15130390e-03 -1.59390667e+01] [-7.67980006e-03 -2.17362046e-04 9.99970486e-01 -1.96704423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.35, Y:-15.94, Z:-1.97 [[ 9.85253962e-01 1.70941918e-01 7.31370036e-03 1.33353947e+02] [-1.70938401e-01 9.85281095e-01 -1.10785767e-03 -1.59387987e+01] [-7.39543001e-03 -1.58671093e-04 9.99972641e-01 -1.96673115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.38, Y:-15.94, Z:-1.97 [[ 9.85762607e-01 1.67906288e-01 8.91967907e-03 1.33381762e+02] [-1.67900941e-01 9.85802947e-01 -1.35029751e-03 -1.59413619e+01] [-9.01976936e-03 -1.66549721e-04 9.99959307e-01 -1.96656997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.41, Y:-15.94, Z:-1.97 [[ 9.86519918e-01 1.63226145e-01 1.16480433e-02 1.33410409e+02] [-1.63216713e-01 9.86588668e-01 -1.76223022e-03 -1.59415508e+01] [-1.17794696e-02 -1.62680129e-04 9.99930606e-01 -1.96666293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.44, Y:-15.94, Z:-1.97 [[ 9.86809874e-01 1.61476236e-01 1.14759253e-02 1.33437307e+02] [-1.61466972e-01 9.86876591e-01 -1.73538849e-03 -1.59427621e+01] [-1.16055461e-02 -1.40484414e-04 9.99932644e-01 -1.96764515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.965769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:133.47, Y:-15.94, Z:-1.97 [[ 9.86999334e-01 1.60387986e-01 1.03927076e-02 1.33465730e+02] [-1.60380336e-01 9.87054041e-01 -1.57078203e-03 -1.59446464e+01] [-1.05100986e-02 -1.16425120e-04 9.99944761e-01 -1.96823418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.995769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:133.49, Y:-15.95, Z:-1.97 [[ 9.87008365e-01 1.60332392e-01 1.03928180e-02 1.33493920e+02] [-1.60324747e-01 9.87063073e-01 -1.57005118e-03 -1.59487690e+01] [-1.05100969e-02 -1.16572265e-04 9.99944761e-01 -1.96860078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.52, Y:-15.95, Z:-1.97 [[ 9.87242619e-01 1.58938240e-01 9.52090803e-03 1.33520993e+02] [-1.58931763e-01 9.87288523e-01 -1.43791658e-03 -1.59510726e+01] [-9.62842315e-03 -9.36021661e-05 9.99953641e-01 -1.96926780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.55, Y:-15.95, Z:-1.97 [[ 9.87323083e-01 1.58386031e-01 1.03438541e-02 1.33548534e+02] [-1.58378366e-01 9.87377261e-01 -1.56125829e-03 -1.59533910e+01] [-1.04605679e-02 -9.67763686e-05 9.99945282e-01 -1.96812318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.58, Y:-15.95, Z:-1.97 [[ 9.87259445e-01 1.58515529e-01 1.38424923e-02 1.33577179e+02] [-1.58501831e-01 9.87356475e-01 -2.08807443e-03 -1.59508895e+01] [-1.39984667e-02 -1.32589184e-04 9.99902008e-01 -1.96717593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.115769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.61, Y:-15.95, Z:-1.97 [[ 9.87212033e-01 1.58767609e-01 1.43264713e-02 1.33605635e+02] [-1.58752979e-01 9.87315971e-01 -2.16000435e-03 -1.59530423e+01] [-1.44876926e-02 -1.41987712e-04 9.99895038e-01 -1.96823560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.63, Y:-15.96, Z:-1.97 [[ 9.87379463e-01 1.57850498e-01 1.28458990e-02 1.33633520e+02] [-1.57838669e-01 9.87463015e-01 -1.93593626e-03 -1.59570065e+01] [-1.29904387e-02 -1.16075900e-04 9.99915614e-01 -1.97033115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.66, Y:-15.96, Z:-1.97 [[ 9.87639003e-01 1.56292195e-01 1.19142529e-02 1.33660288e+02] [-1.56281915e-01 9.87710859e-01 -1.79474319e-03 -1.59596051e+01] [-1.20483413e-02 -8.94238865e-05 9.99927412e-01 -1.97082815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.69, Y:-15.96, Z:-1.97 [[ 9.87895480e-01 1.54705418e-01 1.13470208e-02 1.33687058e+02] [-1.54696000e-01 9.87960641e-01 -1.70844136e-03 -1.59613977e+01] [-1.14747151e-02 -6.75772381e-05 9.99934161e-01 -1.97077160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:-15.96, Z:-1.97 [[ 9.88024031e-01 1.53914862e-01 1.08963404e-02 1.33715078e+02] [-1.53906144e-01 9.88084112e-01 -1.63921948e-03 -1.59637735e+01] [-1.10188011e-02 -5.74254998e-05 9.99939290e-01 -1.97138805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.74, Y:-15.97, Z:-1.97 [[ 9.88167692e-01 1.52990087e-01 1.08924697e-02 1.33742317e+02] [-1.52981327e-01 9.88227722e-01 -1.63785395e-03 -1.59688318e+01] [-1.10148160e-02 -4.78701224e-05 9.99939334e-01 -1.97222807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.77, Y:-15.97, Z:-1.97 [[ 9.88612857e-01 1.50027512e-01 1.16775354e-02 1.33770024e+02] [-1.50017248e-01 9.88681822e-01 -1.75499223e-03 -1.59739287e+01] [-1.18086641e-02 -1.68238328e-05 9.99930275e-01 -1.97251498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.80, Y:-15.98, Z:-1.97 [[ 9.88921793e-01 1.47933733e-01 1.22187846e-02 1.33798055e+02] [-1.47922346e-01 9.88997275e-01 -1.83541889e-03 -1.59773980e+01] [-1.23558651e-02 7.65444699e-06 9.99923663e-01 -1.97282763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.82, Y:-15.98, Z:-1.97 [[ 9.89248366e-01 1.45677573e-01 1.28730040e-02 1.33824519e+02] [-1.45664757e-01 9.89332120e-01 -1.93266212e-03 -1.59817747e+01] [-1.30172218e-02 3.67398568e-05 9.99915272e-01 -1.97317916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.85, Y:-15.99, Z:-1.97 [[ 9.89903534e-01 1.41108405e-01 1.33944317e-02 1.33851351e+02] [-1.41094133e-01 9.89994146e-01 -2.00935412e-03 -1.59908641e+01] [-1.35439457e-02 9.91910240e-05 9.99908272e-01 -1.97391555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:-16.00, Z:-1.97 [[ 9.90224676e-01 1.38937742e-01 1.23042871e-02 1.33877416e+02] [-1.38925541e-01 9.90301111e-01 -1.84500906e-03 -1.59976862e+01] [-1.24412906e-02 1.17593755e-04 9.99922597e-01 -1.97443096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.445769231 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:133.90, Y:-16.01, Z:-1.97 [[ 9.90616514e-01 1.36425695e-01 8.18245641e-03 1.33904832e+02] [-1.36420217e-01 9.90650302e-01 -1.22656503e-03 -1.60059791e+01] [-8.27328790e-03 9.88030948e-05 9.99965771e-01 -1.97107333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.93, Y:-16.01, Z:-1.98 [[ 9.90695872e-01 1.35942613e-01 6.42609454e-03 1.33932476e+02] [-1.35939226e-01 9.90716710e-01 -9.63016343e-04 -1.60131221e+01] [-6.49735420e-03 8.04979981e-05 9.99978889e-01 -1.97692376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.96, Y:-16.02, Z:-1.98 [[ 9.90718380e-01 1.35795999e-01 6.04473013e-03 1.33959595e+02] [-1.35793001e-01 9.90736817e-01 -9.05486619e-04 -1.60210672e+01] [-6.11169815e-03 7.62501889e-05 9.99981320e-01 -1.97764421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.99, Y:-16.03, Z:-1.98 [[ 9.90645298e-01 1.36248584e-01 7.63002620e-03 1.33986199e+02] [-1.36243827e-01 9.90674677e-01 -1.14218445e-03 -1.60318344e+01] [-7.71449476e-03 9.19556777e-05 9.99970239e-01 -1.97637991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.01, Y:-16.04, Z:-1.98 [[ 9.90697630e-01 1.35754626e-01 9.42802776e-03 1.34013353e+02] [-1.35747351e-01 9.90742483e-01 -1.41038734e-03 -1.60405126e+01] [-9.53221424e-03 1.17437602e-04 9.99954561e-01 -1.97756270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:134.04, Y:-16.05, Z:-1.98 [[ 9.90739557e-01 1.35416770e-01 9.87061554e-03 1.34039993e+02] [-1.35408785e-01 9.90788717e-01 -1.47595972e-03 -1.60479930e+01] [-9.97956420e-03 1.25723624e-04 9.99950195e-01 -1.97803633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:-16.06, Z:-1.98 [[ 9.90739734e-01 1.35376196e-01 1.03953975e-02 1.34068274e+02] [-1.35367344e-01 9.90794261e-01 -1.55373604e-03 -1.60558260e+01] [-1.05100390e-02 1.32150679e-04 9.99944759e-01 -1.97818272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:-16.06, Z:-1.98 [[ 9.90686573e-01 1.35730320e-01 1.08348419e-02 1.34096084e+02] [-1.35720731e-01 9.90745811e-01 -1.61887638e-03 -1.60628218e+01] [-1.09543049e-02 1.33286428e-04 9.99939991e-01 -1.97779851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:134.12, Y:-16.07, Z:-1.98 [[ 9.90438005e-01 1.37526437e-01 1.09104442e-02 1.34123413e+02] [-1.37516828e-01 9.90498090e-01 -1.62964320e-03 -1.60700438e+01] [-1.10308932e-02 1.13690878e-04 9.99939151e-01 -1.97684654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.15, Y:-16.08, Z:-1.98 [[ 9.90090352e-01 1.40059940e-01 1.02130817e-02 1.34151532e+02] [-1.40051660e-01 9.90143023e-01 -1.52503753e-03 -1.60788157e+01] [-1.03260082e-02 7.95658992e-05 9.99946682e-01 -1.97847923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.18, Y:-16.09, Z:-1.98 [[ 9.89973043e-01 1.40918989e-01 9.75770920e-03 1.34178185e+02] [-1.40911476e-01 9.90021128e-01 -1.45661934e-03 -1.60854204e+01] [-9.86560360e-03 6.70406657e-05 9.99951332e-01 -1.97947057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.21, Y:-16.09, Z:-1.98 [[ 9.89848934e-01 1.41828678e-01 9.14955651e-03 1.34206238e+02] [-1.41822117e-01 9.89891218e-01 -1.36526876e-03 -1.60923550e+01] [-9.25069990e-03 5.38003551e-05 9.99957210e-01 -1.98019497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:-16.10, Z:-1.98 [[ 9.89576547e-01 1.43692436e-01 9.52578345e-03 1.34232472e+02] [-1.43685415e-01 9.89622394e-01 -1.42096357e-03 -1.61030109e+01] [-9.63111034e-03 3.74360791e-05 9.99953619e-01 -1.98102783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:-16.11, Z:-1.98 [[ 9.89466445e-01 1.44421470e-01 9.92937398e-03 1.34259561e+02] [-1.44413884e-01 9.89516265e-01 -1.48054146e-03 -1.61115389e+01] [-1.00390990e-02 3.10066353e-05 9.99949606e-01 -1.98105462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.29, Y:-16.12, Z:-1.98 [[ 9.89425886e-01 1.44670619e-01 1.03357265e-02 1.34287264e+02] [-1.44662420e-01 9.89479869e-01 -1.54045745e-03 -1.61236634e+01] [-1.04498522e-02 2.89772691e-05 9.99945398e-01 -1.98074246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.31, Y:-16.13, Z:-1.98 [[ 9.89410094e-01 1.44760047e-01 1.05921940e-02 1.34314302e+02] [-1.44751446e-01 9.89466790e-01 -1.57818177e-03 -1.61310441e+01] [-1.07090819e-02 2.82335666e-05 9.99942656e-01 -1.98026387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.925769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.34, Y:-16.14, Z:-1.98 [[ 9.89317851e-01 1.45297928e-01 1.17771512e-02 1.34341963e+02] [-1.45287344e-01 9.89387948e-01 -1.75393313e-03 -1.61381071e+01] [-1.19070143e-02 2.41263401e-05 9.99929109e-01 -1.98040477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.37, Y:-16.15, Z:-1.98 [[ 9.88621169e-01 1.49791914e-01 1.38045785e-02 1.34369602e+02] [-1.49777820e-01 9.88717544e-01 -2.05513044e-03 -1.61486656e+01] [-1.39566708e-02 -3.58742006e-05 9.99902600e-01 -1.97884666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.40, Y:-16.16, Z:-1.98 [[ 9.87671594e-01 1.56024450e-01 1.26961964e-02 1.34396196e+02] [-1.56013050e-01 9.87753187e-01 -1.88955866e-03 -1.61558741e+01] [-1.28355258e-02 -1.14508915e-04 9.99917615e-01 -1.98054004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.42, Y:-16.16, Z:-1.98 [[ 9.87284255e-01 1.58580996e-01 1.10393280e-02 1.34423644e+02] [-1.58572543e-01 9.87345963e-01 -1.64240392e-03 -1.61604697e+01] [-1.11600900e-02 -1.29014779e-04 9.99937716e-01 -1.98216699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.45, Y:-16.16, Z:-1.98 [[ 9.86969753e-01 1.60605466e-01 9.82801445e-03 1.34452562e+02] [-1.60598872e-01 9.87018675e-01 -1.46165114e-03 -1.61644100e+01] [-9.93518297e-03 -1.35762577e-04 9.99950636e-01 -1.98262528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.075769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.48, Y:-16.17, Z:-1.98 [[ 9.86409508e-01 1.63942716e-01 1.09118692e-02 1.34481722e+02] [-1.63934798e-01 9.86469843e-01 -1.62226182e-03 -1.61670751e+01] [-1.10301879e-02 -1.88620582e-04 9.99939148e-01 -1.98153468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.51, Y:-16.17, Z:-1.98 [[ 9.86173300e-01 1.65284167e-01 1.19735721e-02 1.34509083e+02] [-1.65274740e-01 9.86245960e-01 -1.77948222e-03 -1.61699799e+01] [-1.21030074e-02 -2.24051163e-04 9.99926731e-01 -1.98122564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.54, Y:-16.17, Z:-1.98 [[ 9.85960592e-01 1.66630638e-01 1.07675710e-02 1.34538217e+02] [-1.66623102e-01 9.86019363e-01 -1.59960780e-03 -1.61706232e+01] [-1.08835772e-02 -2.16975822e-04 9.99940749e-01 -1.98288538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.57, Y:-16.17, Z:-1.98 [[ 9.86084128e-01 1.65952023e-01 9.90042117e-03 1.34565906e+02] [-1.65945621e-01 9.86133809e-01 -1.47039082e-03 -1.61718635e+01] [-1.00071544e-02 -1.93002491e-04 9.99949909e-01 -1.98472487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.59, Y:-16.17, Z:-1.99 [[ 9.86297031e-01 1.64667859e-01 1.01322839e-02 1.34594532e+02] [-1.64661092e-01 9.86349057e-01 -1.50416797e-03 -1.61731772e+01] [-1.02416568e-02 -1.84836532e-04 9.99947536e-01 -1.98536295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.62, Y:-16.17, Z:-1.98 [[ 9.86958859e-01 1.60472811e-01 1.26762361e-02 1.34622505e+02] [-1.60461883e-01 9.87040245e-01 -1.88106829e-03 -1.61724734e+01] [-1.28138155e-02 -1.77515703e-04 9.99917884e-01 -1.98403686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.65, Y:-16.17, Z:-1.98 [[ 9.87893838e-01 1.54511810e-01 1.38515443e-02 1.34651825e+02] [-1.54498189e-01 9.87990935e-01 -2.05453224e-03 -1.61744814e+01] [-1.40026497e-02 -1.10378760e-04 9.99901952e-01 -1.98377925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.68, Y:-16.18, Z:-1.98 [[ 9.88261851e-01 1.52192560e-01 1.32642243e-02 1.34679559e+02] [-1.52179869e-01 9.88350858e-01 -1.96678999e-03 -1.61782679e+01] [-1.34090383e-02 -7.48443968e-05 9.99910092e-01 -1.98471496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.71, Y:-16.18, Z:-1.99 [[ 9.88534270e-01 1.50476490e-01 1.25228881e-02 1.34708332e+02] [-1.50465050e-01 9.88613587e-01 -1.85608843e-03 -1.61824888e+01] [-1.26595950e-02 -4.94499680e-05 9.99919863e-01 -1.98559474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.74, Y:-16.18, Z:-1.99 [[ 9.89008591e-01 1.47407603e-01 1.15327757e-02 1.34737102e+02] [-1.47397698e-01 9.89075831e-01 -1.70881979e-03 -1.61849220e+01] [-1.16586827e-02 -9.86713082e-06 9.99932035e-01 -1.98587102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:-16.19, Z:-1.99 [[ 9.89179962e-01 1.46303329e-01 1.08783600e-02 1.34765044e+02] [-1.46294455e-01 9.89239777e-01 -1.61136720e-03 -1.61875415e+01] [-1.09970548e-02 2.48840017e-06 9.99939531e-01 -1.98603581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.79, Y:-16.19, Z:-1.99 [[ 9.89321871e-01 1.45342533e-01 1.08528123e-02 1.34793895e+02] [-1.45333650e-01 9.89381397e-01 -1.60688141e-03 -1.61916339e+01] [-1.09711188e-02 1.24441019e-05 9.99939815e-01 -1.98679180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.82, Y:-16.20, Z:-1.99 [[ 9.89371514e-01 1.44990424e-01 1.10356239e-02 1.34822598e+02] [-1.44981224e-01 9.89433058e-01 -1.63341382e-03 -1.61967197e+01] [-1.11558405e-02 1.60948497e-05 9.99937772e-01 -1.98733838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.85, Y:-16.20, Z:-1.99 [[ 9.89428035e-01 1.44611562e-01 1.09389461e-02 1.34850424e+02] [-1.44602505e-01 9.89488502e-01 -1.61858652e-03 -1.62016709e+01] [-1.10580277e-02 1.96758700e-05 9.99938858e-01 -1.98788348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.88, Y:-16.21, Z:-1.99 [[ 9.89630271e-01 1.43195017e-01 1.12744410e-02 1.34878267e+02] [-1.43185312e-01 9.89694491e-01 -1.66748500e-03 -1.62069889e+01] [-1.13970277e-02 3.58592910e-05 9.99935051e-01 -1.98891981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.91, Y:-16.21, Z:-1.99 [[ 9.89683583e-01 1.42804260e-01 1.15476406e-02 1.34906780e+02] [-1.42794059e-01 9.89750949e-01 -1.70732666e-03 -1.62117917e+01] [-1.16731017e-02 4.07786987e-05 9.99931866e-01 -1.98880183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.93, Y:-16.22, Z:-1.99 [[ 9.89732493e-01 1.42354180e-01 1.28405151e-02 1.34934944e+02] [-1.42341539e-01 9.89815783e-01 -1.89780129e-03 -1.62170732e+01] [-1.29799045e-02 5.05769300e-05 9.99915756e-01 -1.98801090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.585769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.96, Y:-16.22, Z:-1.99 [[ 9.89714323e-01 1.42503621e-01 1.25807907e-02 1.34962622e+02] [-1.42491504e-01 9.89794280e-01 -1.85883192e-03 -1.62206915e+01] [-1.27172849e-02 4.70567912e-05 9.99919131e-01 -1.98818208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.99, Y:-16.22, Z:-1.99 [[ 9.89634555e-01 1.43121317e-01 1.18209681e-02 1.34991405e+02] [-1.43110672e-01 9.89705152e-01 -1.74590848e-03 -1.62240873e+01] [-1.19491497e-02 3.61046749e-05 9.99928606e-01 -1.98911420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.02, Y:-16.23, Z:-1.99 [[ 9.89218896e-01 1.46057323e-01 1.06411854e-02 1.35018999e+02] [-1.46048871e-01 9.89276129e-01 -1.57122596e-03 -1.62273738e+01] [-1.07565598e-02 1.53296609e-07 9.99942147e-01 -1.99109090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.05, Y:-16.23, Z:-1.99 [[ 9.88969735e-01 1.47711049e-01 1.09685182e-02 1.35047391e+02] [-1.47702179e-01 9.89030558e-01 -1.61884758e-03 -1.62320078e+01] [-1.10873214e-02 -1.90827791e-05 9.99938534e-01 -1.99143948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.705769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.08, Y:-16.24, Z:-1.99 [[ 9.88787056e-01 1.48858741e-01 1.18841628e-02 1.35076289e+02] [-1.48848418e-01 9.88858470e-01 -1.75336529e-03 -1.62356600e+01] [-1.20127588e-02 -3.52339327e-05 9.99927844e-01 -1.99120390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.10, Y:-16.24, Z:-1.99 [[ 9.88875579e-01 1.48255458e-01 1.20585658e-02 1.35104385e+02] [-1.48244792e-01 9.88949098e-01 -1.77851441e-03 -1.62392456e+01] [-1.21889822e-02 -2.88901142e-05 9.99925711e-01 -1.99174202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.13, Y:-16.24, Z:-1.99 [[ 9.88972195e-01 1.47604304e-01 1.21229563e-02 1.35132354e+02] [-1.47593485e-01 9.89046495e-01 -1.78727607e-03 -1.62435817e+01] [-1.22539771e-02 -2.17030350e-05 9.99924917e-01 -1.99294756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.16, Y:-16.25, Z:-1.99 [[ 9.89184050e-01 1.46077913e-01 1.32724552e-02 1.35160612e+02] [-1.46064818e-01 9.89273088e-01 -1.95592005e-03 -1.62503284e+01] [-1.34157995e-02 -3.87383607e-06 9.99910004e-01 -1.99315146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.19, Y:-16.26, Z:-1.99 [[ 9.89305640e-01 1.45170124e-01 1.41416085e-02 1.35187964e+02] [-1.45155176e-01 9.89406709e-01 -2.08323580e-03 -1.62555948e+01] [-1.42942259e-02 8.22925180e-06 9.99897832e-01 -1.99319610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.22, Y:-16.26, Z:-1.99 [[ 9.89486869e-01 1.44080292e-01 1.25142571e-02 1.35215141e+02] [-1.44068508e-01 9.89566000e-01 -1.84281767e-03 -1.62629474e+01] [-1.26491971e-02 2.05335388e-05 9.99919995e-01 -1.99379083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.24, Y:-16.27, Z:-1.99 [[ 9.89548328e-01 1.43819832e-01 1.04863397e-02 1.35243363e+02] [-1.43811549e-01 9.89603888e-01 -1.54365218e-03 -1.62706417e+01] [-1.05993304e-02 1.94616724e-05 9.99943825e-01 -1.99481810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.27, Y:-16.28, Z:-2.00 [[ 9.89547216e-01 1.43929607e-01 8.97639748e-03 1.35270818e+02] [-1.43923545e-01 9.89587928e-01 -1.32104364e-03 -1.62787671e+01] [-9.07307188e-03 1.53201135e-05 9.99958839e-01 -1.99553469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.30, Y:-16.28, Z:-2.00 [[ 9.89558362e-01 1.43852954e-01 8.97644618e-03 1.35299846e+02] [-1.43846892e-01 9.89599074e-01 -1.32071260e-03 -1.62829327e+01] [-9.07307124e-03 1.56883097e-05 9.99958839e-01 -1.99591199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.33, Y:-16.29, Z:-1.99 [[ 9.89491387e-01 1.44324225e-01 8.79274078e-03 1.35327212e+02] [-1.44318434e-01 9.89530453e-01 -1.29296143e-03 -1.62915511e+01] [-8.88729043e-03 1.04196183e-05 9.99960507e-01 -1.99471508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.35, Y:-16.30, Z:-1.99 [[ 9.89439793e-01 1.44640393e-01 9.38366233e-03 1.35354692e+02] [-1.44633818e-01 9.89484288e-01 -1.37914902e-03 -1.62967607e+01] [-9.48446710e-03 7.39000966e-06 9.99955021e-01 -1.99476192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.38, Y:-16.31, Z:-2.00 [[ 9.89129131e-01 1.46726598e-01 9.74001723e-03 1.35382220e+02] [-1.46719621e-01 9.89177085e-01 -1.43085234e-03 -1.63051359e+01] [-9.84454594e-03 -1.37539053e-05 9.99951541e-01 -1.99568211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.41, Y:-16.31, Z:-2.00 [[ 9.89029497e-01 1.47408085e-01 9.56614519e-03 1.35410504e+02] [-1.47401391e-01 9.89075759e-01 -1.40488023e-03 -1.63108800e+01] [-9.66873302e-03 -2.05951267e-05 9.99953256e-01 -1.99631529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.44, Y:-16.32, Z:-2.00 [[ 9.88899293e-01 1.48254190e-01 9.94400865e-03 1.35438154e+02] [-1.48247005e-01 9.88949288e-01 -1.45989347e-03 -1.63152003e+01] [-1.00505556e-02 -3.04818750e-05 9.99949491e-01 -1.99755954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.47, Y:-16.32, Z:-2.00 [[ 9.88950703e-01 1.47896061e-01 1.01618503e-02 1.35466389e+02] [-1.47888546e-01 9.89002909e-01 -1.49119887e-03 -1.63192824e+01] [-1.02706419e-02 -2.80990952e-05 9.99947255e-01 -1.99794810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.49, Y:-16.32, Z:-2.00 [[ 9.89064437e-01 1.47146669e-01 9.96977335e-03 1.35494582e+02] [-1.47139402e-01 9.89114684e-01 -1.46256269e-03 -1.63241288e+01] [-1.00764604e-02 -2.03777437e-05 9.99949231e-01 -1.99846910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.52, Y:-16.33, Z:-2.00 [[ 9.89386904e-01 1.45075522e-01 8.16374570e-03 1.35524099e+02] [-1.45070582e-01 9.89420584e-01 -1.19725132e-03 -1.63281973e+01] [-8.25106990e-03 2.25441942e-07 9.99965959e-01 -1.99822447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:-16.33, Z:-2.00 [[ 9.89540452e-01 1.44028642e-01 8.08975648e-03 1.35551726e+02] [-1.44023756e-01 9.89573519e-01 -1.18639717e-03 -1.63310488e+01] [-8.17628397e-03 8.87087903e-06 9.99966574e-01 -1.99872265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.58, Y:-16.33, Z:-2.00 [[ 9.89684005e-01 1.42856130e-01 1.08488334e-02 1.35580972e+02] [-1.42847284e-01 9.89743464e-01 -1.58996340e-03 -1.63335743e+01] [-1.09646980e-02 2.38349496e-05 9.99939886e-01 -1.99834557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.61, Y:-16.34, Z:-2.00 [[ 9.89615977e-01 1.43139972e-01 1.30830482e-02 1.35609751e+02] [-1.43127142e-01 9.89702454e-01 -1.91664364e-03 -1.63381242e+01] [-1.32226732e-02 2.42018707e-05 9.99912576e-01 -1.99842869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.64, Y:-16.34, Z:-2.00 [[ 9.89508875e-01 1.43775683e-01 1.41682285e-02 1.35639197e+02] [-1.43760709e-01 9.89610303e-01 -2.07508908e-03 -1.63428570e+01] [-1.43193722e-02 1.64844955e-05 9.99897472e-01 -1.99871204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.67, Y:-16.35, Z:-2.00 [[ 9.89374407e-01 1.44893507e-01 1.20064536e-02 1.35667514e+02] [-1.44882839e-01 9.89447256e-01 -1.75824222e-03 -1.63458144e+01] [-1.21345105e-02 3.07598475e-08 9.99926374e-01 -2.00020156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.70, Y:-16.35, Z:-2.00 [[ 9.89304471e-01 1.45509161e-01 1.01856932e-02 1.35696751e+02] [-1.45501519e-01 9.89356904e-01 -1.49128475e-03 -1.63483950e+01] [-1.02942815e-02 -6.69916725e-06 9.99947012e-01 -2.00085372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.72, Y:-16.35, Z:-2.00 [[ 9.89212384e-01 1.46138232e-01 1.01231197e-02 1.35724030e+02] [-1.46130718e-01 9.89264180e-01 -1.48197544e-03 -1.63511574e+01] [-1.02310130e-02 -1.33102944e-05 9.99947662e-01 -2.00095361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.75, Y:-16.35, Z:-2.00 [[ 9.89031876e-01 1.47390228e-01 9.59528086e-03 1.35752424e+02] [-1.47383542e-01 9.89078420e-01 -1.40412630e-03 -1.63534567e+01] [-9.69743972e-03 -2.54608147e-05 9.99952978e-01 -2.00085129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.78, Y:-16.35, Z:-2.00 [[ 9.88779599e-01 1.49162981e-01 8.08148932e-03 1.35780867e+02] [-1.49158299e-01 9.88812623e-01 -1.18236969e-03 -1.63518802e+01] [-8.16744445e-03 -3.63181712e-05 9.99966645e-01 -2.00232924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.81, Y:-16.35, Z:-2.00 [[ 9.88773480e-01 1.49205049e-01 8.05346592e-03 1.35808395e+02] [-1.49200405e-01 9.88806276e-01 -1.17780998e-03 -1.63530219e+01] [-8.13905284e-03 -3.69931062e-05 9.99966877e-01 -2.00334981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.84, Y:-16.35, Z:-2.00 [[ 9.89242928e-01 1.46058927e-01 8.07580356e-03 1.35837409e+02] [-1.46054157e-01 9.89275892e-01 -1.18048728e-03 -1.63535827e+01] [-8.16161847e-03 -1.17159878e-05 9.99966693e-01 -2.00448161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.86, Y:-16.36, Z:-2.00 [[ 9.89703784e-01 1.42887113e-01 8.34826179e-03 1.35864734e+02] [-1.42881906e-01 9.89738992e-01 -1.21995152e-03 -1.63564094e+01] [-8.43691556e-03 1.45750778e-05 9.99964408e-01 -2.00476739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.89, Y:-16.36, Z:-2.00 [[ 9.90204197e-01 1.39362922e-01 8.58050392e-03 1.35893156e+02] [-1.39357293e-01 9.90241372e-01 -1.25332072e-03 -1.63596331e+01] [-8.67143641e-03 4.52876365e-05 9.99962401e-01 -2.00447473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.92, Y:-16.36, Z:-2.00 [[ 9.91110205e-01 1.32669027e-01 9.97452930e-03 1.35922554e+02] [-1.32661088e-01 9.91160388e-01 -1.45638595e-03 -1.63612831e+01] [-1.00795756e-02 1.20207076e-04 9.99949193e-01 -2.00397044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.95, Y:-16.36, Z:-2.00 [[ 9.91434489e-01 1.30210209e-01 1.01466967e-02 1.35950623e+02] [-1.30201869e-01 9.91486399e-01 -1.48104118e-03 -1.63637781e+01] [-1.02531584e-02 1.47236437e-04 9.99947424e-01 -2.00361933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.98, Y:-16.37, Z:-2.00 [[ 9.91795209e-01 1.27554977e-01 8.48480207e-03 1.35978851e+02] [-1.27549052e-01 9.91831491e-01 -1.23807856e-03 -1.63651306e+01] [-8.57341697e-03 1.45691924e-04 9.99963237e-01 -2.00477407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.01, Y:-16.37, Z:-2.01 [[ 9.91908744e-01 1.26711530e-01 7.82505884e-03 1.36006967e+02] [-1.26706468e-01 9.91939599e-01 -1.14129668e-03 -1.63686198e+01] [-7.90660118e-03 1.40576594e-04 9.99968732e-01 -2.00554778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:-16.37, Z:-2.01 [[ 9.91984950e-01 1.26117785e-01 7.75656690e-03 1.36034704e+02] [-1.26112795e-01 9.92015264e-01 -1.13100608e-03 -1.63729349e+01] [-7.83727274e-03 1.43738682e-04 9.99969278e-01 -2.00592149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:-16.38, Z:-2.01 [[ 9.92127230e-01 1.24939272e-01 8.58706867e-03 1.36062972e+02] [-1.24933118e-01 9.92164376e-01 -1.25147685e-03 -1.63793507e+01] [-8.67614224e-03 1.68814996e-04 9.99962347e-01 -2.00527896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.09, Y:-16.38, Z:-2.00 [[ 9.92308465e-01 1.23434369e-01 9.37376551e-03 1.36090091e+02] [-1.23426973e-01 9.92352718e-01 -1.36568200e-03 -1.63847779e+01] [-9.47065378e-03 1.98202300e-04 9.99955133e-01 -2.00490196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.12, Y:-16.39, Z:-2.01 [[ 9.92892788e-01 1.18454500e-01 1.15083594e-02 1.36119506e+02] [-1.18443028e-01 9.92959436e-01 -1.67580560e-03 -1.63917052e+01] [-1.16258407e-02 3.00810370e-04 9.99932372e-01 -2.00506792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.15, Y:-16.40, Z:-2.01 [[ 9.93257290e-01 1.15286884e-01 1.22020309e-02 1.36148110e+02] [-1.15273751e-01 9.93332173e-01 -1.77651315e-03 -1.63974455e+01] [-1.23254786e-02 3.57960761e-04 9.99923974e-01 -2.00523205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.18, Y:-16.41, Z:-2.01 [[ 9.93954196e-01 1.09054581e-01 1.27339555e-02 1.36177180e+02] [-1.09039769e-01 9.94035659e-01 -1.85380562e-03 -1.64074464e+01] [-1.28601719e-02 4.54090303e-04 9.99917201e-01 -2.00591600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.21, Y:-16.41, Z:-2.01 [[ 9.94226536e-01 1.06621082e-01 1.20640230e-02 1.36207636e+02] [-1.06607607e-01 9.94299619e-01 -1.75639731e-03 -1.64149423e+01] [-1.21825225e-02 4.60140190e-04 9.99925684e-01 -2.00641095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.24, Y:-16.42, Z:-2.01 [[ 9.94361039e-01 1.05419229e-01 1.15286286e-02 1.36236752e+02] [-1.05406840e-01 9.94427765e-01 -1.67872008e-03 -1.64224215e+01] [-1.16413577e-02 4.54057535e-04 9.99932134e-01 -2.00656500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.27, Y:-16.43, Z:-2.01 [[ 9.94392364e-01 1.05212867e-01 1.06808121e-02 1.36266577e+02] [-1.05202223e-01 9.94449634e-01 -1.55511544e-03 -1.64333215e+01] [-1.07851479e-02 4.22749738e-04 9.99941749e-01 -2.00711581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.995769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:136.30, Y:-16.44, Z:-2.01 [[ 9.94307685e-01 1.05932543e-01 1.14247102e-02 1.36297024e+02] [-1.05920390e-01 9.94373218e-01 -1.66531222e-03 -1.64408580e+01] [-1.15368366e-02 4.45722980e-04 9.99933349e-01 -2.00768144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:-16.45, Z:-2.01 [[ 9.94006706e-01 1.08599467e-01 1.25229156e-02 1.36327118e+02] [-1.08585073e-01 9.94085484e-01 -1.82568718e-03 -1.64509379e+01] [-1.26471172e-02 4.54943599e-04 9.99919919e-01 -2.00717703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:-16.46, Z:-2.01 [[ 9.93831554e-01 1.10261366e-01 1.18858272e-02 1.36358131e+02] [-1.10248498e-01 9.93902541e-01 -1.73450620e-03 -1.64580650e+01] [-1.20046029e-02 4.13412399e-04 9.99927857e-01 -2.00755001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:-16.47, Z:-2.01 [[ 9.93698278e-01 1.11606858e-01 1.03750343e-02 1.36389561e+02] [-1.11597112e-01 9.93752378e-01 -1.51547567e-03 -1.64657358e+01] [-1.04793525e-02 3.48101693e-04 9.99945029e-01 -2.00878956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.42, Y:-16.47, Z:-2.01 [[ 9.93672002e-01 1.12051321e-01 7.77521512e-03 1.36419540e+02] [-1.12039745e-01 9.93701890e-01 -1.91011557e-03 -1.64737589e+01] [-7.94027693e-03 1.02689524e-03 9.99967948e-01 -2.00985055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.45, Y:-16.49, Z:-2.01 [[ 9.93837806e-01 1.10671018e-01 6.19195328e-03 1.36448688e+02] [-1.10672353e-01 9.93856938e-01 -1.27674425e-04 -1.64879801e+01] [-6.16804559e-03 -5.58390366e-04 9.99980822e-01 -2.01190419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:-16.50, Z:-2.01 [[ 9.93668293e-01 1.11999046e-01 8.91839289e-03 1.36479876e+02] [-1.11991834e-01 9.93708269e-01 -1.30558752e-03 -1.64989644e+01] [-9.00850532e-03 2.98533742e-04 9.99959378e-01 -2.01138051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.51, Y:-16.51, Z:-2.01 [[ 9.93486082e-01 1.13553275e-01 9.54245332e-03 1.36511180e+02] [-1.13545074e-01 9.93531862e-01 -1.39861599e-03 -1.65067158e+01] [-9.63954884e-03 3.06006960e-04 9.99953492e-01 -2.01100742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:-16.52, Z:-2.01 [[ 9.93297880e-01 1.15208118e-01 9.29580112e-03 1.36543063e+02] [-1.15200392e-01 9.93341335e-01 -1.36417127e-03 -1.65152592e+01] [-9.39106710e-03 2.84148495e-04 9.99955863e-01 -2.01117257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.57, Y:-16.52, Z:-2.01 [[ 9.93094601e-01 1.16991648e-01 8.72170422e-03 1.36573703e+02] [-1.16984906e-01 9.93132867e-01 -1.28105417e-03 -1.65236622e+01] [-8.81168375e-03 2.51900233e-04 9.99961145e-01 -2.01206844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:-16.53, Z:-2.01 [[ 9.92575229e-01 1.21395820e-01 7.58090805e-03 1.36604810e+02] [-1.21390848e-01 9.92604161e-01 -1.11418642e-03 -1.65327380e+01] [-7.66009845e-03 1.85660982e-04 9.99970644e-01 -2.01261288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.63, Y:-16.54, Z:-2.01 [[ 9.91949290e-01 1.26443226e-01 6.97975135e-03 1.36634987e+02] [-1.26439134e-01 9.91973836e-01 -1.02626369e-03 -1.65394640e+01] [-7.05349481e-03 1.35487827e-04 9.99975115e-01 -2.01455901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:-16.55, Z:-2.02 [[ 9.91712531e-01 1.28340118e-01 5.92202333e-03 1.36666740e+02] [-1.28337203e-01 9.91730207e-01 -8.71374646e-04 -1.65458357e+01] [-5.98488174e-03 1.04137248e-04 9.99982085e-01 -2.01561475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.70, Y:-16.55, Z:-2.02 [[ 9.91577704e-01 1.29388019e-01 5.69186575e-03 1.36697832e+02] [-1.29385337e-01 9.91594036e-01 -8.38343854e-04 -1.65523321e+01] [-5.75249178e-03 9.48391033e-05 9.99983450e-01 -2.01591682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:-16.56, Z:-2.02 [[ 9.91721287e-01 1.28198797e-01 7.34562395e-03 1.36729899e+02] [-1.28194286e-01 9.91748482e-01 -1.08366745e-03 -1.65587754e+01] [-7.42393627e-03 1.33029060e-04 9.99972433e-01 -2.01522183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:-16.56, Z:-2.01 [[ 9.91806747e-01 1.27429964e-01 8.99899248e-03 1.36762769e+02] [-1.27423145e-01 9.91847556e-01 -1.32938290e-03 -1.65646404e+01] [-9.09503192e-03 1.71811001e-04 9.99958625e-01 -2.01495143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:-16.57, Z:-2.02 [[ 9.91953614e-01 1.26135243e-01 1.08594670e-02 1.36794253e+02] [-1.26125206e-01 9.92013029e-01 -1.60693680e-03 -1.65734128e+01] [-1.09754242e-02 2.24354244e-04 9.99939743e-01 -2.01618506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.83, Y:-16.58, Z:-2.02 [[ 9.92144722e-01 1.24707912e-01 9.83809071e-03 1.36826390e+02] [-1.24699588e-01 9.92193473e-01 -1.45742148e-03 -1.65810375e+01] [-9.94304138e-03 2.19167175e-04 9.99950543e-01 -2.01737272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.86, Y:-16.59, Z:-2.02 [[ 9.92322474e-01 1.23374683e-01 8.64847908e-03 1.36857232e+02] [-1.23368188e-01 9.92360139e-01 -1.28251288e-03 -1.65885081e+01] [-8.74063552e-03 2.05719156e-04 9.99961779e-01 -2.01901968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:-16.60, Z:-2.02 [[ 9.92731810e-01 1.20156877e-01 6.77336222e-03 1.36888853e+02] [-1.20152815e-01 9.92754900e-01 -1.00500525e-03 -1.65985485e+01] [-6.84504682e-03 1.83862143e-04 9.99976555e-01 -2.01973963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.92, Y:-16.61, Z:-2.02 [[ 9.92886938e-01 1.18852819e-01 7.03813063e-03 1.36920169e+02] [-1.18848387e-01 9.92911862e-01 -1.04608530e-03 -1.66074014e+01] [-7.11257358e-03 2.02173957e-04 9.99974685e-01 -2.01962200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.95, Y:-16.62, Z:-2.02 [[ 9.93075725e-01 1.17144526e-01 8.81846169e-03 1.36951742e+02] [-1.17137492e-01 9.93114841e-01 -1.31178786e-03 -1.66202611e+01] [-8.91141395e-03 2.69732199e-04 9.99960256e-01 -2.01841147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.98, Y:-16.63, Z:-2.02 [[ 9.93133139e-01 1.16633516e-01 9.12087271e-03 1.36983101e+02] [-1.16625952e-01 9.93174980e-01 -1.35864663e-03 -1.66279301e+01] [-9.21708630e-03 2.85586535e-04 9.99957481e-01 -2.01915373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:-16.64, Z:-2.02 [[ 9.93207586e-01 1.16004305e-01 9.03840297e-03 1.37015619e+02] [-1.15996837e-01 9.93248668e-01 -1.34791776e-03 -1.66360119e+01] [-9.13374598e-03 2.90335987e-04 9.99958244e-01 -2.02093256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.05, Y:-16.65, Z:-2.02 [[ 9.93353680e-01 1.14782608e-01 8.56856525e-03 1.37046241e+02] [-1.14775837e-01 9.93390593e-01 -1.27937405e-03 -1.66492353e+01] [-8.65878200e-03 2.87406673e-04 9.99962471e-01 -2.02199198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.08, Y:-16.66, Z:-2.02 [[ 9.93408702e-01 1.14372535e-01 7.62061461e-03 1.37078088e+02] [-1.14367161e-01 9.93437897e-01 -1.13883635e-03 -1.66579667e+01] [-7.70085896e-03 2.59781883e-04 9.99970314e-01 -2.02197053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.11, Y:-16.67, Z:-2.02 [[ 9.93239859e-01 1.15827626e-01 7.65144261e-03 1.37108819e+02] [-1.15822238e-01 9.93269298e-01 -1.14497791e-03 -1.66669296e+01] [-7.73256310e-03 2.51030491e-04 9.99970072e-01 -2.02214493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.14, Y:-16.67, Z:-2.02 [[ 9.93225108e-01 1.15954056e-01 7.65120743e-03 1.37141916e+02] [-1.15948660e-01 9.93254546e-01 -1.14654674e-03 -1.66720629e+01] [-7.73254330e-03 2.51631757e-04 9.99970072e-01 -2.02257612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.17, Y:-16.68, Z:-2.02 [[ 9.93078948e-01 1.17140395e-01 8.50472980e-03 1.37173648e+02] [-1.17133763e-01 9.93115328e-01 -1.27549575e-03 -1.66795696e+01] [-8.59558960e-03 2.70476973e-04 9.99963021e-01 -2.02316219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:-16.69, Z:-2.02 [[ 9.92951441e-01 1.18194301e-01 8.80580966e-03 1.37205388e+02] [-1.18187217e-01 9.92990450e-01 -1.32239544e-03 -1.66884064e+01] [-8.90038450e-03 2.72340323e-04 9.99960354e-01 -2.02368240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.24, Y:-16.70, Z:-2.02 [[ 9.92783550e-01 1.19607168e-01 8.65730092e-03 1.37236507e+02] [-1.19600360e-01 9.92821263e-01 -1.30172153e-03 -1.66991849e+01] [-8.75084766e-03 2.56911409e-04 9.99961678e-01 -2.02308500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.27, Y:-16.70, Z:-2.02 [[ 9.92642942e-01 1.20726196e-01 9.22904331e-03 1.37268455e+02] [-1.20718491e-01 9.92685809e-01 -1.38945401e-03 -1.67047403e+01] [-9.32928382e-03 2.65115540e-04 9.99956446e-01 -2.02330646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:-16.71, Z:-2.02 [[ 9.92199901e-01 1.24054974e-01 1.22360086e-02 1.37300605e+02] [-1.24041648e-01 9.92275297e-01 -1.84500400e-03 -1.67127008e+01] [-1.23703710e-02 3.12838127e-04 9.99923435e-01 -2.02246548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:-16.72, Z:-2.02 [[ 9.91979692e-01 1.25760795e-01 1.26693527e-02 1.37332982e+02] [-1.25746616e-01 9.92060547e-01 -1.91277307e-03 -1.67206735e+01] [-1.28093169e-02 3.04303810e-04 9.99917911e-01 -2.02245552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:-16.73, Z:-2.02 [[ 9.91849036e-01 1.26836843e-01 1.21616609e-02 1.37364592e+02] [-1.26823832e-01 9.91923554e-01 -1.83829678e-03 -1.67286570e+01] [-1.22966016e-02 2.80924454e-04 9.99924354e-01 -2.02381331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.40, Y:-16.74, Z:-2.03 [[ 9.91888123e-01 1.26585317e-01 1.15805407e-02 1.37396589e+02] [-1.26573481e-01 9.91955686e-01 -1.75233705e-03 -1.67393351e+01] [-1.17092034e-02 2.72332955e-04 9.99931408e-01 -2.02565551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:-16.75, Z:-2.03 [[ 9.91908834e-01 1.26398419e-01 1.18450725e-02 1.37427670e+02] [-1.26385994e-01 9.91979516e-01 -1.79467186e-03 -1.67474513e+01] [-1.19769130e-02 2.83099608e-04 9.99928234e-01 -2.02611263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.46, Y:-16.76, Z:-2.03 [[ 9.91834281e-01 1.27009996e-01 1.15421201e-02 1.37458731e+02] [-1.26998217e-01 9.91901400e-01 -1.75074377e-03 -1.67594612e+01] [-1.16710070e-02 2.70619015e-04 9.99931855e-01 -2.02637034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.49, Y:-16.77, Z:-2.03 [[ 9.91726745e-01 1.27885498e-01 1.11068524e-02 1.37489363e+02] [-1.27874624e-01 9.91788907e-01 -1.68674362e-03 -1.67678776e+01] [-1.12313631e-02 2.52504185e-04 9.99936894e-01 -2.02698745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.52, Y:-16.78, Z:-2.03 [[ 9.91560654e-01 1.29198320e-01 1.07360575e-02 1.37520323e+02] [-1.29188216e-01 9.91618748e-01 -1.63226726e-03 -1.67766075e+01] [-1.08569621e-02 2.31519868e-04 9.99941035e-01 -2.02775235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.55, Y:-16.79, Z:-2.03 [[ 9.91166282e-01 1.32372921e-01 8.17380364e-03 1.37550934e+02] [-1.32367165e-01 9.91199973e-01 -1.24359587e-03 -1.67897530e+01] [-8.26649237e-03 1.50667071e-04 9.99965821e-01 -2.02878362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.58, Y:-16.80, Z:-2.03 [[ 9.90867843e-01 1.34667994e-01 6.74156512e-03 1.37583043e+02] [-1.34664127e-01 9.90890771e-01 -1.02637906e-03 -1.67988006e+01] [-6.81837507e-03 1.09159026e-04 9.99976749e-01 -2.02950658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.61, Y:-16.81, Z:-2.03 [[ 9.90075191e-01 1.40423709e-01 5.68310477e-03 1.37614858e+02] [-1.40421052e-01 9.90091500e-01 -8.65824255e-04 -1.68099833e+01] [-5.74837598e-03 5.92035648e-05 9.99983476e-01 -2.02984504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:-16.82, Z:-2.03 [[ 9.89704958e-01 1.42973974e-01 6.52224719e-03 1.37646231e+02] [-1.42970519e-01 9.89726447e-01 -9.95340367e-04 -1.68184448e+01] [-6.59754831e-03 5.26042264e-05 9.99978235e-01 -2.03132103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.68, Y:-16.83, Z:-2.03 [[ 9.89445959e-01 1.44734187e-01 6.97920754e-03 1.37677737e+02] [-1.44730266e-01 9.89470572e-01 -1.06637899e-03 -1.68278453e+01] [-7.06006197e-03 4.50218247e-05 9.99975076e-01 -2.03148133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34576923100002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.71, Y:-16.84, Z:-2.03 [[ 9.89058973e-01 1.47316368e-01 7.76111952e-03 1.37709358e+02] [-1.47311584e-01 9.89089423e-01 -1.18758457e-03 -1.68408647e+01] [-7.85139188e-03 3.12883587e-05 9.99969177e-01 -2.02717807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.74, Y:-16.85, Z:-2.03 [[ 9.88836281e-01 1.48843367e-01 6.96150797e-03 1.37740733e+02] [-1.48839548e-01 9.88860785e-01 -1.06638111e-03 -1.68475895e+01] [-7.04268599e-03 1.83286368e-05 9.99975200e-01 -2.03107336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.77, Y:-16.85, Z:-2.03 [[ 9.88201888e-01 1.53030398e-01 6.22299313e-03 1.37773102e+02] [-1.53027424e-01 9.88221482e-01 -9.54085719e-04 -1.68536352e+01] [-6.29569961e-03 -9.45929927e-06 9.99980182e-01 -2.03126949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:-16.86, Z:-2.03 [[ 9.87759412e-01 1.55817997e-01 7.21776734e-03 1.37805828e+02] [-1.55814058e-01 9.87785782e-01 -1.10827394e-03 -1.68585293e+01] [-7.30229698e-03 -2.99216114e-05 9.99973337e-01 -2.03115454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:-16.86, Z:-2.03 [[ 9.87297572e-01 1.58677228e-01 8.06484275e-03 1.37838362e+02] [-1.58672392e-01 9.87330509e-01 -1.24010532e-03 -1.68635056e+01] [-8.15944178e-03 -5.53149246e-05 9.99966710e-01 -2.03156810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.87, Y:-16.87, Z:-2.03 [[ 9.86654602e-01 1.62617635e-01 8.25843185e-03 1.37870039e+02] [-1.62612688e-01 9.86689159e-01 -1.27154177e-03 -1.68682040e+01] [-8.35528029e-03 -8.83532545e-05 9.99965090e-01 -2.03364376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.90, Y:-16.87, Z:-2.03 [[ 9.86477828e-01 1.63651697e-01 8.92285207e-03 1.37902755e+02] [-1.63645949e-01 9.86518176e-01 -1.37550901e-03 -1.68723563e+01] [-9.02766013e-03 -1.03279451e-04 9.99959245e-01 -2.03374617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.93, Y:-16.88, Z:-2.03 [[ 9.86527231e-01 1.63337585e-01 9.21166157e-03 1.37934885e+02] [-1.63331428e-01 9.86570232e-01 -1.42192317e-03 -1.68755206e+01] [-9.32020459e-03 -1.01787904e-04 9.99956561e-01 -2.03353224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:-16.88, Z:-2.03 [[ 9.86645096e-01 1.62612289e-01 9.41796876e-03 1.37966522e+02] [-1.62605803e-01 9.86690040e-01 -1.45551334e-03 -1.68782357e+01] [-9.52930032e-03 -9.53412764e-05 9.99954591e-01 -2.03380249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.00, Y:-16.88, Z:-2.03 [[ 9.86875818e-01 1.61116799e-01 1.08396196e-02 1.37998501e+02] [-1.61108092e-01 9.86935342e-01 -1.67748101e-03 -1.68820668e+01] [-1.09682741e-02 -9.08849960e-05 9.99939843e-01 -2.03434718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:-16.89, Z:-2.03 [[ 9.87003812e-01 1.60266780e-01 1.17488356e-02 1.38029551e+02] [-1.60256465e-01 9.87073732e-01 -1.82036457e-03 -1.68881501e+01] [-1.18887109e-02 -8.61200814e-05 9.99929323e-01 -2.03455341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:-16.89, Z:-2.04 [[ 9.87292153e-01 1.58488899e-01 1.16392787e-02 1.38061007e+02] [-1.58478628e-01 9.87360757e-01 -1.80534129e-03 -1.68941582e+01] [-1.17782935e-02 -6.21776245e-05 9.99930632e-01 -2.03522290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.09, Y:-16.90, Z:-2.04 [[ 9.87445966e-01 1.57665144e-01 9.60031682e-03 1.38093526e+02] [-1.57634803e-01 9.87489997e-01 -3.84384691e-03 -1.68980711e+01] [-1.00862575e-02 2.28224707e-03 9.99946528e-01 -2.03668475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.12, Y:-16.91, Z:-2.04 [[ 9.87428451e-01 1.57799404e-01 9.18706420e-03 1.38124075e+02] [-1.57814338e-01 9.87468374e-01 9.19403484e-04 -1.69057759e+01] [-8.92685403e-03 -2.35769561e-03 9.99957375e-01 -2.03670792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.16, Y:-16.91, Z:-2.04 [[ 9.87078547e-01 1.60116115e-01 6.22670803e-03 1.38155241e+02] [-1.60113195e-01 9.87098186e-01 -9.67737999e-04 -1.69103270e+01] [-6.30132265e-03 -4.17447025e-05 9.99980146e-01 -2.03729352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.19, Y:-16.91, Z:-2.04 [[ 9.86507008e-01 1.63591046e-01 6.47248763e-03 1.38187835e+02] [-1.63587965e-01 9.86528239e-01 -1.00618130e-03 -1.69146123e+01] [-6.54989407e-03 -6.62161728e-05 9.99978547e-01 -2.03692268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.22, Y:-16.92, Z:-2.04 [[ 9.85066906e-01 1.71985467e-01 8.01188048e-03 1.38219771e+02] [-1.71981003e-01 9.85099476e-01 -1.24800286e-03 -1.69161633e+01] [-8.10713761e-03 -1.48524924e-04 9.99967126e-01 -2.03658924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.25, Y:-16.92, Z:-2.04 [[ 9.84256195e-01 1.76559263e-01 8.15895489e-03 1.38252016e+02] [-1.76554784e-01 9.84289993e-01 -1.27172672e-03 -1.69196540e+01] [-8.25531278e-03 -1.88797616e-04 9.99965907e-01 -2.03786975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.29, Y:-16.92, Z:-2.04 [[ 9.83419725e-01 1.81189413e-01 7.48607661e-03 1.38285130e+02] [-1.81185768e-01 9.83448196e-01 -1.16786365e-03 -1.69230138e+01] [-7.57377307e-03 -2.07870393e-04 9.99971297e-01 -2.03839438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.32, Y:-16.92, Z:-2.04 [[ 9.81823478e-01 1.89711692e-01 5.66851914e-03 1.38318380e+02] [-1.89709741e-01 9.81839820e-01 -8.84709839e-04 -1.69220167e+01] [-5.73341761e-03 -2.06744409e-04 9.99983542e-01 -2.03907168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.35, Y:-16.92, Z:-2.04 [[ 9.81068754e-01 1.93577207e-01 5.65373578e-03 1.38350739e+02] [-1.93575324e-01 9.81085018e-01 -8.83564821e-04 -1.69236004e+01] [-5.71783348e-03 -2.27585898e-04 9.99983627e-01 -2.03891717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:-16.92, Z:-2.04 [[ 9.79832714e-01 1.99647496e-01 8.29038446e-03 1.38383238e+02] [-1.99643644e-01 9.79867711e-01 -1.29813901e-03 -1.69219731e+01] [-8.38265025e-03 -3.83163489e-04 9.99964792e-01 -2.03830817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.42, Y:-16.92, Z:-2.04 [[ 9.79521090e-01 2.01079051e-01 1.02786424e-02 1.38416568e+02] [-2.01073183e-01 9.79574896e-01 -1.61178205e-03 -1.69230447e+01] [-1.03927956e-02 -4.87984825e-04 9.99945874e-01 -2.03823970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:-16.92, Z:-2.04 [[ 9.79287675e-01 2.02156521e-01 1.13309872e-02 1.38450784e+02] [-2.02149436e-01 9.79353072e-01 -1.77911712e-03 -1.69190772e+01] [-1.14566973e-02 -5.48285198e-04 9.99934220e-01 -2.03913662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.48, Y:-16.92, Z:-2.04 [[ 9.79133295e-01 2.02971298e-01 1.00320676e-02 1.38483630e+02] [-2.02965771e-01 9.79184564e-01 -1.57674272e-03 -1.69203961e+01] [-1.01432793e-02 -4.92325034e-04 9.99948434e-01 -2.04020802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.52, Y:-16.92, Z:-2.04 [[ 9.78919878e-01 2.04046806e-01 8.98738580e-03 1.38516852e+02] [-2.04042402e-01 9.78961030e-01 -1.41396540e-03 -1.69220426e+01] [-9.08681558e-03 -4.49648953e-04 9.99958613e-01 -2.04054258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:-16.92, Z:-2.04 [[ 9.78693196e-01 2.05096189e-01 9.75607420e-03 1.38550307e+02] [-2.05091031e-01 9.78741695e-01 -1.53705228e-03 -1.69177560e+01] [-9.86392017e-03 -4.96580713e-04 9.99951227e-01 -2.04072754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.58, Y:-16.92, Z:-2.04 [[ 9.78685692e-01 2.05070394e-01 1.09749471e-02 1.38582989e+02] [-2.05063838e-01 9.78747069e-01 -1.73146991e-03 -1.69178272e+01] [-1.10967705e-02 -5.55999961e-04 9.99938274e-01 -2.04105352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:-16.92, Z:-2.04 [[ 9.79343590e-01 2.01891829e-01 1.12170061e-02 1.38616589e+02] [-2.01884759e-01 9.79407682e-01 -1.77087542e-03 -1.69155843e+01] [-1.13435473e-02 -5.30247086e-04 9.99935519e-01 -2.04236946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.65, Y:-16.92, Z:-2.04 [[ 9.79929713e-01 1.99136881e-01 9.06970251e-03 1.38648583e+02] [-1.99132127e-01 9.79971602e-01 -1.43337888e-03 -1.69185384e+01] [-9.17348951e-03 -4.01458597e-04 9.99957842e-01 -2.04339849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.68, Y:-16.92, Z:-2.05 [[ 9.81099573e-01 1.93428907e-01 5.37451787e-03 1.38681014e+02] [-1.93427154e-01 9.81114272e-01 -8.48948258e-04 -1.69182576e+01] [-5.43722732e-03 -2.06674923e-04 9.99985197e-01 -2.04545293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:-16.92, Z:-2.05 [[ 9.81591044e-01 1.90914678e-01 5.53236293e-03 1.38713823e+02] [-1.90912776e-01 9.81606615e-01 -8.74900727e-04 -1.69206984e+01] [-5.59763544e-03 -1.97404044e-04 9.99984314e-01 -2.04577069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:-16.92, Z:-2.05 [[ 9.82047818e-01 1.88508164e-01 6.83776176e-03 1.38746048e+02] [-1.88505186e-01 9.82071597e-01 -1.08326195e-03 -1.69232089e+01] [-6.91937533e-03 -2.25138515e-04 9.99976035e-01 -2.04558857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:-16.93, Z:-2.04 [[ 9.82882708e-01 1.83958828e-01 1.00365454e-02 1.38778862e+02] [-1.83952147e-01 9.82933910e-01 -1.59276111e-03 -1.69271797e+01] [-1.01582633e-02 -2.80746727e-04 9.99948364e-01 -2.04396941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.81, Y:-16.93, Z:-2.04 [[ 9.83275845e-01 1.81791253e-01 1.09796904e-02 1.38810868e+02] [-1.81783096e-01 9.83337105e-01 -1.74483425e-03 -1.69329018e+01] [-1.11139326e-02 -2.80268736e-04 9.99938199e-01 -2.04423998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:-16.94, Z:-2.05 [[ 9.83927965e-01 1.78320391e-01 9.35933972e-03 1.38842804e+02] [-1.78314291e-01 9.83972457e-01 -1.48906205e-03 -1.69377951e+01] [-9.47486263e-03 -2.03774224e-04 9.99955092e-01 -2.04555940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.87, Y:-16.94, Z:-2.05 [[ 9.84030630e-01 1.77837362e-01 7.58894008e-03 1.38874732e+02] [-1.77833334e-01 9.84059880e-01 -1.20776922e-03 -1.69421937e+01] [-7.68275795e-03 -1.61084605e-04 9.99970474e-01 -2.04710515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.91, Y:-16.95, Z:-2.05 [[ 9.83963019e-01 1.78252471e-01 6.54471404e-03 1.38907460e+02] [-1.78249479e-01 9.83984775e-01 -1.04234879e-03 -1.69467085e+01] [-6.62570022e-03 -1.40959210e-04 9.99978040e-01 -2.04820995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.94, Y:-16.95, Z:-2.05 [[ 9.83719800e-01 1.79592182e-01 6.48099977e-03 1.38940164e+02] [-1.79589269e-01 9.83741138e-01 -1.03331590e-03 -1.69505373e+01] [-6.56120155e-03 -1.47424701e-04 9.99978464e-01 -2.04741606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.97, Y:-16.95, Z:-2.05 [[ 9.83559900e-01 1.80469163e-01 6.38784642e-03 1.38971963e+02] [-1.80466344e-01 9.83580632e-01 -1.01974461e-03 -1.69531790e+01] [-6.46699447e-03 -1.49811383e-04 9.99979078e-01 -2.04666489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.545769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.00, Y:-16.95, Z:-2.05 [[ 9.82842086e-01 1.84382808e-01 4.94101222e-03 1.39002994e+02] [-1.84381162e-01 9.82854497e-01 -7.90555061e-04 -1.69506433e+01] [-5.00206084e-03 -1.34038789e-04 9.99987481e-01 -2.04689984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.03, Y:-16.95, Z:-2.05 [[ 9.82486243e-01 1.86264156e-01 5.14266843e-03 1.39033970e+02] [-1.86262398e-01 9.82499691e-01 -8.22819774e-04 -1.69527970e+01] [-5.20593197e-03 -1.49476646e-04 9.99986438e-01 -2.04711049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.06, Y:-16.95, Z:-2.05 [[ 9.82296690e-01 1.87122799e-01 8.84704480e-03 1.39064307e+02] [-1.87117633e-01 9.82336494e-01 -1.41546694e-03 -1.69522035e+01] [-8.95564110e-03 -2.65029593e-04 9.99959862e-01 -2.04678140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.09, Y:-16.95, Z:-2.05 [[ 9.82409597e-01 1.86451479e-01 1.03551427e-02 1.39094783e+02] [-1.86444364e-01 9.82464124e-01 -1.65680877e-03 -1.69533651e+01] [-1.04824707e-02 -3.02993168e-04 9.99945011e-01 -2.04725147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.13, Y:-16.95, Z:-2.05 [[ 9.82846445e-01 1.84098068e-01 1.09894050e-02 1.39126231e+02] [-1.84089899e-01 9.82907836e-01 -1.75902682e-03 -1.69507755e+01] [-1.11254057e-02 -2.94185195e-04 9.99938067e-01 -2.04873693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.16, Y:-16.95, Z:-2.05 [[ 9.83119909e-01 1.82679298e-01 1.01743681e-02 1.39156464e+02] [-1.82672220e-01 9.83172522e-01 -1.62856737e-03 -1.69525381e+01] [-1.03006647e-02 -2.57497407e-04 9.99946914e-01 -2.04856272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.19, Y:-16.95, Z:-2.05 [[ 9.83333932e-01 1.81586230e-01 8.98994195e-03 1.39186209e+02] [-1.81580658e-01 9.83375002e-01 -1.43902548e-03 -1.69539547e+01] [-9.10179139e-03 -2.17356987e-04 9.99958554e-01 -2.04850557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.22, Y:-16.96, Z:-2.05 [[ 9.83336016e-01 1.81574945e-01 8.98995869e-03 1.39216000e+02] [-1.81569373e-01 9.83377085e-01 -1.43892086e-03 -1.69586833e+01] [-9.10179135e-03 -2.17358458e-04 9.99958554e-01 -2.04889360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:-16.96, Z:-2.05 [[ 9.83582174e-01 1.80319258e-01 7.14650733e-03 1.39245309e+02] [-1.80315704e-01 9.83608122e-01 -1.14393685e-03 -1.69564378e+01] [-7.23563650e-03 -1.63471606e-04 9.99973809e-01 -2.04890819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.27, Y:-16.96, Z:-2.05 [[ 9.83707509e-01 1.79627375e-01 7.31733670e-03 1.39274295e+02] [-1.79623632e-01 9.83734710e-01 -1.17094962e-03 -1.69582690e+01] [-7.40865271e-03 -1.62494664e-04 9.99972542e-01 -2.04930424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.30, Y:-16.96, Z:-2.05 [[ 9.83746798e-01 1.79299359e-01 9.69418329e-03 1.39302120e+02] [-1.79292775e-01 9.83794539e-01 -1.55108226e-03 -1.69584937e+01] [-9.81519263e-03 -2.12224817e-04 9.99951807e-01 -2.04916677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.33, Y:-16.96, Z:-2.05 [[ 9.83657891e-01 1.79703465e-01 1.11273475e-02 1.39331060e+02] [-1.79694825e-01 9.83720795e-01 -1.77963075e-03 -1.69607169e+01] [-1.12660090e-02 -2.48978940e-04 9.99936506e-01 -2.04902188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.36, Y:-16.96, Z:-2.05 [[ 9.83424961e-01 1.81001228e-01 1.06724344e-02 1.39361316e+02] [-1.80993362e-01 9.83482837e-01 -1.70636895e-03 -1.69624038e+01] [-1.08050109e-02 -2.53553961e-04 9.99941592e-01 -2.04960804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.39, Y:-16.97, Z:-2.05 [[ 9.83342646e-01 1.81534599e-01 9.07911991e-03 1.39389760e+02] [-1.81528931e-01 9.83384533e-01 -1.45149012e-03 -1.69659805e+01] [-9.19176177e-03 -2.20810789e-04 9.99957730e-01 -2.05037524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.42, Y:-16.97, Z:-2.05 [[ 9.83272539e-01 1.81969443e-01 7.88890943e-03 1.39418485e+02] [-1.81965179e-01 9.83304166e-01 -1.26102791e-03 -1.69690178e+01] [-7.98666606e-03 -1.95572702e-04 9.99968087e-01 -2.05164516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.45, Y:-16.97, Z:-2.05 [[ 9.82913732e-01 1.83894984e-01 7.95171465e-03 1.39446197e+02] [-1.83890717e-01 9.82945873e-01 -1.27075578e-03 -1.69694288e+01] [-8.04979071e-03 -2.13203200e-04 9.99967577e-01 -2.05108343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.48, Y:-16.97, Z:-2.05 [[ 9.82749142e-01 1.84757304e-01 8.29838442e-03 1.39475234e+02] [-1.84752692e-01 9.82784150e-01 -1.32560732e-03 -1.69722190e+01] [-8.40043632e-03 -2.30409404e-04 9.99964689e-01 -2.05035811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:-16.98, Z:-2.05 [[ 9.82654941e-01 1.85321197e-01 6.73210937e-03 1.39503585e+02] [-1.85318176e-01 9.82677983e-01 -1.07523465e-03 -1.69750733e+01] [-6.81475943e-03 -1.90997591e-04 9.99976761e-01 -2.05120134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.53, Y:-16.98, Z:-2.05 [[ 9.82801230e-01 1.84572656e-01 5.88866824e-03 1.39530760e+02] [-1.84570332e-01 9.82818858e-01 -9.40394901e-04 -1.69792413e+01] [-5.96106538e-03 -1.62652189e-04 9.99982219e-01 -2.05282470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.56, Y:-16.98, Z:-2.05 [[ 9.83020362e-01 1.83410342e-01 5.62258868e-03 1.39558144e+02] [-1.83408206e-01 9.83036431e-01 -8.97597231e-04 -1.69826079e+01] [-5.69183812e-03 -1.48872548e-04 9.99983790e-01 -2.05363510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:-16.98, Z:-2.05 [[ 9.83096840e-01 1.82916943e-01 7.87365636e-03 1.39587253e+02] [-1.82912745e-01 9.83128349e-01 -1.25613161e-03 -1.69840280e+01] [-7.97058253e-03 -2.05293087e-04 9.99968213e-01 -2.05265976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.61, Y:-16.99, Z:-2.05 [[ 9.83308967e-01 1.81683713e-01 9.72130405e-03 1.39614729e+02] [-1.81677259e-01 9.83356990e-01 -1.55033110e-03 -1.69855721e+01] [-9.84118221e-03 -2.41685399e-04 9.99951545e-01 -2.05162545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.64, Y:-16.99, Z:-2.05 [[ 9.83619046e-01 1.80038725e-01 8.92352207e-03 1.39642401e+02] [-1.80033224e-01 9.83659501e-01 -1.42263838e-03 -1.69883794e+01] [-9.03383727e-03 -2.07196242e-04 9.99959173e-01 -2.05194537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.235769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.67, Y:-16.99, Z:-2.05 [[ 9.83949883e-01 1.78296513e-01 7.27876610e-03 1.39671062e+02] [-1.78292808e-01 9.83976793e-01 -1.16007291e-03 -1.69916208e+01] [-7.36897388e-03 -1.56298046e-04 9.99972837e-01 -2.05345631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.70, Y:-16.99, Z:-2.05 [[ 9.84497550e-01 1.75313588e-01 5.45153531e-03 1.39698279e+02] [-1.75311464e-01 9.84512639e-01 -8.68831919e-04 -1.69947550e+01] [-5.51942345e-03 -1.00353738e-04 9.99984763e-01 -2.05491619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.73, Y:-17.00, Z:-2.05 [[ 9.84772801e-01 1.73737689e-01 6.14378898e-03 1.39726999e+02] [-1.73734964e-01 9.84791960e-01 -9.78624343e-04 -1.69987707e+01] [-6.22037793e-03 -1.03668322e-04 9.99980648e-01 -2.05471565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.76, Y:-17.00, Z:-2.05 [[ 9.85100980e-01 1.71763972e-01 8.55553489e-03 1.39755848e+02] [-1.71758618e-01 9.85138123e-01 -1.36215696e-03 -1.70020623e+01] [-8.66235307e-03 -1.27624697e-04 9.99962473e-01 -2.05254233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.78, Y:-17.01, Z:-2.05 [[ 9.85238453e-01 1.70948230e-01 9.04951937e-03 1.39783821e+02] [-1.70942209e-01 9.85280004e-01 -1.44039435e-03 -1.70062917e+01] [-9.16254335e-03 -1.27812933e-04 9.99958015e-01 -2.05273260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.385769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.81, Y:-17.01, Z:-2.05 [[ 9.85406531e-01 1.69993856e-01 8.72107792e-03 1.39811705e+02] [-1.69988232e-01 9.85445115e-01 -1.38755821e-03 -1.70107245e+01] [-8.83002000e-03 -1.15171698e-04 9.99961008e-01 -2.05363158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.84, Y:-17.01, Z:-2.05 [[ 9.85520401e-01 1.69357388e-01 8.22279228e-03 1.39840706e+02] [-1.69352370e-01 9.85554699e-01 -1.30778953e-03 -1.70139114e+01] [-8.32549539e-03 -1.03696094e-04 9.99965337e-01 -2.05450026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.87, Y:-17.02, Z:-2.05 [[ 9.85465948e-01 1.69655222e-01 8.60066648e-03 1.39869811e+02] [-1.69649748e-01 9.85503472e-01 -1.36744803e-03 -1.70171494e+01] [-8.70798137e-03 -1.11527434e-04 9.99962079e-01 -2.05443676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.90, Y:-17.02, Z:-2.05 [[ 9.85400339e-01 1.69977907e-01 9.67897322e-03 1.39897874e+02] [-1.69970995e-01 9.85447865e-01 -1.53838519e-03 -1.70193495e+01] [-9.79961499e-03 -1.29219414e-04 9.99951974e-01 -2.05446314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:-17.02, Z:-2.06 [[ 9.85467624e-01 1.69586689e-01 9.69104985e-03 1.39926323e+02] [-1.69579747e-01 9.85515266e-01 -1.53968738e-03 -1.70225815e+01] [-9.81178805e-03 -1.26093717e-04 9.99951855e-01 -2.05506626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:139.95, Y:-17.02, Z:-2.05 [[ 9.85395701e-01 1.69986071e-01 1.00023672e-02 1.39954471e+02] [-1.69978701e-01 9.85446456e-01 -1.58868980e-03 -1.70239459e+01] [-1.01268525e-02 -1.34701287e-04 9.99948713e-01 -2.05483652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.98, Y:-17.03, Z:-2.06 [[ 9.85125036e-01 1.71595126e-01 9.15297187e-03 1.39983441e+02] [-1.71589028e-01 9.85167546e-01 -1.45326373e-03 -1.70269510e+01] [-9.26658381e-03 -1.38903059e-04 9.99957055e-01 -2.05506214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.01, Y:-17.03, Z:-2.06 [[ 9.84693984e-01 1.74145058e-01 7.15941494e-03 1.40011850e+02] [-1.74141395e-01 9.84720002e-01 -1.13662029e-03 -1.70260608e+01] [-7.24795590e-03 -1.27527343e-04 9.99973725e-01 -2.05574758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.04, Y:-17.03, Z:-2.06 [[ 9.84486789e-01 1.75307496e-01 7.28315838e-03 1.40040220e+02] [-1.75303741e-01 9.84513719e-01 -1.15583072e-03 -1.70276490e+01] [-7.37299513e-03 -1.38864834e-04 9.99972809e-01 -2.05602469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.07, Y:-17.03, Z:-2.06 [[ 9.84390058e-01 1.75817232e-01 8.03210749e-03 1.40067705e+02] [-1.75812686e-01 9.84422814e-01 -1.27418312e-03 -1.70287514e+01] [-8.13101320e-03 -1.57853199e-04 9.99966930e-01 -2.05612268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.10, Y:-17.03, Z:-2.06 [[ 9.84249259e-01 1.76535546e-01 9.41256291e-03 1.40096010e+02] [-1.76529347e-01 9.84294246e-01 -1.49191763e-03 -1.70285223e+01] [-9.52810801e-03 -1.93174766e-04 9.99954588e-01 -2.05707285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.715769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.12, Y:-17.03, Z:-2.06 [[ 9.84214982e-01 1.76731065e-01 9.32734024e-03 1.40123160e+02] [-1.76724993e-01 9.84259159e-01 -1.47778085e-03 -1.70299567e+01] [-9.44168985e-03 -1.93920084e-04 9.99955407e-01 -2.05764120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.15, Y:-17.03, Z:-2.06 [[ 9.84305886e-01 1.76270912e-01 8.39578727e-03 1.40152046e+02] [-1.76265981e-01 9.84341677e-01 -1.32954248e-03 -1.70273322e+01] [-8.49868298e-03 -1.71215193e-04 9.99963871e-01 -2.05801726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.18, Y:-17.03, Z:-2.06 [[ 9.84548769e-01 1.74916009e-01 8.25294226e-03 1.40180535e+02] [-1.74911202e-01 9.84583346e-01 -1.30634609e-03 -1.70289688e+01] [-8.35421035e-03 -1.57370615e-04 9.99965091e-01 -2.05805277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.21, Y:-17.03, Z:-2.06 [[ 9.85295244e-01 1.70622746e-01 9.00887699e-03 1.40208137e+02] [-1.70616844e-01 9.85336420e-01 -1.42529544e-03 -1.70301982e+01] [-9.11996243e-03 -1.32729347e-04 9.99958403e-01 -2.05789321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.23, Y:-17.03, Z:-2.06 [[ 9.85706759e-01 1.68202605e-01 9.49042137e-03 1.40234729e+02] [-1.68195951e-01 9.85752439e-01 -1.50067544e-03 -1.70332440e+01] [-9.60762353e-03 -1.17024522e-04 9.99953839e-01 -2.05819861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:-17.04, Z:-2.06 [[ 9.86121496e-01 1.65742386e-01 9.68799028e-03 1.40261906e+02] [-1.65735344e-01 9.86169079e-01 -1.53083072e-03 -1.70367971e+01] [-9.80771999e-03 -9.60573282e-05 9.99951899e-01 -2.05855682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.29, Y:-17.04, Z:-2.06 [[ 9.86825435e-01 1.61528862e-01 9.16449185e-03 1.40289138e+02] [-1.61522387e-01 9.86867987e-01 -1.44719879e-03 -1.70429031e+01] [-9.27790800e-03 -5.21380263e-05 9.99956958e-01 -2.05882486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.32, Y:-17.05, Z:-2.06 [[ 9.87265125e-01 1.58889030e-01 7.86447043e-03 1.40316817e+02] [-1.58884182e-01 9.87296448e-01 -1.24138456e-03 -1.70500199e+01] [-7.96180610e-03 -2.39642687e-05 9.99968304e-01 -2.05936300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.34, Y:-17.05, Z:-2.06 [[ 9.87255313e-01 1.58982884e-01 7.16868197e-03 1.40344725e+02] [-1.58978861e-01 9.87281339e-01 -1.13133063e-03 -1.70548988e+01] [-7.25736814e-03 -2.27567185e-05 9.99973665e-01 -2.05940171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.37, Y:-17.06, Z:-2.06 [[ 9.87099664e-01 1.59976306e-01 6.46806131e-03 1.40372764e+02] [-1.59973054e-01 9.87120854e-01 -1.02037258e-03 -1.70598746e+01] [-6.54799364e-03 -2.75060923e-05 9.99978561e-01 -2.05948864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.015769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.40, Y:-17.07, Z:-2.06 [[ 9.86834663e-01 1.61497541e-01 8.71159220e-03 1.40399866e+02] [-1.61491707e-01 9.86873113e-01 -1.37372056e-03 -1.70676253e+01] [-8.81908860e-03 -5.12148285e-05 9.99961110e-01 -2.05976358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.045769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.43, Y:-17.07, Z:-2.06 [[ 9.86877070e-01 1.61125960e-01 1.05864800e-02 1.40428059e+02] [-1.61117331e-01 9.86933849e-01 -1.66855073e-03 -1.70743789e+01] [-1.07170023e-02 -5.90109408e-05 9.99942570e-01 -2.05975649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.46, Y:-17.08, Z:-2.06 [[ 9.87111433e-01 1.59637458e-01 1.12649852e-02 1.40456287e+02] [-1.59627597e-01 9.87175709e-01 -1.77494171e-03 -1.70835879e+01] [-1.14038669e-02 -4.61372643e-05 9.99934973e-01 -2.06020175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:-17.09, Z:-2.06 [[ 9.87273131e-01 1.58722843e-01 9.94105171e-03 1.40483278e+02] [-1.58715121e-01 9.87323178e-01 -1.56596132e-03 -1.70908805e+01] [-1.00635846e-02 -3.17636922e-05 9.99949360e-01 -2.06164751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:-17.10, Z:-2.06 [[ 9.87502277e-01 1.57374313e-01 8.51926400e-03 1.40511408e+02] [-1.57368596e-01 9.87539025e-01 -1.34153695e-03 -1.70988554e+01] [-8.62422911e-03 -1.58938230e-05 9.99962811e-01 -2.06269549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.54, Y:-17.11, Z:-2.06 [[ 9.87793617e-01 1.55543694e-01 8.36234186e-03 1.40538642e+02] [-1.55538123e-01 9.87829013e-01 -1.31642975e-03 -1.71100932e+01] [-8.46532626e-03 -3.02054577e-07 9.99964168e-01 -2.06300818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.57, Y:-17.12, Z:-2.06 [[ 9.87811991e-01 1.55369962e-01 9.36189485e-03 1.40565935e+02] [-1.55362976e-01 9.87856353e-01 -1.47331258e-03 -1.71165297e+01] [-9.47711583e-03 8.63981750e-07 9.99955091e-01 -2.06258476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.59, Y:-17.12, Z:-2.06 [[ 9.87719990e-01 1.55944209e-01 9.51975928e-03 1.40594324e+02] [-1.55937019e-01 9.87765865e-01 -1.49746762e-03 -1.71237035e+01] [-9.63681466e-03 -5.40418206e-06 9.99953565e-01 -2.06337821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.62, Y:-17.13, Z:-2.06 [[ 9.87563170e-01 1.57006005e-01 8.25220735e-03 1.40622281e+02] [-1.57000642e-01 9.87597648e-01 -1.29776840e-03 -1.71299505e+01] [-8.35361801e-03 -1.39735778e-05 9.99965108e-01 -2.06399964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.65, Y:-17.14, Z:-2.06 [[ 9.87124931e-01 1.59819978e-01 6.47656124e-03 1.40649186e+02] [-1.59816736e-01 9.87146176e-01 -1.01841694e-03 -1.71373633e+01] [-6.55607603e-03 -2.97581259e-05 9.99978508e-01 -2.06492248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.68, Y:-17.14, Z:-2.07 [[ 9.86904875e-01 1.61176832e-01 6.38722676e-03 1.40678049e+02] [-1.61173710e-01 9.86925543e-01 -1.00391141e-03 -1.71425767e+01] [-6.46552450e-03 -3.86879691e-05 9.99979098e-01 -2.06560784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.71, Y:-17.15, Z:-2.07 [[ 9.86767520e-01 1.62001377e-01 6.73906594e-03 1.40705113e+02] [-1.61997923e-01 9.86790531e-01 -1.05892962e-03 -1.71475266e+01] [-6.82159451e-03 -4.67973297e-05 9.99976732e-01 -2.06627015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.73, Y:-17.15, Z:-2.07 [[ 9.86922053e-01 1.60975913e-01 8.46264746e-03 1.40733029e+02] [-1.60970435e-01 9.86958334e-01 -1.32902083e-03 -1.71535773e+01] [-8.56622078e-03 -5.05960688e-05 9.99963308e-01 -2.06652148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:-17.16, Z:-2.07 [[ 9.87092110e-01 1.59875345e-01 9.43616958e-03 1.40761174e+02] [-1.59868488e-01 9.87137210e-01 -1.48139910e-03 -1.71591276e+01] [-9.55163331e-03 -4.62687993e-05 9.99954381e-01 -2.06629272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.79, Y:-17.17, Z:-2.07 [[ 9.87587212e-01 1.56753249e-01 9.99584216e-03 1.40789296e+02] [-1.56745400e-01 9.87637797e-01 -1.56869639e-03 -1.71666253e+01] [-1.01181698e-02 -1.75777859e-05 9.99948810e-01 -2.06649914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.82, Y:-17.17, Z:-2.07 [[ 9.87930571e-01 1.54598948e-01 9.61001765e-03 1.40817847e+02] [-1.54591594e-01 9.87977310e-01 -1.50793237e-03 -1.71730709e+01] [-9.72760415e-03 4.10454120e-06 9.99952686e-01 -2.06725843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.85, Y:-17.18, Z:-2.07 [[ 9.88743003e-01 1.49375289e-01 8.61959083e-03 1.40846891e+02] [-1.49369176e-01 9.88780573e-01 -1.35225821e-03 -1.71829166e+01] [-8.72487792e-03 4.95346603e-05 9.99961936e-01 -2.06833380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.88, Y:-17.19, Z:-2.07 [[ 9.89107876e-01 1.46964735e-01 8.18385797e-03 1.40876683e+02] [-1.46959142e-01 9.89141730e-01 -1.28389959e-03 -1.71913830e+01] [-8.28368339e-03 6.72224517e-05 9.99965687e-01 -2.06877891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.91, Y:-17.20, Z:-2.07 [[ 9.89496188e-01 1.44291748e-01 8.78556174e-03 1.40906709e+02] [-1.44285197e-01 9.89535185e-01 -1.37819896e-03 -1.72047660e+01] [-8.89248520e-03 9.60961108e-05 9.99960456e-01 -2.06856729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.94, Y:-17.21, Z:-2.07 [[ 9.89519989e-01 1.44114623e-01 9.00923459e-03 1.40937345e+02] [-1.44107730e-01 9.89560996e-01 -1.41301581e-03 -1.72138269e+01] [-9.11882339e-03 9.99070378e-05 9.99958418e-01 -2.06861626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.97, Y:-17.22, Z:-2.07 [[ 9.89514898e-01 1.44149591e-01 9.00894252e-03 1.40968783e+02] [-1.44142683e-01 9.89555903e-01 -1.41487535e-03 -1.72188160e+01] [-9.11880595e-03 1.01467094e-04 9.99958418e-01 -2.06902588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:-17.23, Z:-2.07 [[ 9.89516426e-01 1.44143421e-01 8.93966197e-03 1.40998579e+02] [-1.44136619e-01 9.89556802e-01 -1.40386299e-03 -1.72275425e+01] [-9.04866092e-03 1.00612830e-04 9.99959055e-01 -2.07020279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.03, Y:-17.24, Z:-2.07 [[ 9.89432990e-01 1.44759369e-01 8.19040500e-03 1.41028592e+02] [-1.44753673e-01 9.89466885e-01 -1.28721857e-03 -1.72394685e+01] [-8.29047147e-03 8.80253125e-05 9.99965630e-01 -2.07151498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.06, Y:-17.25, Z:-2.07 [[ 9.89178241e-01 1.46500793e-01 7.99536777e-03 1.41060867e+02] [-1.46495411e-01 9.89210550e-01 -1.25785708e-03 -1.72477121e+01] [-8.09337921e-03 7.29601658e-05 9.99967245e-01 -2.07128640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:-17.26, Z:-2.07 [[ 9.88313102e-01 1.52234590e-01 7.86400552e-03 1.41091820e+02] [-1.52229552e-01 9.88344388e-01 -1.23877620e-03 -1.72573947e+01] [-7.96093031e-03 2.71647088e-05 9.99968311e-01 -2.07059408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.12, Y:-17.26, Z:-2.07 [[ 9.87785292e-01 1.55625752e-01 7.80019151e-03 1.41122840e+02] [-1.55620891e-01 9.87816089e-01 -1.23002572e-03 -1.72644703e+01] [-7.89657834e-03 1.12856214e-06 9.99968822e-01 -2.07121386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:-17.27, Z:-2.07 [[ 9.86918838e-01 1.60915766e-01 9.86521156e-03 1.41153068e+02] [-1.60908232e-01 9.86968142e-01 -1.55793395e-03 -1.72726487e+01] [-9.98734566e-03 -4.98393891e-05 9.99950124e-01 -2.07204705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:-17.28, Z:-2.07 [[ 9.86650123e-01 1.62492330e-01 1.08525683e-02 1.41184560e+02] [-1.62483287e-01 9.86709804e-01 -1.71573601e-03 -1.72796732e+01] [-1.09871294e-02 -7.05298096e-05 9.99939637e-01 -2.07221744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.855769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.22, Y:-17.29, Z:-2.07 [[ 9.86513403e-01 1.63313803e-01 1.09502612e-02 1.41216457e+02] [-1.63304627e-01 9.86574171e-01 -1.73296868e-03 -1.72867676e+01] [-1.10862626e-02 -7.86314896e-05 9.99938542e-01 -2.07225111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.25, Y:-17.29, Z:-2.07 [[ 9.86134483e-01 1.65600784e-01 1.07313381e-02 1.41247929e+02] [-1.65592085e-01 9.86192867e-01 -1.70033274e-03 -1.72939212e+01] [-1.08647455e-02 -1.00267913e-04 9.99940972e-01 -2.07234425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.28, Y:-17.30, Z:-2.07 [[ 9.85799829e-01 1.67567785e-01 1.09423795e-02 1.41278383e+02] [-1.67558839e-01 9.85860549e-01 -1.73578904e-03 -1.72988327e+01] [-1.10785226e-02 -1.22351865e-04 9.99938624e-01 -2.07259842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.31, Y:-17.30, Z:-2.07 [[ 9.85181756e-01 1.71117863e-01 1.16440922e-02 1.41310260e+02] [-1.71107959e-01 9.85250551e-01 -1.84897165e-03 -1.73027419e+01] [-1.17887403e-02 -1.70823711e-04 9.99930496e-01 -2.07271709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:-17.31, Z:-2.07 [[ 9.84858069e-01 1.72996417e-01 1.12615821e-02 1.41340098e+02] [-1.72999518e-01 9.84921656e-01 -7.05573120e-04 -1.73071780e+01] [-1.12138377e-02 -1.25335889e-03 9.99936337e-01 -2.07310950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.37, Y:-17.31, Z:-2.07 [[ 9.84781850e-01 1.73540118e-01 9.40932333e-03 1.41372223e+02] [-1.73523648e-01 9.84826413e-01 -2.54566831e-03 -1.73094407e+01] [-9.70832572e-03 8.74187842e-04 9.99952491e-01 -2.07410167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:-17.31, Z:-2.07 [[ 9.84673735e-01 1.74218020e-01 8.10666622e-03 1.41404131e+02] [-1.74213303e-01 9.84707094e-01 -1.28979746e-03 -1.73112519e+01] [-8.20739770e-03 -1.42259422e-04 9.99966309e-01 -2.07493585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.44, Y:-17.31, Z:-2.07 [[ 9.85093294e-01 1.71741583e-01 9.79951912e-03 1.41435556e+02] [-1.71734543e-01 9.85142024e-01 -1.56164773e-03 -1.73121011e+01] [-9.92211796e-03 -1.44547235e-04 9.99950764e-01 -2.07485074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:-17.32, Z:-2.07 [[ 9.85343145e-01 1.70216702e-01 1.11875665e-02 1.41466451e+02] [-1.70207428e-01 9.85406643e-01 -1.78295826e-03 -1.73150556e+01] [-1.13277916e-02 -1.47381218e-04 9.99935828e-01 -2.07495878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:-17.32, Z:-2.07 [[ 9.85608908e-01 1.68617214e-01 1.19714857e-02 1.41498109e+02] [-1.68606451e-01 9.85681600e-01 -1.90999851e-03 -1.73179140e+01] [-1.21221318e-02 -1.35958179e-04 9.99926515e-01 -2.07491149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.53, Y:-17.32, Z:-2.08 [[ 9.85952553e-01 1.66668832e-01 1.09116287e-02 1.41528585e+02] [-1.66659768e-01 9.86012926e-01 -1.74115003e-03 -1.73188313e+01] [-1.10492023e-02 -1.01838177e-04 9.99938951e-01 -2.07546232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:-17.32, Z:-2.08 [[ 9.85897723e-01 1.67046832e-01 1.00516063e-02 1.41559855e+02] [-1.67039160e-01 9.85948957e-01 -1.60398837e-03 -1.73210493e+01] [-1.01783119e-02 -9.76433884e-05 9.99948195e-01 -2.07596722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:-17.32, Z:-2.08 [[ 9.85800676e-01 1.67622605e-01 9.98447398e-03 1.41590688e+02] [-1.67615060e-01 9.85851232e-01 -1.59361349e-03 -1.73175252e+01] [-1.01103316e-02 -1.02562953e-04 9.99948884e-01 -2.07664480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:-17.32, Z:-2.08 [[ 9.85874568e-01 1.67158011e-01 1.04659242e-02 1.41620871e+02] [-1.67149696e-01 9.85930114e-01 -1.67034978e-03 -1.73181626e+01] [-1.05978822e-02 -1.02620683e-04 9.99943836e-01 -2.07707502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:-17.32, Z:-2.08 [[ 9.86042194e-01 1.66169376e-01 1.04177510e-02 1.41650311e+02] [-1.66161086e-01 9.86097221e-01 -1.66241815e-03 -1.73190909e+01] [-1.05491583e-02 -9.18103721e-05 9.99944352e-01 -2.07771467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:-17.32, Z:-2.08 [[ 9.86619978e-01 1.62784504e-01 9.06771998e-03 1.41679804e+02] [-1.62778081e-01 9.86661646e-01 -1.44685508e-03 -1.73176958e+01] [-9.18229710e-03 -4.85299309e-05 9.99957841e-01 -2.07846483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.71, Y:-17.32, Z:-2.08 [[ 9.87368831e-01 1.58169570e-01 9.22925442e-03 1.41708814e+02] [-1.58162717e-01 9.87411964e-01 -1.47229825e-03 -1.73166397e+01] [-9.34594902e-03 -6.02255407e-06 9.99956326e-01 -2.07930980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.74, Y:-17.32, Z:-2.08 [[ 9.87931168e-01 1.54521604e-01 1.07275656e-02 1.41737993e+02] [-1.54512136e-01 9.87989409e-01 -1.71085032e-03 -1.73198324e+01] [-1.08630845e-02 3.26632819e-05 9.99940994e-01 -2.07856838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.77, Y:-17.32, Z:-2.08 [[ 9.88601436e-01 1.50086312e-01 1.18869402e-02 1.41767207e+02] [-1.50074370e-01 9.88672894e-01 -1.89541495e-03 -1.73242054e+01] [-1.20367714e-02 8.98848735e-05 9.99927551e-01 -2.07822772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.80, Y:-17.33, Z:-2.08 [[ 9.89861884e-01 1.41693492e-01 9.81857673e-03 1.41796947e+02] [-1.41684930e-01 9.89910566e-01 -1.56572835e-03 -1.73296137e+01] [-9.94136637e-03 1.58710456e-04 9.99950571e-01 -2.07982216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:-17.33, Z:-2.08 [[ 9.90286470e-01 1.38809188e-01 8.04466645e-03 1.41826744e+02] [-1.38803346e-01 9.90319133e-01 -1.28285011e-03 -1.73340321e+01] [-8.14485849e-03 1.53762494e-04 9.99966818e-01 -2.08064798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.86, Y:-17.34, Z:-2.08 [[ 9.90352091e-01 1.38298600e-01 8.73112206e-03 1.41857101e+02] [-1.38291697e-01 9.90390563e-01 -1.39231639e-03 -1.73389841e+01] [-8.83977631e-03 1.71441758e-04 9.99960914e-01 -2.08063880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.515769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.89, Y:-17.34, Z:-2.08 [[ 9.90187962e-01 1.39391615e-01 9.88829259e-03 1.41886123e+02] [-1.39382815e-01 9.90237317e-01 -1.57687959e-03 -1.73445838e+01] [-1.00115601e-02 1.83149128e-04 9.99949866e-01 -2.07999222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:-17.35, Z:-2.08 [[ 9.90011829e-01 1.40588720e-01 1.05541648e-02 1.41915893e+02] [-1.40578765e-01 9.90068068e-01 -1.68290274e-03 -1.73504542e+01] [-1.06859387e-02 1.82402165e-04 9.99942887e-01 -2.08038017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:-17.36, Z:-2.08 [[ 9.89478300e-01 1.44386329e-01 9.23480097e-03 1.41944750e+02] [-1.44378873e-01 9.89521386e-01 -1.47252503e-03 -1.73550200e+01] [-9.35064553e-03 1.23721412e-04 9.99956274e-01 -2.08097568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.605769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.97, Y:-17.36, Z:-2.08 [[ 9.89182708e-01 1.46448124e-01 8.39745127e-03 1.41974815e+02] [-1.46442033e-01 9.89218347e-01 -1.33900636e-03 -1.73589469e+01] [-8.50300783e-03 9.47821014e-05 9.99963844e-01 -2.08196688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:-17.36, Z:-2.08 [[ 9.88941200e-01 1.48059573e-01 8.58284616e-03 1.42004586e+02] [-1.48053270e-01 9.88978441e-01 -1.36861811e-03 -1.73627428e+01] [-8.69088683e-03 8.27643895e-05 9.99962230e-01 -2.08175485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:-17.37, Z:-2.08 [[ 9.88951815e-01 1.47844901e-01 1.07793210e-02 1.42033681e+02] [-1.47834949e-01 9.89010553e-01 -1.71872134e-03 -1.73683949e+01] [-1.09149664e-02 1.06172228e-04 9.99940424e-01 -2.08174499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:-17.38, Z:-2.08 [[ 9.89254952e-01 1.45615989e-01 1.30623249e-02 1.42062089e+02] [-1.45601184e-01 9.89341174e-01 -2.08236237e-03 -1.73755390e+01] [-1.32263211e-02 1.58097313e-04 9.99912516e-01 -2.08234217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.09, Y:-17.38, Z:-2.08 [[ 9.89542853e-01 1.43751632e-01 1.18495185e-02 1.42091586e+02] [-1.43739318e-01 9.89613784e-01 -1.88883561e-03 -1.73815926e+01] [-1.19979700e-02 1.65842079e-04 9.99928008e-01 -2.08296194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:-17.39, Z:-2.08 [[ 9.89885759e-01 1.41630792e-01 8.17947776e-03 1.42121718e+02] [-1.41624849e-01 9.89919543e-01 -1.30418284e-03 -1.73885586e+01] [-8.28173734e-03 1.32574718e-04 9.99965697e-01 -2.08427833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:-17.39, Z:-2.08 [[ 9.89851148e-01 1.41877675e-01 8.08889281e-03 1.42151528e+02] [-1.41871869e-01 9.89884189e-01 -1.29003962e-03 -1.73945079e+01] [-8.19009492e-03 1.29360860e-04 9.99966452e-01 -2.08366000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:-17.40, Z:-2.08 [[ 9.89681120e-01 1.42948958e-01 9.84259805e-03 1.42181839e+02] [-1.42940415e-01 9.89730051e-01 -1.56972552e-03 -1.74006893e+01] [-9.96590569e-03 1.46622663e-04 9.99950328e-01 -2.08389271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:-17.41, Z:-2.08 [[ 9.88974484e-01 1.47579368e-01 1.22392516e-02 1.42210302e+02] [-1.47566511e-01 9.89050208e-01 -1.95195640e-03 -1.74084416e+01] [-1.23933028e-02 1.24331420e-04 9.99923192e-01 -2.08337428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:-17.42, Z:-2.08 [[ 9.88614578e-01 1.49952793e-01 1.24650075e-02 1.42241332e+02] [-1.49939648e-01 9.88693153e-01 -1.98779727e-03 -1.74158403e+01] [-1.26221434e-02 9.61665141e-05 9.99920333e-01 -2.08412124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.27, Y:-17.43, Z:-2.08 [[ 9.88260096e-01 1.52355492e-01 1.13923779e-02 1.42270551e+02] [-1.52344668e-01 9.88325756e-01 -1.81700881e-03 -1.74262260e+01] [-1.15362118e-02 6.01092623e-05 9.99933454e-01 -2.08481727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:-17.43, Z:-2.09 [[ 9.88195419e-01 1.52806749e-01 1.09504496e-02 1.42300922e+02] [-1.52796775e-01 9.88256088e-01 -1.74662843e-03 -1.74336674e+01] [-1.10887451e-02 5.28168188e-05 9.99938517e-01 -2.08508396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:-17.44, Z:-2.09 [[ 9.88043000e-01 1.53824004e-01 1.04501858e-02 1.42331708e+02] [-1.53814976e-01 9.88098261e-01 -1.66707125e-03 -1.74415562e+01] [-1.05822460e-02 3.97429983e-05 9.99944006e-01 -2.08587402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:-17.45, Z:-2.09 [[ 9.87853722e-01 1.55071596e-01 9.89056002e-03 1.42362361e+02] [-1.55063569e-01 9.87903234e-01 -1.57801617e-03 -1.74471743e+01] [-1.00156217e-02 2.51836156e-05 9.99949842e-01 -2.08674221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:-17.45, Z:-2.09 [[ 9.87178688e-01 1.59335741e-01 9.50573979e-03 1.42392347e+02] [-1.59328521e-01 9.87224453e-01 -1.51691201e-03 -1.74519503e+01] [-9.62599707e-03 -1.70722523e-05 9.99953669e-01 -2.08673940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:-17.46, Z:-2.09 [[ 9.86869505e-01 1.61242246e-01 9.46139062e-03 1.42421615e+02] [-1.61235181e-01 9.86914858e-01 -1.50987349e-03 -1.74562900e+01] [-9.58104237e-03 -3.54609237e-05 9.99954100e-01 -2.08678455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:-17.46, Z:-2.09 [[ 9.86469809e-01 1.63684105e-01 9.21027384e-03 1.42451620e+02] [-1.63677517e-01 9.86512803e-01 -1.46965248e-03 -1.74600855e+01] [-9.32661182e-03 -5.77469540e-05 9.99956505e-01 -2.08833237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:-17.46, Z:-2.09 [[ 9.86561511e-01 1.63132252e-01 9.17893140e-03 1.42480398e+02] [-1.63125685e-01 9.86604209e-01 -1.46469277e-03 -1.74647201e+01] [-9.29491098e-03 -5.23099531e-05 9.99956800e-01 -2.08937193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:-17.47, Z:-2.09 [[ 9.86958081e-01 1.60689158e-01 9.63019309e-03 1.42510634e+02] [-1.60681815e-01 9.87005063e-01 -1.53654449e-03 -1.74715880e+01] [-9.75195537e-03 -3.08918991e-05 9.99952448e-01 -2.09012896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:-17.48, Z:-2.09 [[ 9.87179816e-01 1.59338844e-01 9.33511441e-03 1.42541032e+02] [-1.59331883e-01 9.87223953e-01 -1.48946324e-03 -1.74776515e+01] [-9.45317790e-03 -1.70133094e-05 9.99955318e-01 -2.08946642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:-17.48, Z:-2.09 [[ 9.87376324e-01 1.58111351e-01 9.42308557e-03 1.42571830e+02] [-1.58104203e-01 9.87421288e-01 -1.50342164e-03 -1.74834120e+01] [-9.54226332e-03 -5.38650732e-06 9.99954472e-01 -2.08972368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:-17.49, Z:-2.09 [[ 9.87526519e-01 1.57209865e-01 8.74260913e-03 1.42601705e+02] [-1.57203677e-01 9.87565217e-01 -1.39491541e-03 -1.74882224e+01] [-8.85319115e-03 3.14566518e-06 9.99960810e-01 -2.09047714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:-17.49, Z:-2.09 [[ 9.87432634e-01 1.57838502e-01 7.98758489e-03 1.42630980e+02] [-1.57833351e-01 9.87464940e-01 -1.27514001e-03 -1.74928543e+01] [-8.08872622e-03 -1.59243767e-06 9.99967286e-01 -2.09084166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:-17.50, Z:-2.09 [[ 9.86882021e-01 1.61252688e-01 7.83885538e-03 1.42660950e+02] [-1.61247836e-01 9.86913152e-01 -1.25125163e-03 -1.74970059e+01] [-7.93803716e-03 -2.91607276e-05 9.99968493e-01 -2.09093982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:-17.50, Z:-2.09 [[ 9.86482266e-01 1.63637554e-01 8.68846964e-03 1.42691048e+02] [-1.63631686e-01 9.86520526e-01 -1.38686853e-03 -1.75015690e+01] [-8.79829741e-03 -5.35877250e-05 9.99961293e-01 -2.09077479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:-17.51, Z:-2.09 [[ 9.85732708e-01 1.68007663e-01 1.02202257e-02 1.42719981e+02] [-1.67999778e-01 9.85785683e-01 -1.63140046e-03 -1.75070473e+01] [-1.03490400e-02 -1.08870860e-04 9.99946441e-01 -2.08941087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.75, Y:-17.51, Z:-2.09 [[ 9.85600816e-01 1.68683171e-01 1.17054924e-02 1.42750712e+02] [-1.68672877e-01 9.85670315e-01 -1.86828326e-03 -1.75135676e+01] [-1.18529044e-02 -1.33017575e-04 9.99929743e-01 -2.08945139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:-17.52, Z:-2.09 [[ 9.85646061e-01 1.68322558e-01 1.30138051e-02 1.42781336e+02] [-1.68309797e-01 9.85731960e-01 -2.07749870e-03 -1.75200884e+01] [-1.31778135e-02 -1.42672483e-04 9.99913159e-01 -2.08976014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:-17.53, Z:-2.09 [[ 9.86128531e-01 1.65494203e-01 1.27353730e-02 1.42811916e+02] [-1.65481721e-01 9.86210758e-01 -2.03505230e-03 -1.75261425e+01] [-1.28965512e-02 -1.00648300e-04 9.99916831e-01 -2.09112628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:-17.53, Z:-2.09 [[ 9.86456284e-01 1.63589757e-01 1.19328116e-02 1.42844237e+02] [-1.63578638e-01 9.86528452e-01 -1.90849310e-03 -1.75324844e+01] [-1.20842681e-02 -6.93080708e-05 9.99926980e-01 -2.09256111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:-17.54, Z:-2.09 [[ 9.87239665e-01 1.58988338e-01 8.97504560e-03 1.42875678e+02] [-1.58981846e-01 9.87280461e-01 -1.43686926e-03 -1.75403845e+01] [-9.08933261e-03 -8.33498268e-06 9.99958691e-01 -2.09347410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:-17.55, Z:-2.09 [[ 9.87551603e-01 1.57136440e-01 7.06904547e-03 1.42907318e+02] [-1.57132364e-01 9.87576903e-01 -1.13192307e-03 -1.75469867e+01] [-7.15909239e-03 7.05662127e-06 9.99974373e-01 -2.09393189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.94, Y:-17.55, Z:-2.09 [[ 9.87546181e-01 1.57170527e-01 7.06870974e-03 1.42938738e+02] [-1.57166436e-01 9.87571479e-01 -1.13401540e-03 -1.75520810e+01] [-7.15908993e-03 8.92865688e-06 9.99974373e-01 -2.09434190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:-17.56, Z:-2.09 [[ 9.87945346e-01 1.54683939e-01 6.07228004e-03 1.42970785e+02] [-1.54680879e-01 9.87964007e-01 -9.73219376e-04 -1.75604979e+01] [-6.14973553e-03 2.22219364e-05 9.99981090e-01 -2.09488738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.00, Y:-17.57, Z:-2.10 [[ 9.88018243e-01 1.54189195e-01 6.75607363e-03 1.43001622e+02] [-1.54185381e-01 9.88041341e-01 -1.08489903e-03 -1.75684708e+01] [-6.84255976e-03 3.02122432e-05 9.99976589e-01 -2.09543577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:-17.58, Z:-2.10 [[ 9.88279615e-01 1.52496212e-01 6.95036929e-03 1.43033591e+02] [-1.52492131e-01 9.88304054e-01 -1.11659033e-03 -1.75790112e+01] [-7.03935395e-03 4.36268395e-05 9.99975222e-01 -2.09536891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.07, Y:-17.59, Z:-2.10 [[ 9.88398379e-01 1.51751510e-01 6.33435185e-03 1.43065549e+02] [-1.51748097e-01 9.88418675e-01 -1.01866516e-03 -1.75861577e+01] [-6.41557564e-03 4.56211464e-05 9.99979419e-01 -2.09564915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.10, Y:-17.59, Z:-2.10 [[ 9.88471220e-01 1.51266838e-01 6.55674044e-03 1.43096979e+02] [-1.51263160e-01 9.88492965e-01 -1.05625601e-03 -1.75931619e+01] [-6.64106830e-03 5.22853933e-05 9.99977946e-01 -2.09565759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.13, Y:-17.60, Z:-2.09 [[ 9.88501977e-01 1.50914660e-01 9.41309736e-03 1.43128691e+02] [-1.50907047e-01 9.88546791e-01 -1.51798685e-03 -1.76021936e+01] [-9.53437366e-03 8.00302823e-05 9.99954544e-01 -2.09484942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.16, Y:-17.61, Z:-2.09 [[ 9.88438607e-01 1.51272654e-01 1.02812609e-02 1.43161077e+02] [-1.51263568e-01 9.88492072e-01 -1.66021944e-03 -1.76092197e+01] [-1.04140907e-02 8.58447873e-05 9.99945768e-01 -2.09469433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.19, Y:-17.62, Z:-2.10 [[ 9.88393256e-01 1.51615201e-01 9.57096011e-03 1.43192689e+02] [-1.51607325e-01 9.88439591e-01 -1.54728152e-03 -1.76170256e+01] [-9.69490730e-03 7.82949537e-05 9.99953000e-01 -2.09605959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.22, Y:-17.62, Z:-2.10 [[ 9.88445256e-01 1.51303543e-01 9.12214484e-03 1.43224104e+02] [-1.51296359e-01 9.88487345e-01 -1.47652240e-03 -1.76231103e+01] [-9.24052781e-03 7.93142652e-05 9.99957302e-01 -2.09633235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:-17.63, Z:-2.09 [[ 9.88472502e-01 1.50969821e-01 1.14116233e-02 1.43254823e+02] [-1.50958537e-01 9.88538367e-01 -1.84880413e-03 -1.76309272e+01] [-1.15599410e-02 1.04810097e-04 9.99933176e-01 -2.09499635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.29, Y:-17.64, Z:-2.09 [[ 9.88411779e-01 1.51248748e-01 1.28829891e-02 1.43287053e+02] [-1.51234356e-01 9.88495727e-01 -2.08975573e-03 -1.76380881e+01] [-1.30508526e-02 1.17188624e-04 9.99914827e-01 -2.09457077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:-17.65, Z:-2.10 [[ 9.88536470e-01 1.50407464e-01 1.31621373e-02 1.43317493e+02] [-1.50392331e-01 9.88624083e-01 -2.13771452e-03 -1.76475232e+01] [-1.33339342e-02 1.33724249e-04 9.99911090e-01 -2.09590204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.35, Y:-17.66, Z:-2.10 [[ 9.88745083e-01 1.49184597e-01 1.12746094e-02 1.43349006e+02] [-1.49173394e-01 9.88809354e-01 -1.83291432e-03 -1.76562138e+01] [-1.14218818e-02 1.30413267e-04 9.99934760e-01 -2.09693168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.38, Y:-17.66, Z:-2.10 [[ 9.88978026e-01 1.47777447e-01 9.18100121e-03 1.43380375e+02] [-1.47769945e-01 9.89020633e-01 -1.49389730e-03 -1.76648613e+01] [-9.30096396e-03 1.20755564e-04 9.99956738e-01 -2.09817942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.41, Y:-17.68, Z:-2.10 [[ 9.89190797e-01 1.46378517e-01 8.65423812e-03 1.43412362e+02] [-1.46371786e-01 9.89228646e-01 -1.40953183e-03 -1.76765593e+01] [-8.76734544e-03 1.27559622e-04 9.99961558e-01 -2.09751162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.44, Y:-17.68, Z:-2.10 [[ 9.89137448e-01 1.46699858e-01 9.28765100e-03 1.43444302e+02] [-1.46692101e-01 9.89181042e-01 -1.51464119e-03 -1.76840286e+01] [-9.40936594e-03 1.35763279e-04 9.99955722e-01 -2.09719522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.48, Y:-17.69, Z:-2.10 [[ 9.88921128e-01 1.48143137e-01 9.41343970e-03 1.43475238e+02] [-1.48135216e-01 9.88965922e-01 -1.53707954e-03 -1.76927427e+01] [-9.53727885e-03 1.25588509e-04 9.99954511e-01 -2.09796233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.51, Y:-17.70, Z:-2.10 [[ 9.88757033e-01 1.49289187e-01 8.50111396e-03 1.43507478e+02] [-1.49282759e-01 9.88793572e-01 -1.38939911e-03 -1.76999867e+01] [-8.61326910e-03 1.04708394e-04 9.99962900e-01 -2.09908587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.54, Y:-17.71, Z:-2.10 [[ 9.88581053e-01 1.50504696e-01 7.47253140e-03 1.43539902e+02] [-1.50499755e-01 9.88609291e-01 -1.22240843e-03 -1.77062986e+01] [-7.57139218e-03 8.38356642e-05 9.99971333e-01 -2.10038360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.57, Y:-17.71, Z:-2.10 [[ 9.87889617e-01 1.54998413e-01 7.04245977e-03 1.43571686e+02] [-1.54994126e-01 9.87914718e-01 -1.15375051e-03 -1.77124085e+01] [-7.13617915e-03 4.82382489e-05 9.99974536e-01 -2.10047345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.60, Y:-17.72, Z:-2.10 [[ 9.87360433e-01 1.58299388e-01 7.78971799e-03 1.43604431e+02] [-1.58294240e-01 9.87391160e-01 -1.27698553e-03 -1.77180715e+01] [-7.89364471e-03 2.77774962e-05 9.99968844e-01 -2.09969800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.64, Y:-17.72, Z:-2.10 [[ 9.86338127e-01 1.64431283e-01 9.97262009e-03 1.43636262e+02] [-1.64423131e-01 9.86388540e-01 -1.63748951e-03 -1.77220143e+01] [-1.01061327e-02 -2.46110908e-05 9.99948931e-01 -2.09754812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:-17.73, Z:-2.10 [[ 9.85949366e-01 1.66685943e-01 1.09382301e-02 1.43669433e+02] [-1.66676250e-01 9.86010037e-01 -1.79821337e-03 -1.77266797e+01] [-1.10849416e-02 -5.01958560e-05 9.99938559e-01 -2.09810237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.70, Y:-17.73, Z:-2.10 [[ 9.85584069e-01 1.68801558e-01 1.14051479e-02 1.43702406e+02] [-1.68791136e-01 9.85650054e-01 -1.87721304e-03 -1.77322249e+01] [-1.15583611e-02 -7.49365973e-05 9.99933197e-01 -2.09897868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.73, Y:-17.74, Z:-2.10 [[ 9.84936507e-01 1.72515003e-01 1.17750384e-02 1.43733435e+02] [-1.72504131e-01 9.85006883e-01 -1.94045708e-03 -1.77392952e+01] [-1.19332518e-02 -1.20015746e-04 9.99928789e-01 -2.10052452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.77, Y:-17.75, Z:-2.10 [[ 9.84654070e-01 1.74171729e-01 1.09804473e-02 1.43765256e+02] [-1.74162358e-01 9.84715285e-01 -1.81134250e-03 -1.77454600e+01] [-1.11280990e-02 -1.28834826e-04 9.99938072e-01 -2.10145154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:143.80, Y:-17.75, Z:-2.10 [[ 9.84581149e-01 1.74622958e-01 1.03336097e-02 1.43797632e+02] [-1.74614666e-01 9.84635368e-01 -1.70629810e-03 -1.77505268e+01] [-1.04727964e-02 -1.24410853e-04 9.99945151e-01 -2.10242360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.83, Y:-17.76, Z:-2.10 [[ 9.84599835e-01 1.74589566e-01 9.03593061e-03 1.43829763e+02] [-1.74583212e-01 9.84641291e-01 -1.49339024e-03 -1.77557039e+01] [-9.15788074e-03 -1.07130008e-04 9.99958060e-01 -2.10342743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.86, Y:-17.76, Z:-2.10 [[ 9.84866281e-01 1.73182085e-01 6.80983259e-03 1.43861181e+02] [-1.73178438e-01 9.84889821e-01 -1.12616040e-03 -1.77611439e+01] [-6.90196561e-03 -7.01987607e-05 9.99976179e-01 -2.10459543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.89, Y:-17.77, Z:-2.11 [[ 9.84937480e-01 1.72757694e-01 7.27600558e-03 1.43893975e+02] [-1.72753508e-01 9.84964352e-01 -1.20472142e-03 -1.77671715e+01] [-7.37473101e-03 -7.03802113e-05 9.99972804e-01 -2.10505745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.495769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.93, Y:-17.77, Z:-2.10 [[ 9.84632774e-01 1.74378460e-01 9.51069983e-03 1.43925008e+02] [-1.74371358e-01 9.84678700e-01 -1.57730723e-03 -1.77737748e+01] [-9.64003195e-03 -1.05325249e-04 9.99953528e-01 -2.10377197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.96, Y:-17.78, Z:-2.10 [[ 9.84316583e-01 1.76112657e-01 1.02564927e-02 1.43957250e+02] [-1.76104471e-01 9.84370009e-01 -1.70294714e-03 -1.77794105e+01] [-1.03960944e-02 -1.29975111e-04 9.99945951e-01 -2.10331521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.99, Y:-17.78, Z:-2.10 [[ 9.83994856e-01 1.77871794e-01 1.07586420e-02 1.43989010e+02] [-1.77862869e-01 9.84053658e-01 -1.78846239e-03 -1.77838569e+01] [-1.09051980e-02 -1.53725137e-04 9.99940525e-01 -2.10384480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:-17.79, Z:-2.10 [[ 9.83617620e-01 1.79933655e-01 1.09662277e-02 1.44022531e+02] [-1.79924488e-01 9.83678732e-01 -1.82490873e-03 -1.77860617e+01] [-1.11156074e-02 -1.78080524e-04 9.99938204e-01 -2.10466772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.06, Y:-17.79, Z:-2.11 [[ 9.83630877e-01 1.79829417e-01 1.14751425e-02 1.44055465e+02] [-1.79819347e-01 9.83697793e-01 -1.91182035e-03 -1.77906002e+01] [-1.16318739e-02 -1.82927093e-04 9.99932331e-01 -2.10541332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.645769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.09, Y:-17.80, Z:-2.11 [[ 9.83887832e-01 1.78398358e-01 1.17796193e-02 1.44086688e+02] [-1.78387616e-01 9.83958331e-01 -1.96485138e-03 -1.77963952e+01] [-1.19411809e-02 -1.68144852e-04 9.99928687e-01 -2.10595701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.675769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:144.12, Y:-17.80, Z:-2.11 [[ 9.84232792e-01 1.76558649e-01 1.06233306e-02 1.44117991e+02] [-1.76549794e-01 9.84290113e-01 -1.77306231e-03 -1.78021845e+01] [-1.07694888e-02 -1.30440762e-04 9.99941999e-01 -2.10748179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.15, Y:-17.81, Z:-2.11 [[ 9.84713482e-01 1.73982678e-01 8.32976621e-03 1.44150317e+02] [-1.73977139e-01 9.84748710e-01 -1.39059261e-03 -1.78085390e+01] [-8.44466556e-03 -7.98536028e-05 9.99964340e-01 -2.10896095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.18, Y:-17.82, Z:-2.11 [[ 9.85825764e-01 1.67685342e-01 5.40274456e-03 1.44181904e+02] [-1.67682917e-01 9.85840568e-01 -9.02107584e-04 -1.78172383e+01] [-5.47751499e-03 -1.66270693e-05 9.99984998e-01 -2.11055079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.21, Y:-17.83, Z:-2.11 [[ 9.86225130e-01 1.65278529e-01 6.55749506e-03 1.44214329e+02] [-1.65274891e-01 9.86246930e-01 -1.09661096e-03 -1.78256418e+01] [-6.64855562e-03 -2.28399998e-06 9.99977898e-01 -2.11013179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.25, Y:-17.84, Z:-2.11 [[ 9.86811400e-01 1.61556977e-01 1.01293654e-02 1.44245162e+02] [-1.61548068e-01 9.86863386e-01 -1.69707982e-03 -1.78352256e+01] [-1.02704749e-02 3.83183039e-05 9.99947257e-01 -2.10847843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.28, Y:-17.84, Z:-2.11 [[ 9.86973761e-01 1.60524284e-01 1.07121221e-02 1.44276098e+02] [-1.60514236e-01 9.87031890e-01 -1.79678211e-03 -1.78426998e+01] [-1.08616332e-02 5.39287077e-05 9.99941009e-01 -2.10860912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.31, Y:-17.85, Z:-2.11 [[ 9.86933046e-01 1.60908233e-01 8.46779344e-03 1.44308168e+02] [-1.60901965e-01 9.86969371e-01 -1.42070763e-03 -1.78531219e+01] [-8.58605632e-03 3.96587017e-05 9.99963138e-01 -2.10967876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.34, Y:-17.86, Z:-2.11 [[ 9.86766477e-01 1.61985958e-01 7.24363026e-03 1.44340087e+02] [-1.61981394e-01 9.86793063e-01 -1.21628663e-03 -1.78603880e+01] [-7.34498545e-03 2.68575456e-05 9.99973025e-01 -2.11042999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.915769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.37, Y:-17.87, Z:-2.11 [[ 9.86518898e-01 1.63493458e-01 7.09602730e-03 1.44372195e+02] [-1.63489108e-01 9.86544418e-01 -1.19273407e-03 -1.78675245e+01] [-7.19555034e-03 1.65315285e-05 9.99974112e-01 -2.11093571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.945769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.40, Y:-17.87, Z:-2.11 [[ 9.86152290e-01 1.65631945e-01 8.34985315e-03 1.44403412e+02] [-1.65625983e-01 9.86187639e-01 -1.40542416e-03 -1.78743368e+01] [-8.46730510e-03 3.00961769e-06 9.99964152e-01 -2.11053823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.43, Y:-17.88, Z:-2.11 [[ 9.85985848e-01 1.66585074e-01 9.01783285e-03 1.44434734e+02] [-1.66578143e-01 9.86027085e-01 -1.51953342e-03 -1.78804317e+01] [-9.14495903e-03 -3.93540318e-06 9.99958184e-01 -2.11083737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.47, Y:-17.89, Z:-2.11 [[ 9.85711506e-01 1.68215343e-01 8.74212047e-03 1.44466841e+02] [-1.68208883e-01 9.85750272e-01 -1.47432523e-03 -1.78866869e+01] [-8.86555176e-03 -1.72429746e-05 9.99960700e-01 -2.11155794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:-17.89, Z:-2.11 [[ 9.85503692e-01 1.69463512e-01 8.03679605e-03 1.44498585e+02] [-1.69458082e-01 9.85536462e-01 -1.35682674e-03 -1.78924898e+01] [-8.15048817e-03 -2.47422879e-05 9.99966784e-01 -2.11250076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.53, Y:-17.90, Z:-2.11 [[ 9.85401063e-01 1.70097114e-01 7.19146426e-03 1.44530897e+02] [-1.70092775e-01 9.85427304e-01 -1.21517049e-03 -1.78984318e+01] [-7.29336223e-03 -2.57858146e-05 9.99973403e-01 -2.11306089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.56, Y:-17.91, Z:-2.11 [[ 9.85371393e-01 1.70230408e-01 8.05147631e-03 1.44561917e+02] [-1.70224959e-01 9.85404286e-01 -1.36236137e-03 -1.79054008e+01] [-8.16587460e-03 -2.81302977e-05 9.99966658e-01 -2.11361077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.59, Y:-17.91, Z:-2.11 [[ 9.85424807e-01 1.69834322e-01 9.70834276e-03 1.44593912e+02] [-1.69826359e-01 9.85472629e-01 -1.64488301e-03 -1.79120073e+01] [-9.84666365e-03 -2.78239741e-05 9.99951520e-01 -2.11322180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.63, Y:-17.92, Z:-2.11 [[ 9.85664148e-01 1.68252914e-01 1.25357145e-02 1.44626046e+02] [-1.68239472e-01 9.85743860e-01 -2.12680375e-03 -1.79202641e+01] [-1.27148445e-02 -1.26877727e-05 9.99919163e-01 -2.11162371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.66, Y:-17.93, Z:-2.11 [[ 9.85713560e-01 1.67964769e-01 1.25145705e-02 1.44658844e+02] [-1.67951318e-01 9.85792999e-01 -2.12565214e-03 -1.79270155e+01] [-1.26938107e-02 -6.55446742e-06 9.99919430e-01 -2.11200377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.215769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:144.69, Y:-17.93, Z:-2.11 [[ 9.85644517e-01 1.68437578e-01 1.15614774e-02 1.44690070e+02] [-1.68426107e-01 9.85712322e-01 -1.96584811e-03 -1.79327454e+01] [-1.17274134e-02 -9.62721999e-06 9.99931231e-01 -2.11233539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.72, Y:-17.94, Z:-2.11 [[ 9.85220273e-01 1.71015491e-01 9.73220307e-03 1.44722572e+02] [-1.71007474e-01 9.85268340e-01 -1.65614918e-03 -1.79382669e+01] [-9.87205873e-03 -3.26077242e-05 9.99951270e-01 -2.11463407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.275769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.76, Y:-17.94, Z:-2.11 [[ 9.84977090e-01 1.72439984e-01 9.19698455e-03 1.44755475e+02] [-1.72432871e-01 9.85020025e-01 -1.56678703e-03 -1.79436545e+01] [-9.32939069e-03 -4.26131211e-05 9.99956479e-01 -2.11452532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.79, Y:-17.95, Z:-2.11 [[ 9.84536419e-01 1.74977054e-01 8.43030232e-03 1.44787657e+02] [-1.74971158e-01 9.84572510e-01 -1.43771859e-03 -1.79481402e+01] [-8.55181167e-03 -5.95734419e-05 9.99963431e-01 -2.11388693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:-17.95, Z:-2.11 [[ 9.84285960e-01 1.76385633e-01 8.32206392e-03 1.44820053e+02] [-1.76379925e-01 9.84321138e-01 -1.42075181e-03 -1.79531822e+01] [-8.44218364e-03 -6.94189475e-05 9.99964362e-01 -2.11400751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.85, Y:-17.96, Z:-2.11 [[ 9.83894961e-01 1.78534646e-01 8.72277049e-03 1.44851159e+02] [-1.78528442e-01 9.83933622e-01 -1.49104440e-03 -1.79581418e+01] [-8.84883024e-03 -9.02315510e-05 9.99960844e-01 -2.11402096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.88, Y:-17.96, Z:-2.11 [[ 9.82795628e-01 1.84413878e-01 1.02114900e-02 1.44882807e+02] [-1.84405669e-01 9.82848663e-01 -1.74778711e-03 -1.79610282e+01] [-1.03586654e-02 -1.65339102e-04 9.99946334e-01 -2.11409780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.92, Y:-17.97, Z:-2.11 [[ 9.82780851e-01 1.84492632e-01 1.02111505e-02 1.44915794e+02] [-1.84484407e-01 9.82833883e-01 -1.74976807e-03 -1.79668245e+01] [-1.03586840e-02 -1.64159485e-04 9.99946334e-01 -2.11452934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.95, Y:-17.97, Z:-2.11 [[ 9.81473796e-01 1.91292260e-01 1.07915953e-02 1.44949813e+02] [-1.91283476e-01 9.81533091e-01 -1.84995982e-03 -1.79661148e+01] [-1.09461909e-02 -2.48566758e-04 9.99940058e-01 -2.11440352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.98, Y:-17.97, Z:-2.11 [[ 9.80845994e-01 1.94466261e-01 1.11359499e-02 1.44982459e+02] [-1.94457085e-01 9.80909164e-01 -1.91131559e-03 -1.79673563e+01] [-1.12950417e-02 -2.90758127e-04 9.99936167e-01 -2.11470015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.02, Y:-17.97, Z:-2.11 [[ 9.80232447e-01 1.97520992e-01 1.13933214e-02 1.45015087e+02] [-1.97511568e-01 9.80298601e-01 -1.95765671e-03 -1.79691625e+01] [-1.15555353e-02 -3.31354158e-04 9.99933178e-01 -2.11467834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.545769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:145.05, Y:-17.97, Z:-2.12 [[ 9.79278591e-01 2.02228603e-01 1.08182364e-02 1.45049077e+02] [-2.02220373e-01 9.79338276e-01 -1.86065967e-03 -1.79679491e+01] [-1.09709916e-02 -3.65563626e-04 9.99939750e-01 -2.11577020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.08, Y:-17.97, Z:-2.12 [[ 9.79053503e-01 2.03363593e-01 9.87354467e-03 1.45082404e+02] [-2.03356779e-01 9.79103228e-01 -1.69984929e-03 -1.79700100e+01] [-1.00129069e-02 -3.43608831e-04 9.99949811e-01 -2.11604482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.11, Y:-17.97, Z:-2.12 [[ 9.78927968e-01 2.04073195e-01 7.35971104e-03 1.45114848e+02] [-2.04069423e-01 9.78955598e-01 -1.26792991e-03 -1.79681674e+01] [-7.46358083e-03 -2.60679932e-04 9.99972113e-01 -2.11677389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.15, Y:-17.97, Z:-2.12 [[ 9.78974712e-01 2.03861296e-01 7.00610779e-03 1.45147382e+02] [-2.03857863e-01 9.78999751e-01 -1.20825388e-03 -1.79696563e+01] [-7.10529398e-03 -2.45400168e-04 9.99974727e-01 -2.11786194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.18, Y:-17.97, Z:-2.12 [[ 9.79401166e-01 2.01707477e-01 9.35143074e-03 1.45178146e+02] [-2.01701236e-01 9.79445762e-01 -1.61551620e-03 -1.79684209e+01] [-9.48508090e-03 -3.03956693e-04 9.99954969e-01 -2.11839890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.695769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:145.21, Y:-17.97, Z:-2.12 [[ 9.79639194e-01 2.00510552e-01 1.01275884e-02 1.45210400e+02] [-2.00503171e-01 9.79691491e-01 -1.74933262e-03 -1.79720734e+01] [-1.02726719e-02 -3.16898796e-04 9.99947184e-01 -2.11824582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.24, Y:-17.98, Z:-2.12 [[ 9.79919783e-01 1.99169371e-01 9.42233726e-03 1.45242918e+02] [-1.99162907e-01 9.79965042e-01 -1.62886630e-03 -1.79763946e+01] [-9.55798141e-03 -2.80421770e-04 9.99954282e-01 -2.11858810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.27, Y:-17.98, Z:-2.12 [[ 9.80794197e-01 1.94945904e-01 6.23199948e-03 1.45274987e+02] [-1.94942989e-01 9.80813983e-01 -1.07780935e-03 -1.79795334e+01] [-6.32254675e-03 -1.57775445e-04 9.99980000e-01 -2.11965878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.31, Y:-17.98, Z:-2.12 [[ 9.81132835e-01 1.93235654e-01 6.19216366e-03 1.45305366e+02] [-1.93232731e-01 9.81152364e-01 -1.07262370e-03 -1.79846871e+01] [-6.28272515e-03 -1.44142362e-04 9.99980253e-01 -2.12009173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.34, Y:-17.99, Z:-2.12 [[ 9.81692093e-01 1.90251638e-01 9.21682400e-03 1.45335726e+02] [-1.90245018e-01 9.81735341e-01 -1.59781817e-03 -1.79903986e+01] [-9.35246938e-03 -1.84889379e-04 9.99956248e-01 -2.11841301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:145.37, Y:-18.00, Z:-2.12 [[ 9.81956412e-01 1.88783470e-01 1.10637477e-02 1.45368321e+02] [-1.88773814e-01 9.82018717e-01 -1.92007688e-03 -1.79956771e+01] [-1.12272861e-02 -2.03114061e-04 9.99936951e-01 -2.11803950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:145.40, Y:-18.00, Z:-2.12 [[ 9.82190027e-01 1.87498882e-01 1.21210746e-02 1.45400485e+02] [-1.87487163e-01 9.82264795e-01 -2.10615741e-03 -1.80005275e+01] [-1.23010070e-02 -2.03899091e-04 9.99924319e-01 -2.11833817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90576923100002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:145.43, Y:-18.01, Z:-2.12 [[ 9.82445685e-01 1.86249075e-01 1.05715681e-02 1.45431585e+02] [-1.86240068e-01 9.82502548e-01 -1.83880962e-03 -1.80062257e+01] [-1.07290692e-02 -1.62318988e-04 9.99942429e-01 -2.11960175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:145.46, Y:-18.01, Z:-2.12 [[ 9.82526420e-01 1.85924349e-01 8.60056854e-03 1.45463850e+02] [-1.85918371e-01 9.82564054e-01 -1.49642609e-03 -1.80143815e+01] [-8.72883154e-03 -1.28725520e-04 9.99961895e-01 -2.12067145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.965769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:145.50, Y:-18.02, Z:-2.12 [[ 9.82596468e-01 1.85582515e-01 7.95679461e-03 1.45495246e+02] [-1.85577374e-01 9.82628677e-01 -1.38613037e-03 -1.80196697e+01] [-8.07581612e-03 -1.14594238e-04 9.99967383e-01 -2.12068262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.995769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:145.53, Y:-18.02, Z:-2.12 [[ 9.82612375e-01 1.85523349e-01 7.34895581e-03 1.45527036e+02] [-1.85518958e-01 9.82639851e-01 -1.28077924e-03 -1.80248008e+01] [-7.45899129e-03 -1.04861092e-04 9.99972176e-01 -2.12129157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.56, Y:-18.03, Z:-2.12 [[ 9.82543831e-01 1.85911287e-01 6.67929788e-03 1.45558480e+02] [-1.85907662e-01 9.82566529e-01 -1.16498569e-03 -1.80293175e+01] [-6.77943853e-03 -9.70831510e-05 9.99977015e-01 -2.12294033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.055769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.59, Y:-18.04, Z:-2.12 [[ 9.82495136e-01 1.86146508e-01 7.26531512e-03 1.45589747e+02] [-1.86142215e-01 9.82521993e-01 -1.26861902e-03 -1.80351054e+01] [-7.37448089e-03 -1.05969831e-04 9.99972803e-01 -2.12330709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.62, Y:-18.04, Z:-2.12 [[ 9.82598005e-01 1.85538752e-01 8.74825252e-03 1.45621719e+02] [-1.85532487e-01 9.82636941e-01 -1.52947809e-03 -1.80415237e+01] [-8.88013355e-03 -1.20222934e-04 9.99960564e-01 -2.12299262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.65, Y:-18.05, Z:-2.12 [[ 9.82714258e-01 1.84907129e-01 9.05769192e-03 1.45653369e+02] [-1.84900369e-01 9.82755992e-01 -1.58536497e-03 -1.80477731e+01] [-9.19464629e-03 -1.16809816e-04 9.99957722e-01 -2.12383330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.69, Y:-18.05, Z:-2.12 [[ 9.82876427e-01 1.84072045e-01 8.45051403e-03 1.45685239e+02] [-1.84066126e-01 9.82912749e-01 -1.47970464e-03 -1.80544279e+01] [-8.57849024e-03 -1.01086562e-04 9.99963199e-01 -2.12430575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:-18.06, Z:-2.12 [[ 9.83019185e-01 1.83306254e-01 8.49106255e-03 1.45716919e+02] [-1.83300234e-01 9.83055852e-01 -1.48850461e-03 -1.80615109e+01] [-8.62004094e-03 -9.31851706e-05 9.99962842e-01 -2.12468085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.75, Y:-18.07, Z:-2.12 [[ 9.82846055e-01 1.84191390e-01 9.33612918e-03 1.45748095e+02] [-1.84184134e-01 9.82890391e-01 -1.63855549e-03 -1.80669587e+01] [-9.47819947e-03 -1.09119067e-04 9.99955075e-01 -2.12444455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.235769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.78, Y:-18.07, Z:-2.12 [[ 9.82323757e-01 1.86873838e-01 1.08722466e-02 1.45779441e+02] [-1.86864136e-01 9.82383909e-01 -1.91049028e-03 -1.80729808e+01] [-1.10377408e-02 -1.54912984e-04 9.99939070e-01 -2.12449995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.81, Y:-18.08, Z:-2.13 [[ 9.82031329e-01 1.88398385e-01 1.09780321e-02 1.45810365e+02] [-1.88388568e-01 9.82092673e-01 -1.93091430e-03 -1.80796012e+01] [-1.11452261e-02 -1.71917420e-04 9.99937875e-01 -2.12507214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.295769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.84, Y:-18.09, Z:-2.13 [[ 9.81822209e-01 1.89490719e-01 1.08820135e-02 1.45842731e+02] [-1.89481119e-01 9.81882495e-01 -1.91591590e-03 -1.80868315e+01] [-1.10479068e-02 -1.80847317e-04 9.99938954e-01 -2.12548654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.325769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:145.87, Y:-18.09, Z:-2.13 [[ 9.81667649e-01 1.90314613e-01 1.04391435e-02 1.45873797e+02] [-1.90305805e-01 9.81723136e-01 -1.83985514e-03 -1.80939252e+01] [-1.05985000e-02 -1.80503346e-04 9.99943818e-01 -2.12610086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.90, Y:-18.10, Z:-2.13 [[ 9.81372529e-01 1.91813050e-01 1.07570132e-02 1.45903940e+02] [-1.91803764e-01 9.81431462e-01 -1.89800914e-03 -1.81001828e+01] [-1.09213341e-02 -2.00581583e-04 9.99940340e-01 -2.12648421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.93, Y:-18.11, Z:-2.13 [[ 9.81036266e-01 1.93520922e-01 1.08396456e-02 1.45934990e+02] [-1.93511584e-01 9.81096124e-01 -1.91373639e-03 -1.81054967e+01] [-1.10050823e-02 -2.20152187e-04 9.99939418e-01 -2.12667085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.415769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.97, Y:-18.11, Z:-2.13 [[ 9.80582060e-01 1.95810394e-01 1.08218635e-02 1.45966226e+02] [-1.95801224e-01 9.80641744e-01 -1.91084745e-03 -1.81103743e+01] [-1.09865349e-02 -2.45191394e-04 9.99939616e-01 -2.12648263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.00, Y:-18.11, Z:-2.13 [[ 9.79375134e-01 2.01839920e-01 9.21921542e-03 1.45995719e+02] [-2.01833529e-01 9.79418489e-01 -1.62815157e-03 -1.81110652e+01] [-9.35809602e-03 -2.66175620e-04 9.99956177e-01 -2.12671881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.03, Y:-18.11, Z:-2.13 [[ 9.78780509e-01 2.04715810e-01 8.95283392e-03 1.46025287e+02] [-2.04709903e-01 9.78821412e-01 -1.58105126e-03 -1.81134481e+01] [-9.08689173e-03 -2.85231609e-04 9.99958673e-01 -2.12658732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.06, Y:-18.11, Z:-2.13 [[ 9.77582145e-01 2.10256606e-01 1.11941597e-02 1.46056471e+02] [-2.10247738e-01 9.77646144e-01 -1.97650410e-03 -1.81138827e+01] [-1.13595001e-02 -4.21351641e-04 9.99935390e-01 -2.12675362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:146.09, Y:-18.12, Z:-2.13 [[ 9.76959636e-01 2.13116388e-01 1.14575682e-02 1.46085548e+02] [-2.13107294e-01 9.77026708e-01 -2.02299741e-03 -1.81160699e+01] [-1.16254841e-02 -4.65304543e-04 9.99932314e-01 -2.12709404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.11, Y:-18.12, Z:-2.13 [[ 9.76274846e-01 2.16279669e-01 1.05133052e-02 1.46114434e+02] [-2.16272193e-01 9.76331343e-01 -1.85647421e-03 -1.81173919e+01] [-1.06659870e-02 -4.61306500e-04 9.99943010e-01 -2.12811214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.14, Y:-18.11, Z:-2.13 [[ 9.74958114e-01 2.22248477e-01 7.89241417e-03 1.46142992e+02] [-2.22244459e-01 9.74989978e-01 -1.39370974e-03 -1.81131471e+01] [-8.00477459e-03 -3.95236698e-04 9.99967883e-01 -2.12918789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.17, Y:-18.11, Z:-2.13 [[ 9.74281152e-01 2.25160989e-01 8.87497430e-03 1.46172224e+02] [-2.25156033e-01 9.74321460e-01 -1.56667508e-03 -1.81090679e+01] [-8.99983203e-03 -4.71871998e-04 9.99959389e-01 -2.12809747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.20, Y:-18.11, Z:-2.13 [[ 9.74062779e-01 2.26061836e-01 9.88683915e-03 1.46200062e+02] [-2.26055739e-01 9.74112806e-01 -1.74457703e-03 -1.81084371e+01] [-1.00252789e-02 -5.35649185e-04 9.99949602e-01 -2.12804823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:-18.11, Z:-2.13 [[ 9.73917134e-01 2.26689950e-01 9.85307543e-03 1.46228511e+02] [-2.26683934e-01 9.73966824e-01 -1.73783553e-03 -1.81074392e+01] [-9.99051844e-03 -5.41026101e-04 9.99949947e-01 -2.12853759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.715769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.26, Y:-18.10, Z:-2.13 [[ 9.73851310e-01 2.26995617e-01 9.30677008e-03 1.46257984e+02] [-2.26990269e-01 9.73895644e-01 -1.64094169e-03 -1.81006622e+01] [-9.43630941e-03 -5.14513030e-04 9.99955345e-01 -2.13027850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:-18.10, Z:-2.13 [[ 9.74056227e-01 2.26088761e-01 9.91660261e-03 1.46286955e+02] [-2.26082650e-01 9.74106555e-01 -1.74769238e-03 -1.81000310e+01] [-1.00549612e-02 -5.39621150e-04 9.99949302e-01 -2.13035446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.775769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.32, Y:-18.09, Z:-2.13 [[ 9.74894457e-01 2.22403046e-01 1.08481821e-02 1.46315757e+02] [-2.22395514e-01 9.74954657e-01 -1.91106909e-03 -1.80941718e+01] [-1.10015132e-02 -5.49496362e-04 9.99939331e-01 -2.12892431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.34, Y:-18.09, Z:-2.13 [[ 9.75528224e-01 2.19600644e-01 1.09654205e-02 1.46344266e+02] [-2.19592785e-01 9.75589710e-01 -1.93047932e-03 -1.80935023e+01] [-1.11216859e-02 -5.24690167e-04 9.99938014e-01 -2.12915222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.37, Y:-18.09, Z:-2.13 [[ 9.76673488e-01 2.14522645e-01 9.43036258e-03 1.46374180e+02] [-2.14516601e-01 9.76718933e-01 -1.65968342e-03 -1.80874606e+01] [-9.56685335e-03 -4.02000532e-04 9.99954156e-01 -2.13056986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.40, Y:-18.09, Z:-2.13 [[ 9.77267988e-01 2.11822218e-01 8.86718272e-03 1.46401601e+02] [-2.11816767e-01 9.77308152e-01 -1.56015999e-03 -1.80861009e+01] [-8.99644650e-03 -3.53523558e-04 9.99959469e-01 -2.13149680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.43, Y:-18.09, Z:-2.13 [[ 9.77809166e-01 2.09288607e-01 9.35489343e-03 1.46430210e+02] [-2.09282436e-01 9.77853853e-01 -1.64466437e-03 -1.80859224e+01] [-9.49192810e-03 -3.49646994e-04 9.99954890e-01 -2.13196207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.925769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:146.46, Y:-18.08, Z:-2.13 [[ 9.79278754e-01 2.02166494e-01 1.19092352e-02 1.46458505e+02] [-2.02155981e-01 9.79351102e-01 -2.09267885e-03 -1.80835165e+01] [-1.20863922e-02 -3.58207192e-04 9.99926893e-01 -2.13060678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.955769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.49, Y:-18.09, Z:-2.13 [[ 9.80195320e-01 1.97625153e-01 1.27056515e-02 1.46486063e+02] [-1.97612825e-01 9.80277611e-01 -2.23107214e-03 -1.80856454e+01] [-1.28959816e-02 -3.23913202e-04 9.99916791e-01 -2.13007092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.985769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:146.51, Y:-18.08, Z:-2.13 [[ 9.82066615e-01 1.88202894e-01 1.11729668e-02 1.46514570e+02] [-1.88192758e-01 9.82130154e-01 -1.96125357e-03 -1.80848552e+01] [-1.13424213e-02 -1.76589789e-04 9.99935657e-01 -2.13173807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.015769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.54, Y:-18.09, Z:-2.13 [[ 9.82827551e-01 1.84277696e-01 9.57785611e-03 1.46542337e+02] [-1.84270066e-01 9.82874213e-01 -1.68071188e-03 -1.80873797e+01] [-9.72354549e-03 -1.13062237e-04 9.99952719e-01 -2.13350275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.045769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.57, Y:-18.09, Z:-2.13 [[ 9.83499868e-01 1.80725206e-01 8.14915737e-03 1.46570267e+02] [-1.80719564e-01 9.83533627e-01 -1.42954457e-03 -1.80906677e+01] [-8.27332504e-03 -6.67552697e-05 9.99965773e-01 -2.13492620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.075769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:146.60, Y:-18.09, Z:-2.13 [[ 9.84822064e-01 1.73377411e-01 8.11020279e-03 1.46596833e+02] [-1.73371578e-01 9.84855458e-01 -1.42217510e-03 -1.80928790e+01] [-8.23395052e-03 -5.48924047e-06 9.99966100e-01 -2.13490315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.105769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.62, Y:-18.10, Z:-2.13 [[ 9.85973798e-01 1.66627566e-01 9.53539109e-03 1.46624056e+02] [-1.66619196e-01 9.86019904e-01 -1.67114862e-03 -1.80951004e+01] [-9.68054483e-03 5.89295509e-05 9.99953141e-01 -2.13348684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.65, Y:-18.10, Z:-2.13 [[ 9.86476184e-01 1.63626501e-01 9.54497808e-03 1.46650687e+02] [-1.63617983e-01 9.86522357e-01 -1.67182156e-03 -1.80992318e+01] [-9.68988859e-03 8.74820921e-05 9.99953048e-01 -2.13368022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:-18.10, Z:-2.13 [[ 9.86862828e-01 1.61297985e-01 9.20426202e-03 1.46677076e+02] [-1.61289972e-01 9.86905745e-01 -1.61123314e-03 -1.81041406e+01] [-9.34362772e-03 1.05510933e-04 9.99956342e-01 -2.13453209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.195769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:146.70, Y:-18.11, Z:-2.14 [[ 9.87413438e-01 1.57928720e-01 8.55694170e-03 1.46704843e+02] [-1.57921676e-01 9.87450507e-01 -1.49701377e-03 -1.81096880e+01] [-8.68597789e-03 1.26844938e-04 9.99962268e-01 -2.13564598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.73, Y:-18.12, Z:-2.14 [[ 9.87614083e-01 1.56648892e-01 8.91891453e-03 1.46733422e+02] [-1.56641193e-01 9.87654345e-01 -1.55961260e-03 -1.81151448e+01] [-9.05311627e-03 1.43225951e-04 9.99959009e-01 -2.13640723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.76, Y:-18.12, Z:-2.14 [[ 9.87938242e-01 1.54520541e-01 1.00713216e-02 1.46760173e+02] [-1.54510619e-01 9.87989559e-01 -1.76058252e-03 -1.81208834e+01] [-1.02224068e-02 1.83220659e-04 9.99947733e-01 -2.13596971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.79, Y:-18.13, Z:-2.14 [[ 9.88021243e-01 1.53959365e-01 1.05136598e-02 1.46788601e+02] [-1.53948528e-01 9.88077161e-01 -1.83719985e-03 -1.81269854e+01] [-1.06711613e-02 1.96630031e-04 9.99943042e-01 -2.13539853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.82, Y:-18.13, Z:-2.14 [[ 9.87990567e-01 1.54158232e-01 1.04822891e-02 1.46816547e+02] [-1.54147476e-01 9.88046154e-01 -1.83121368e-03 -1.81330265e+01] [-1.06392820e-02 1.93403437e-04 9.99943383e-01 -2.13520071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.84, Y:-18.14, Z:-2.14 [[ 9.87594157e-01 1.56719538e-01 9.83700087e-03 1.46844039e+02] [-1.56710197e-01 9.87643135e-01 -1.71807974e-03 -1.81399318e+01] [-9.98470305e-03 1.55207172e-04 9.99950140e-01 -2.13525781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.87, Y:-18.14, Z:-2.14 [[ 9.87605741e-01 1.56646518e-01 9.83709346e-03 1.46872945e+02] [-1.56637179e-01 9.87654719e-01 -1.71754942e-03 -1.81448682e+01] [-9.98469992e-03 1.55407099e-04 9.99950140e-01 -2.13563535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40576923100002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:146.90, Y:-18.15, Z:-2.14 [[ 9.87318912e-01 1.58408126e-01 1.04034768e-02 1.46901244e+02] [-1.58397788e-01 9.87373711e-01 -1.81552358e-03 -1.81499085e+01] [-1.05597132e-02 1.44613045e-04 9.99944234e-01 -2.13583456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43576923100002 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:146.93, Y:-18.15, Z:-2.14 [[ 9.86685864e-01 1.62268560e-01 1.09508239e-02 1.46928656e+02] [-1.62257349e-01 9.86746625e-01 -1.91054242e-03 -1.81535927e+01] [-1.11157095e-02 1.08253551e-04 9.99938213e-01 -2.13602264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.465769231 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:146.96, Y:-18.16, Z:-2.14 [[ 9.86402414e-01 1.63991585e-01 1.08183802e-02 1.46957255e+02] [-1.63980755e-01 9.86461734e-01 -1.88665073e-03 -1.81578569e+01] [-1.09813130e-02 8.69906771e-05 9.99939700e-01 -2.13675139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.495769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:146.99, Y:-18.16, Z:-2.14 [[ 9.85830241e-01 1.67479168e-01 9.45859651e-03 1.46985229e+02] [-1.67471053e-01 9.85875614e-01 -1.64921783e-03 -1.81629150e+01] [-9.60120927e-03 4.18077029e-05 9.99953906e-01 -2.13771409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.525769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:147.01, Y:-18.17, Z:-2.14 [[ 9.85582569e-01 1.68963722e-01 8.84644973e-03 1.47012076e+02] [-1.68956688e-01 9.85622270e-01 -1.54194443e-03 -1.81673462e+01] [-8.97979054e-03 2.50467055e-05 9.99959681e-01 -2.13824115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.555769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:147.04, Y:-18.17, Z:-2.14 [[ 9.85161156e-01 1.71386665e-01 9.17098002e-03 1.47039921e+02] [-1.71379218e-01 9.85203842e-01 -1.59764480e-03 -1.81705009e+01] [-9.30909977e-03 2.22221793e-06 9.99956669e-01 -2.13869168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.585769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:147.07, Y:-18.17, Z:-2.14 [[ 9.85104811e-01 1.71685405e-01 9.62456206e-03 1.47068025e+02] [-1.71677225e-01 9.85151827e-01 -1.67594016e-03 -1.81734954e+01] [-9.76938935e-03 -1.34139639e-06 9.99952278e-01 -2.13908497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.615769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:147.10, Y:-18.18, Z:-2.14 [[ 9.85100968e-01 1.71698408e-01 9.78467525e-03 1.47096135e+02] [-1.71689961e-01 9.85149561e-01 -1.70311071e-03 -1.81768834e+01] [-9.93178992e-03 -2.19450051e-06 9.99950679e-01 -2.13961962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.645769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:147.12, Y:-18.18, Z:-2.14 [[ 9.85438055e-01 1.69843532e-01 8.06313530e-03 1.47122836e+02] [-1.69837737e-01 9.85471042e-01 -1.40309868e-03 -1.81805219e+01] [-8.18429358e-03 1.32421754e-05 9.99966508e-01 -2.14101809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.675769231 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:147.15, Y:-18.19, Z:-2.14 [[ 9.85839334e-01 1.67520318e-01 7.59933178e-03 1.47150750e+02] [-1.67515106e-01 9.85868623e-01 -1.32175976e-03 -1.81859123e+01] [-7.71336437e-03 3.00398907e-05 9.99970251e-01 -2.14195068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.705769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:147.18, Y:-18.19, Z:-2.14 [[ 9.86777772e-01 1.61772802e-01 9.95938771e-03 1.47176292e+02] [-1.61763566e-01 9.86828025e-01 -1.73135434e-03 -1.81938628e+01] [-1.01082890e-02 9.73958996e-05 9.99948905e-01 -2.14093605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.735769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:147.20, Y:-18.20, Z:-2.14 [[ 9.87249948e-01 1.58770290e-01 1.13813762e-02 1.47203408e+02] [-1.58758044e-01 9.87315539e-01 -1.97718374e-03 -1.82009007e+01] [-1.15509276e-02 1.45089519e-04 9.99933275e-01 -2.14085618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.765769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:147.23, Y:-18.21, Z:-2.14 [[ 9.88086209e-01 1.53534311e-01 1.06234780e-02 1.47231001e+02] [-1.53523348e-01 9.88143299e-01 -1.84479448e-03 -1.82107669e+01] [-1.07807578e-02 1.91864082e-04 9.99941868e-01 -2.14152258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.795769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.26, Y:-18.22, Z:-2.14 [[ 9.88283159e-01 1.52323488e-01 9.69292293e-03 1.47257767e+02] [-1.52314306e-01 9.88330674e-01 -1.68283944e-03 -1.82178682e+01] [-9.83614902e-03 1.86751051e-04 9.99951606e-01 -2.14273337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.28, Y:-18.23, Z:-2.14 [[ 9.88371131e-01 1.51804576e-01 8.82484912e-03 1.47284865e+02] [-1.51796949e-01 9.88410512e-01 -1.53165452e-03 -1.82290758e+01] [-8.95508580e-03 1.74257941e-04 9.99959887e-01 -2.14286449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.855769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:147.31, Y:-18.24, Z:-2.14 [[ 9.88244178e-01 1.52610974e-01 9.12877840e-03 1.47311939e+02] [-1.52602851e-01 9.88286325e-01 -1.58398491e-03 -1.82373085e+01] [-9.26358034e-03 1.72286258e-04 9.99957077e-01 -2.14279318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.885769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:147.34, Y:-18.25, Z:-2.14 [[ 9.88048065e-01 1.53862752e-01 9.34214005e-03 1.47339741e+02] [-1.53854306e-01 9.88092216e-01 -1.62039090e-03 -1.82454967e+01] [-9.48021366e-03 1.63695613e-04 9.99955048e-01 -2.14280356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.915769231 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:147.37, Y:-18.26, Z:-2.14 [[ 9.87664721e-01 1.56298970e-01 9.43563600e-03 1.47365634e+02] [-1.56290469e-01 9.87709781e-01 -1.63618520e-03 -1.82567713e+01] [-9.57540403e-03 1.41302415e-04 9.99954145e-01 -2.14357127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.945769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:147.39, Y:-18.27, Z:-2.14 [[ 9.87507020e-01 1.57295641e-01 9.37907801e-03 1.47393120e+02] [-1.57287293e-01 9.87551550e-01 -1.62577706e-03 -1.82653837e+01] [-9.51805068e-03 1.30256472e-04 9.99954694e-01 -2.14435921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:147.42, Y:-18.28, Z:-2.15 [[ 9.87248184e-01 1.58914151e-01 9.34428955e-03 1.47419882e+02] [-1.58905942e-01 9.87292398e-01 -1.61930884e-03 -1.82774642e+01] [-9.48287713e-03 1.13796586e-04 9.99955030e-01 -2.14549357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00576923100002 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:147.45, Y:-18.29, Z:-2.15 [[ 9.87047753e-01 1.60157539e-01 9.28951532e-03 1.47447637e+02] [-1.60149486e-01 9.87091461e-01 -1.60928592e-03 -1.82853619e+01] [-9.42734053e-03 1.00730954e-04 9.99955557e-01 -2.14515528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03576923100002 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:147.48, Y:-18.29, Z:-2.14 [[ 9.86363063e-01 1.64292581e-01 9.79054599e-03 1.47475101e+02] [-1.64283841e-01 9.86411650e-01 -1.69589702e-03 -1.82929051e+01] [-9.93613193e-03 6.43416856e-05 9.99950633e-01 -2.14423013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06576923100002 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:147.50, Y:-18.30, Z:-2.14 [[ 9.85923328e-01 1.66873174e-01 1.04179884e-02 1.47502475e+02] [-1.66863427e-01 9.85978368e-01 -1.80406796e-03 -1.82974960e+01] [-1.05729617e-02 4.02914510e-05 9.99944104e-01 -2.14383801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09576923100002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:147.53, Y:-18.30, Z:-2.14 [[ 9.84983449e-01 1.72343040e-01 1.02704491e-02 1.47530898e+02] [-1.72333871e-01 9.85036992e-01 -1.77781358e-03 -1.83009168e+01] [-1.04231660e-02 -1.88292964e-05 9.99945677e-01 -2.14415220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12576923100002 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:147.56, Y:-18.31, Z:-2.15 [[ 9.84526073e-01 1.74955258e-01 9.95335320e-03 1.47557996e+02] [-1.74946784e-01 9.84576384e-01 -1.72248924e-03 -1.83052581e+01] [-1.01011950e-02 -4.54715616e-05 9.99948981e-01 -2.14555765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15576923100002 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:147.59, Y:-18.31, Z:-2.15 [[ 9.84167623e-01 1.77004295e-01 9.14166904e-03 1.47586769e+02] [-1.76997241e-01 9.84210077e-01 -1.58148351e-03 -1.83079585e+01] [-9.27725216e-03 -6.16053335e-05 9.99956963e-01 -2.14762310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18576923100002 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:147.62, Y:-18.31, Z:-2.15 [[ 9.84202166e-01 1.76796777e-01 9.43379499e-03 1.47615283e+02] [-1.76789260e-01 9.84247375e-01 -1.63154444e-03 -1.83103535e+01] [-9.57363975e-03 -6.20240580e-05 9.99954170e-01 -2.14824613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.64, Y:-18.31, Z:-2.15 [[ 9.84715603e-01 1.73901131e-01 9.67356848e-03 1.47643503e+02] [-1.73893091e-01 9.84763116e-01 -1.67256637e-03 -1.83104734e+01] [-9.81703462e-03 -3.51645161e-05 9.99951811e-01 -2.14815391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.245769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.67, Y:-18.31, Z:-2.15 [[ 9.85058151e-01 1.71990423e-01 8.92935553e-03 1.47671943e+02] [-1.71983499e-01 9.85098622e-01 -1.54336660e-03 -1.83134672e+01] [-9.06174010e-03 -1.53959576e-05 9.99958941e-01 -2.14807630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.70, Y:-18.31, Z:-2.15 [[ 9.85609930e-01 1.68901668e-01 6.72997962e-03 1.47700898e+02] [-1.68897664e-01 9.85632907e-01 -1.16304910e-03 -1.83143529e+01] [-6.82973030e-03 9.63490197e-06 9.99976677e-01 -2.14854938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.305769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:147.73, Y:-18.32, Z:-2.15 [[ 9.85870920e-01 1.67385637e-01 6.37001385e-03 1.47730078e+02] [-1.67382019e-01 9.85891499e-01 -1.10057014e-03 -1.83167114e+01] [-6.46436214e-03 1.87943107e-05 9.99979106e-01 -2.14826060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.335769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:147.76, Y:-18.32, Z:-2.15 [[ 9.85964353e-01 1.66798881e-01 7.24066250e-03 1.47758835e+02] [-1.66794195e-01 9.85990939e-01 -1.25056278e-03 -1.83186567e+01] [-7.34782009e-03 2.53098513e-05 9.99973004e-01 -2.14851400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.365769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:147.79, Y:-18.32, Z:-2.15 [[ 9.85781804e-01 1.67735114e-01 9.95828315e-03 1.47787657e+02] [-1.67726304e-01 9.85832101e-01 -1.71926565e-03 -1.83177374e+01] [-1.01055764e-02 2.45547660e-05 9.99948937e-01 -2.14748686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.395769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:147.82, Y:-18.32, Z:-2.15 [[ 9.85588692e-01 1.68791335e-01 1.11541348e-02 1.47816033e+02] [-1.68780359e-01 9.85651807e-01 -1.92495924e-03 -1.83204411e+01] [-1.13190096e-02 1.46191789e-05 9.99935938e-01 -2.14803582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.425769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:147.84, Y:-18.32, Z:-2.15 [[ 9.85589174e-01 1.68818005e-01 1.06986643e-02 1.47844410e+02] [-1.68807914e-01 9.85647240e-01 -1.84590093e-03 -1.83212741e+01] [-1.08567303e-02 1.32807738e-05 9.99941064e-01 -2.14803158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.455769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:147.87, Y:-18.32, Z:-2.15 [[ 9.85791347e-01 1.67704516e-01 9.51923557e-03 1.47872575e+02] [-1.67696479e-01 9.85837306e-01 -1.64197077e-03 -1.83248018e+01] [-9.65978346e-03 2.22982817e-05 9.99953343e-01 -2.14865792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.485769231 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:147.90, Y:-18.33, Z:-2.15 [[ 9.86273605e-01 1.64876041e-01 8.95916603e-03 1.47899500e+02] [-1.64868810e-01 9.86314295e-01 -1.54483180e-03 -1.83286948e+01] [-9.09125928e-03 4.65397787e-05 9.99958673e-01 -2.14951018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.515769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:147.93, Y:-18.33, Z:-2.15 [[ 9.86577915e-01 1.63034134e-01 9.15912241e-03 1.47927392e+02] [-1.63026505e-01 9.86620427e-01 -1.57850325e-03 -1.83334494e+01] [-9.29392717e-03 6.41367242e-05 9.99956808e-01 -2.14964408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.545769231 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:147.96, Y:-18.34, Z:-2.15 [[ 9.86890790e-01 1.61110998e-01 9.47710830e-03 1.47956262e+02] [-1.61102749e-01 9.86936289e-01 -1.63254484e-03 -1.83383797e+01] [-9.61632302e-03 8.43552656e-05 9.99953759e-01 -2.15002252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.575769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:147.98, Y:-18.34, Z:-2.15 [[ 9.87440399e-01 1.57725252e-01 9.17619162e-03 1.47984192e+02] [-1.57717375e-01 9.87483029e-01 -1.58035987e-03 -1.83430759e+01] [-9.31059615e-03 1.13266324e-04 9.99956649e-01 -2.15057208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.605769231 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:148.01, Y:-18.35, Z:-2.15 [[ 9.87782934e-01 1.55536586e-01 9.65634786e-03 1.48011790e+02] [-1.55527765e-01 9.87830122e-01 -1.66240001e-03 -1.83484370e+01] [-9.79739531e-03 1.40260161e-04 9.99951995e-01 -2.15053357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.635769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:148.04, Y:-18.36, Z:-2.15 [[ 9.88479097e-01 1.50900744e-01 1.17490497e-02 1.48039142e+02] [-1.50887368e-01 9.88548893e-01 -2.02183873e-03 -1.83580195e+01] [-1.19196070e-02 2.25762151e-04 9.99928933e-01 -2.15016242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.07, Y:-18.37, Z:-2.15 [[ 9.88756940e-01 1.49064680e-01 1.18082881e-02 1.48066685e+02] [-1.49051044e-01 9.88827416e-01 -2.03145729e-03 -1.83661388e+01] [-1.19791775e-02 2.48579822e-04 9.99928216e-01 -2.15052462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.695769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:148.09, Y:-18.38, Z:-2.15 [[ 9.89104128e-01 1.46967584e-01 8.57635542e-03 1.48094109e+02] [-1.46960315e-01 9.89141289e-01 -1.47514815e-03 -1.83774708e+01] [-8.70002621e-03 1.98691224e-04 9.99962134e-01 -2.15214375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.12, Y:-18.39, Z:-2.15 [[ 9.89068629e-01 1.47270986e-01 7.38265430e-03 1.48121731e+02] [-1.47265609e-01 9.89096167e-01 -1.26969111e-03 -1.83850548e+01] [-7.48914374e-03 1.68600567e-04 9.99971942e-01 -2.15315561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75576923100002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:148.15, Y:-18.39, Z:-2.15 [[ 9.88554874e-01 1.50654834e-01 7.89824025e-03 1.48149861e+02] [-1.50648791e-01 9.88586414e-01 -1.35794984e-03 -1.83932449e+01] [-8.01267471e-03 1.52547593e-04 9.99967886e-01 -2.15233003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78576923100002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:148.18, Y:-18.40, Z:-2.15 [[ 9.88213095e-01 1.52870150e-01 8.09914703e-03 1.48177383e+02] [-1.52863873e-01 9.88246274e-01 -1.39212223e-03 -1.83981215e+01] [-8.21676581e-03 1.37646436e-04 9.99966232e-01 -2.15225536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:148.21, Y:-18.40, Z:-2.15 [[ 9.87469701e-01 1.57641524e-01 7.26214899e-03 1.48205036e+02] [-1.57636609e-01 9.87496401e-01 -1.24786480e-03 -1.84031877e+01] [-7.36806130e-03 8.74481412e-05 9.99972852e-01 -2.15354817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.23, Y:-18.41, Z:-2.15 [[ 9.87161356e-01 1.59583291e-01 6.75500406e-03 1.48233027e+02] [-1.59579087e-01 9.87184465e-01 -1.16030098e-03 -1.84092671e+01] [-6.85359972e-03 6.74469102e-05 9.99976512e-01 -2.15436020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.26, Y:-18.42, Z:-2.15 [[ 9.86817256e-01 1.61650673e-01 7.79502883e-03 1.48260782e+02] [-1.61645143e-01 9.86848041e-01 -1.33847791e-03 -1.84160642e+01] [-7.90887478e-03 6.08045527e-05 9.99968723e-01 -2.15453883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90576923100002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:148.29, Y:-18.42, Z:-2.15 [[ 9.86787699e-01 1.61793887e-01 8.53085914e-03 1.48288187e+02] [-1.61787272e-01 9.86824571e-01 -1.46441408e-03 -1.84200543e+01] [-8.65539465e-03 6.48813690e-05 9.99962539e-01 -2.15358149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:148.32, Y:-18.42, Z:-2.15 [[ 9.86728714e-01 1.62076848e-01 9.87625745e-03 1.48315918e+02] [-1.62068005e-01 9.86778136e-01 -1.69454855e-03 -1.84237410e+01] [-1.00203220e-02 7.14343683e-05 9.99949793e-01 -2.15283853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:148.34, Y:-18.43, Z:-2.15 [[ 9.86634933e-01 1.62598444e-01 1.06421263e-02 1.48344579e+02] [-1.62588215e-01 9.86692323e-01 -1.82523418e-03 -1.84294726e+01] [-1.07972846e-02 7.05554865e-05 9.99941705e-01 -2.15347539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.995769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:148.37, Y:-18.44, Z:-2.15 [[ 9.86303509e-01 1.64463475e-01 1.25361008e-02 1.48371705e+02] [-1.64449440e-01 9.86383172e-01 -2.14936204e-03 -1.84375695e+01] [-1.27188904e-02 5.83685682e-05 9.99919110e-01 -2.15308962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.025769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:148.40, Y:-18.44, Z:-2.15 [[ 9.86216535e-01 1.64955612e-01 1.29070536e-02 1.48400326e+02] [-1.64940786e-01 9.86300990e-01 -2.21217911e-03 -1.84441054e+01] [-1.30951511e-02 5.27880404e-05 9.99914253e-01 -2.15380012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.055769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:148.43, Y:-18.45, Z:-2.16 [[ 9.86156414e-01 1.65354278e-01 1.23891163e-02 1.48428531e+02] [-1.65340653e-01 9.86234232e-01 -2.12312067e-03 -1.84504695e+01] [-1.25696377e-02 4.53044795e-05 9.99920998e-01 -2.15511935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.085769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:148.46, Y:-18.46, Z:-2.16 [[ 9.86098708e-01 1.65849267e-01 1.01665619e-02 1.48457331e+02] [-1.65840121e-01 9.86151114e-01 -1.74204863e-03 -1.84593651e+01] [-1.03146839e-02 3.18080453e-05 9.99946802e-01 -2.15567277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.48, Y:-18.47, Z:-2.16 [[ 9.85859302e-01 1.67351586e-01 8.65356599e-03 1.48484650e+02] [-1.67345018e-01 9.85897280e-01 -1.48277745e-03 -1.84668152e+01] [-8.77967233e-03 1.36787866e-05 9.99961458e-01 -2.15621003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.145769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:148.51, Y:-18.47, Z:-2.16 [[ 9.85562112e-01 1.69093853e-01 8.63671936e-03 1.48512304e+02] [-1.69087381e-01 9.85599954e-01 -1.47939565e-03 -1.84717859e+01] [-8.76250691e-03 -2.32395173e-06 9.99961608e-01 -2.15611205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.175769231 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:148.54, Y:-18.48, Z:-2.16 [[ 9.85168433e-01 1.71352088e-01 9.03435632e-03 1.48540936e+02] [-1.71345107e-01 9.85209857e-01 -1.54686443e-03 -1.84762424e+01] [-9.16579534e-03 -2.40707422e-05 9.99957993e-01 -2.15562228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.205769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:148.57, Y:-18.48, Z:-2.16 [[ 9.84199364e-01 1.76793807e-01 9.77555835e-03 1.48569115e+02] [-1.76785907e-01 9.84247907e-01 -1.67326075e-03 -1.84789261e+01] [-9.91739498e-03 -8.13587838e-05 9.99950818e-01 -2.15636595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.235769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:148.60, Y:-18.48, Z:-2.16 [[ 9.83772074e-01 1.79195966e-01 9.01732403e-03 1.48596796e+02] [-1.79189349e-01 9.83813395e-01 -1.54296268e-03 -1.84828044e+01] [-9.14785686e-03 -9.78848276e-05 9.99958153e-01 -2.15742762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.265769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:148.63, Y:-18.49, Z:-2.16 [[ 9.83778300e-01 1.79161776e-01 9.01742975e-03 1.48625720e+02] [-1.79155164e-01 9.83819622e-01 -1.54234453e-03 -1.84876645e+01] [-9.14785351e-03 -9.81940236e-05 9.99958153e-01 -2.15780519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.295769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:148.65, Y:-18.49, Z:-2.16 [[ 9.83616831e-01 1.80021202e-01 9.50240478e-03 1.48654174e+02] [-1.80013903e-01 9.83662724e-01 -1.62497019e-03 -1.84929704e+01] [-9.63969046e-03 -1.12216944e-04 9.99953531e-01 -2.15955322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.325769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:148.68, Y:-18.50, Z:-2.16 [[ 9.84626539e-01 1.74307030e-01 1.12977408e-02 1.48682148e+02] [-1.74296343e-01 9.84691350e-01 -1.93132427e-03 -1.84999504e+01] [-1.14614311e-02 -6.75217862e-05 9.99934313e-01 -2.15931760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.71, Y:-18.51, Z:-2.16 [[ 9.85181386e-01 1.71169422e-01 1.08934037e-02 1.48710845e+02] [-1.71159300e-01 9.85241609e-01 -1.86165394e-03 -1.85061437e+01] [-1.10512928e-02 -3.04405551e-05 9.99938932e-01 -2.15964505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.74, Y:-18.51, Z:-2.16 [[ 9.85656235e-01 1.68460514e-01 1.01411211e-02 1.48738546e+02] [-1.68451601e-01 9.85708403e-01 -1.73286755e-03 -1.85120494e+01] [-1.02881081e-02 -2.76386778e-07 9.99947076e-01 -2.16015369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.415769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:148.77, Y:-18.52, Z:-2.16 [[ 9.86099740e-01 1.65930184e-01 8.63002801e-03 1.48766816e+02] [-1.65923634e-01 9.86137502e-01 -1.47449592e-03 -1.85199806e+01] [-8.75505764e-03 2.20744296e-05 9.99961674e-01 -2.16075876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.80, Y:-18.53, Z:-2.16 [[ 9.86123009e-01 1.65820682e-01 8.05684492e-03 1.48795301e+02] [-1.65814971e-01 9.86155921e-01 -1.37638933e-03 -1.85263211e+01] [-8.17353914e-03 2.13436838e-05 9.99966596e-01 -2.16074977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:148.82, Y:-18.53, Z:-2.16 [[ 9.85909038e-01 1.67020983e-01 9.34664102e-03 1.48823641e+02] [-1.67013353e-01 9.85953341e-01 -1.59653935e-03 -1.85325312e+01] [-9.48200752e-03 1.30287234e-05 9.99955045e-01 -2.16068828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.85, Y:-18.54, Z:-2.16 [[ 9.85661136e-01 1.68431524e-01 1.01462985e-02 1.48851450e+02] [-1.68422613e-01 9.85713357e-01 -1.73253265e-03 -1.85373216e+01] [-1.02931551e-02 -1.17600864e-06 9.99947024e-01 -2.16057749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.88, Y:-18.54, Z:-2.16 [[ 9.84860698e-01 1.73034460e-01 1.04153933e-02 1.48879331e+02] [-1.73025329e-01 9.84915770e-01 -1.77828315e-03 -1.85424197e+01] [-1.05659894e-02 -5.07656713e-05 9.99944177e-01 -2.16002692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.91, Y:-18.55, Z:-2.16 [[ 9.84498550e-01 1.75134055e-01 9.52193161e-03 1.48907151e+02] [-1.75126526e-01 9.84544594e-01 -1.62528334e-03 -1.85476678e+01] [-9.65940876e-03 -6.74537145e-05 9.99953345e-01 -2.16141069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:148.93, Y:-18.55, Z:-2.16 [[ 9.83923745e-01 1.78414332e-01 7.89867980e-03 1.48934556e+02] [-1.78409258e-01 9.83955446e-01 -1.34811780e-03 -1.85513282e+01] [-8.01247254e-03 -8.27524911e-05 9.99967896e-01 -2.16265567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62576923100002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:148.96, Y:-18.55, Z:-2.16 [[ 9.83488382e-01 1.80778858e-01 8.34304683e-03 1.48963847e+02] [-1.80773287e-01 9.83523763e-01 -1.42335921e-03 -1.85520854e+01] [-8.46289807e-03 -1.08342755e-04 9.99964183e-01 -2.16235993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:148.99, Y:-18.55, Z:-2.16 [[ 9.83297155e-01 1.81802747e-01 8.62932428e-03 1.48991616e+02] [-1.81796830e-01 9.83335012e-01 -1.47180882e-03 -1.85543940e+01] [-8.75309558e-03 -1.21558376e-04 9.99961684e-01 -2.16244074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:149.02, Y:-18.56, Z:-2.16 [[ 9.83211953e-01 1.82258716e-01 8.71868649e-03 1.49020712e+02] [-1.82252699e-01 9.83250601e-01 -1.48647114e-03 -1.85572241e+01] [-8.84357605e-03 -1.27487945e-04 9.99960887e-01 -2.16299567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:149.05, Y:-18.56, Z:-2.16 [[ 9.83383777e-01 1.81273495e-01 9.81154305e-03 1.49049913e+02] [-1.81265831e-01 9.83432714e-01 -1.67225557e-03 -1.85589678e+01] [-9.95212802e-03 -1.34028499e-04 9.99950467e-01 -2.16405353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.745769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:149.08, Y:-18.56, Z:-2.16 [[ 9.83675883e-01 1.79626807e-01 1.07688410e-02 1.49078644e+02] [-1.79617482e-01 9.83734819e-01 -1.83483955e-03 -1.85621110e+01] [-1.09232702e-02 -1.29384697e-04 9.99940331e-01 -2.16435120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.775769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:149.11, Y:-18.57, Z:-2.16 [[ 9.84542640e-01 1.74809223e-01 1.08409297e-02 1.49105591e+02] [-1.74799486e-01 9.84602321e-01 -1.84661944e-03 -1.85669299e+01] [-1.09968106e-02 -7.69133485e-05 9.99939530e-01 -2.16440965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.805769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:149.13, Y:-18.57, Z:-2.16 [[ 9.84982610e-01 1.72370525e-01 9.88231984e-03 1.49133551e+02] [-1.72362317e-01 9.85032182e-01 -1.68277593e-03 -1.85735701e+01] [-1.00244640e-02 -4.58345193e-05 9.99949753e-01 -2.16496482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.835769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.16, Y:-18.58, Z:-2.17 [[ 9.85671166e-01 1.68416981e-01 9.38469641e-03 1.49162294e+02] [-1.68409404e-01 9.85715842e-01 -1.59753857e-03 -1.85824297e+01] [-9.51969654e-03 -5.82341800e-06 9.99954687e-01 -2.16525812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.865769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:149.19, Y:-18.59, Z:-2.16 [[ 9.85802161e-01 1.67624413e-01 9.80591582e-03 1.49190507e+02] [-1.67616104e-01 9.85850930e-01 -1.66898910e-03 -1.85877868e+01] [-9.94693455e-03 1.66365562e-06 9.99950528e-01 -2.16495742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.895769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.22, Y:-18.59, Z:-2.17 [[ 9.85382833e-01 1.70064852e-01 9.93069723e-03 1.49219236e+02] [-1.70056456e-01 9.85432872e-01 -1.69004570e-03 -1.85934594e+01] [-1.00734529e-02 -2.34371480e-05 9.99949261e-01 -2.16608619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.925769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.25, Y:-18.60, Z:-2.17 [[ 9.84963039e-01 1.72480039e-01 9.92210153e-03 1.49247530e+02] [-1.72471785e-01 9.85013012e-01 -1.68810505e-03 -1.85986138e+01] [-1.00645635e-02 -4.85614800e-05 9.99949350e-01 -2.16632851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.955769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:149.28, Y:-18.60, Z:-2.17 [[ 9.84488500e-01 1.75146583e-01 1.02988878e-02 1.49275164e+02] [-1.75137840e-01 9.84542365e-01 -1.75172377e-03 -1.86034056e+01] [-1.04464998e-02 -7.91730581e-05 9.99945431e-01 -2.16683115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.30, Y:-18.61, Z:-2.17 [[ 9.83735272e-01 1.79374936e-01 9.46291582e-03 1.49303964e+02] [-1.79367756e-01 9.83780778e-01 -1.60892509e-03 -1.86073000e+01] [-9.59803552e-03 -1.14585621e-04 9.99953931e-01 -2.16683076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.015769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.33, Y:-18.61, Z:-2.17 [[ 9.83701050e-01 1.79555452e-01 9.59604927e-03 1.49332296e+02] [-1.79548082e-01 9.83747847e-01 -1.63108988e-03 -1.86114810e+01] [-9.73296388e-03 -1.18447422e-04 9.99952627e-01 -2.16733872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.045769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.36, Y:-18.62, Z:-2.17 [[ 9.83921152e-01 1.78335156e-01 9.78456719e-03 1.49359272e+02] [-1.78327439e-01 9.83969796e-01 -1.66267691e-03 -1.86159486e+01] [-9.92423233e-03 -1.08913823e-04 9.99950748e-01 -2.16747790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.075769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.39, Y:-18.62, Z:-2.17 [[ 9.84234569e-01 1.76588975e-01 9.93215342e-03 1.49387524e+02] [-1.76580941e-01 9.84284677e-01 -1.68710276e-03 -1.86206294e+01] [-1.00739902e-02 -9.33241321e-05 9.99949252e-01 -2.16827587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.105769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.42, Y:-18.62, Z:-2.17 [[ 9.84648761e-01 1.74217207e-01 1.07322858e-02 1.49416011e+02] [-1.74207690e-01 9.84707245e-01 -1.82246409e-03 -1.86236345e+01] [-1.08856642e-02 -7.51597019e-05 9.99940747e-01 -2.16900649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.135769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.45, Y:-18.63, Z:-2.17 [[ 9.84514109e-01 1.74969070e-01 1.08532820e-02 1.49445154e+02] [-1.74959389e-01 9.84573927e-01 -1.84249061e-03 -1.86258226e+01] [-1.10082374e-02 -8.49255933e-05 9.99939404e-01 -2.16878111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.47, Y:-18.63, Z:-2.17 [[ 9.84295907e-01 1.76217972e-01 1.04304095e-02 1.49472911e+02] [-1.76209106e-01 9.84351166e-01 -1.77024503e-03 -1.86286232e+01] [-1.05791347e-02 -9.54881997e-05 9.99944035e-01 -2.16885307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.195769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.50, Y:-18.63, Z:-2.17 [[ 9.83975429e-01 1.78056825e-01 9.38731915e-03 1.49501571e+02] [-1.78049732e-01 9.84020201e-01 -1.59268239e-03 -1.86313414e+01] [-9.52089965e-03 -1.04249319e-04 9.99954670e-01 -2.16934165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.53, Y:-18.63, Z:-2.17 [[ 9.83211893e-01 1.82292615e-01 7.98601288e-03 1.49529512e+02] [-1.82287623e-01 9.83244317e-01 -1.35468605e-03 -1.86304613e+01] [-8.09915104e-03 -1.23807872e-04 9.99967194e-01 -2.16995998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:149.56, Y:-18.63, Z:-2.17 [[ 9.82875619e-01 1.84073009e-01 8.52316825e-03 1.49556959e+02] [-1.84067395e-01 9.82912562e-01 -1.44521362e-03 -1.86323748e+01] [-8.64355397e-03 -1.48372145e-04 9.99962633e-01 -2.17072561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.59, Y:-18.63, Z:-2.17 [[ 9.82462884e-01 1.86168564e-01 1.03897394e-02 1.49585036e+02] [-1.86160347e-01 9.82517798e-01 -1.76095789e-03 -1.86312878e+01] [-1.05359389e-02 -2.04081732e-04 9.99944475e-01 -2.17119979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.61, Y:-18.63, Z:-2.17 [[ 9.82440516e-01 1.86262772e-01 1.08079819e-02 1.49613720e+02] [-1.86253895e-01 9.82499941e-01 -1.83104778e-03 -1.86324501e+01] [-1.09598976e-02 -2.14133188e-04 9.99939916e-01 -2.17154054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.64, Y:-18.63, Z:-2.17 [[ 9.82247136e-01 1.87272610e-01 1.09331397e-02 1.49641421e+02] [-1.87263596e-01 9.82307954e-01 -1.85150184e-03 -1.86278407e+01] [-1.10864457e-02 -2.28746690e-04 9.99938517e-01 -2.17191041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.67, Y:-18.62, Z:-2.17 [[ 9.82001491e-01 1.88657098e-01 9.03172307e-03 1.49670733e+02] [-1.88651013e-01 9.82043002e-01 -1.52865962e-03 -1.86221013e+01] [-9.15793293e-03 -2.02697682e-04 9.99958045e-01 -2.17374425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.70, Y:-18.62, Z:-2.18 [[ 9.82006866e-01 1.88695054e-01 7.52945156e-03 1.49698500e+02] [-1.88690827e-01 9.82035716e-01 -1.27424793e-03 -1.86207281e+01] [-7.63463464e-03 -1.69418225e-04 9.99970841e-01 -2.17513137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.73, Y:-18.62, Z:-2.18 [[ 9.82071447e-01 1.88378989e-01 7.00204786e-03 1.49726794e+02] [-1.88375333e-01 9.82096397e-01 -1.18395677e-03 -1.86197088e+01] [-7.09971855e-03 -1.56282963e-04 9.99974784e-01 -2.17660121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.76, Y:-18.62, Z:-2.18 [[ 9.82741303e-01 1.84809693e-01 8.05654582e-03 1.49756247e+02] [-1.84804739e-01 9.82774315e-01 -1.36151583e-03 -1.86155792e+01] [-8.16938762e-03 -1.50870013e-04 9.99966619e-01 -2.17680661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.495769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.78, Y:-18.62, Z:-2.18 [[ 9.83384599e-01 1.81328382e-01 8.64566049e-03 1.49784701e+02] [-1.81322547e-01 9.83422595e-01 -1.46053967e-03 -1.86171746e+01] [-8.76717517e-03 -1.31380968e-04 9.99961559e-01 -2.17705068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.525769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:149.81, Y:-18.62, Z:-2.18 [[ 9.85249151e-01 1.70856713e-01 9.59659483e-03 1.49812019e+02] [-1.70849034e-01 9.85295885e-01 -1.62040841e-03 -1.86169300e+01] [-9.73234305e-03 -4.30629422e-05 9.99952639e-01 -2.17701900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.555769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.84, Y:-18.62, Z:-2.18 [[ 9.87277362e-01 1.58618959e-01 1.11101498e-02 1.49839893e+02] [-1.58607903e-01 9.87339870e-01 -1.87483357e-03 -1.86190802e+01] [-1.12668780e-02 8.88231871e-05 9.99936523e-01 -2.17754421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.87, Y:-18.62, Z:-2.18 [[ 9.88028033e-01 1.53866585e-01 1.12107380e-02 1.49867337e+02] [-1.53855032e-01 9.88091622e-01 -1.89098593e-03 -1.86240011e+01] [-1.13681958e-02 1.43518656e-04 9.99935370e-01 -2.17780489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.89, Y:-18.63, Z:-2.18 [[ 9.88521722e-01 1.50704732e-01 1.06249002e-02 1.49893419e+02] [-1.50694179e-01 9.88578806e-01 -1.79152296e-03 -1.86297299e+01] [-1.07735421e-02 1.69848756e-04 9.99941949e-01 -2.17804929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.645769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.92, Y:-18.64, Z:-2.18 [[ 9.88947456e-01 1.47946426e-01 9.73567166e-03 1.49920448e+02] [-1.47937443e-01 9.88995360e-01 -1.64050587e-03 -1.86382496e+01] [-9.87124107e-03 1.82103738e-04 9.99951262e-01 -2.17677930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.675769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.95, Y:-18.64, Z:-2.18 [[ 9.89084455e-01 1.47009860e-01 1.00021001e-02 1.49948789e+02] [-1.47000337e-01 9.89135007e-01 -1.68476476e-03 -1.86448396e+01] [-1.01411044e-02 1.96062553e-04 9.99948558e-01 -2.17660102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.705769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.98, Y:-18.65, Z:-2.18 [[ 9.89314747e-01 1.45367813e-01 1.11593512e-02 1.49976370e+02] [-1.45355861e-01 9.89377654e-01 -1.87908181e-03 -1.86543305e+01] [-1.13139708e-02 2.36926243e-04 9.99935967e-01 -2.17690522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.735769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.00, Y:-18.66, Z:-2.18 [[ 9.89455387e-01 1.44319704e-01 1.22417120e-02 1.50003212e+02] [-1.44305248e-01 9.89531075e-01 -2.06068719e-03 -1.86627974e+01] [-1.24109522e-02 2.72414754e-04 9.99922944e-01 -2.17677485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.765769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.03, Y:-18.67, Z:-2.18 [[ 9.89516033e-01 1.43872285e-01 1.26010417e-02 1.50030039e+02] [-1.43856942e-01 9.89596223e-01 -2.12039047e-03 -1.86691399e+01] [-1.27750087e-02 2.85413045e-04 9.99918356e-01 -2.17744451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.795769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.06, Y:-18.68, Z:-2.18 [[ 9.89686799e-01 1.42799299e-01 1.13313781e-02 1.50056915e+02] [-1.42786829e-01 9.89751630e-01 -1.90614439e-03 -1.86767637e+01] [-1.14874460e-02 2.68514398e-04 9.99933981e-01 -2.17900372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.825769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.08, Y:-18.68, Z:-2.18 [[ 9.89851217e-01 1.41747618e-01 1.01084657e-02 1.50084720e+02] [-1.41737645e-01 9.89902798e-01 -1.69988127e-03 -1.86831850e+01] [-1.02473526e-02 2.49879430e-04 9.99947463e-01 -2.18005803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.855769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.11, Y:-18.69, Z:-2.18 [[ 9.90055917e-01 1.40375546e-01 9.16446970e-03 1.50112737e+02] [-1.40367293e-01 9.90098303e-01 -1.54075680e-03 -1.86896937e+01] [-9.29001047e-03 2.39043577e-04 9.99956818e-01 -2.18088830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:-18.70, Z:-2.18 [[ 9.90456773e-01 1.37546314e-01 8.74029064e-03 1.50140615e+02] [-1.37538701e-01 9.90495304e-01 -1.46905495e-03 -1.86979962e+01] [-8.85927992e-03 2.52907200e-04 9.99960724e-01 -2.18160754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.915769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:150.17, Y:-18.70, Z:-2.18 [[ 9.90639670e-01 1.36137772e-01 9.97756616e-03 1.50167455e+02] [-1.36127786e-01 9.90689868e-01 -1.67648434e-03 -1.87045338e+01] [-1.01129065e-02 3.02567907e-04 9.99948817e-01 -2.18155803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.945769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.20, Y:-18.71, Z:-2.18 [[ 9.90989592e-01 1.33378307e-01 1.22415351e-02 1.50195509e+02] [-1.33363074e-01 9.91065116e-01 -2.05598629e-03 -1.87139783e+01] [-1.24063824e-02 4.04892255e-04 9.99922956e-01 -2.18066206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.22, Y:-18.72, Z:-2.18 [[ 9.91212635e-01 1.31634823e-01 1.30302092e-02 1.50223669e+02] [-1.31617423e-01 9.91298173e-01 -2.18779383e-03 -1.87224488e+01] [-1.32048124e-02 4.53566342e-04 9.99912710e-01 -2.18039112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.25, Y:-18.73, Z:-2.18 [[ 9.91307062e-01 1.30956856e-01 1.26732182e-02 1.50252588e+02] [-1.30940343e-01 9.91387966e-01 -2.12770805e-03 -1.87292545e+01] [-1.28427140e-02 4.49776480e-04 9.99917428e-01 -2.18097624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.28, Y:-18.74, Z:-2.18 [[ 9.91397096e-01 1.30408552e-01 1.11985226e-02 1.50280454e+02] [-1.30395626e-01 9.91460260e-01 -1.87987412e-03 -1.87403825e+01] [-1.13480418e-02 4.03463372e-04 9.99935528e-01 -2.18173577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.31, Y:-18.75, Z:-2.18 [[ 9.91331997e-01 1.30942728e-01 1.07179433e-02 1.50309335e+02] [-1.30930920e-01 9.91389861e-01 -1.79908106e-03 -1.87488301e+01] [-1.08612369e-02 3.80176445e-04 9.99940943e-01 -2.18253061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.34, Y:-18.76, Z:-2.18 [[ 9.91222572e-01 1.31762600e-01 1.07902315e-02 1.50338625e+02] [-1.31750682e-01 9.91281230e-01 -1.81111084e-03 -1.87564163e+01] [-1.09347906e-02 3.73593591e-04 9.99940144e-01 -2.18243808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.37, Y:-18.77, Z:-2.18 [[ 9.90805929e-01 1.34835939e-01 1.10851316e-02 1.50367321e+02] [-1.34823556e-01 9.90867876e-01 -1.86034566e-03 -1.87655427e+01] [-1.12347423e-02 3.48704648e-04 9.99936827e-01 -2.18189745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.40, Y:-18.78, Z:-2.18 [[ 9.90472977e-01 1.37251879e-01 1.11894770e-02 1.50395262e+02] [-1.37239419e-01 9.90536126e-01 -1.87757679e-03 -1.87753619e+01] [-1.13412821e-02 3.24051755e-04 9.99935633e-01 -2.18312485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.43, Y:-18.78, Z:-2.18 [[ 9.90474494e-01 1.37240928e-01 1.11894981e-02 1.50425017e+02] [-1.37228468e-01 9.90537643e-01 -1.87745100e-03 -1.87803141e+01] [-1.13412822e-02 3.24049650e-04 9.99935633e-01 -2.18351319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.45, Y:-18.79, Z:-2.18 [[ 9.90351384e-01 1.38127259e-01 1.11802288e-02 1.50454359e+02] [-1.38114878e-01 9.90414440e-01 -1.87575154e-03 -1.87883738e+01] [-1.13321525e-02 3.13497196e-04 9.99935740e-01 -2.18474150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.48, Y:-18.80, Z:-2.19 [[ 9.89999057e-01 1.40647712e-01 1.09584382e-02 1.50483059e+02] [-1.40635971e-01 9.90059667e-01 -1.83856086e-03 -1.87983248e+01] [-1.11080970e-02 2.79022921e-04 9.99938264e-01 -2.18508938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.51, Y:-18.81, Z:-2.19 [[ 9.89711794e-01 1.42657984e-01 1.09208485e-02 1.50511708e+02] [-1.42646448e-01 9.89772011e-01 -1.83212871e-03 -1.88050310e+01] [-1.10705180e-02 2.55459143e-04 9.99938687e-01 -2.18545606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.54, Y:-18.81, Z:-2.18 [[ 9.88875560e-01 1.48394016e-01 1.02147959e-02 1.50541024e+02] [-1.48384230e-01 9.88928301e-01 -1.71354272e-03 -1.88125203e+01] [-1.03559803e-02 1.78765894e-04 9.99946359e-01 -2.18477708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.57, Y:-18.82, Z:-2.19 [[ 9.88444242e-01 1.51256135e-01 9.97811155e-03 1.50570609e+02] [-1.51246943e-01 9.88494593e-01 -1.67387163e-03 -1.88173795e+01] [-1.01164927e-02 1.45369908e-04 9.99948816e-01 -2.18530559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.365769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.60, Y:-18.82, Z:-2.19 [[ 9.87646397e-01 1.56351494e-01 1.04309415e-02 1.50598330e+02] [-1.56341733e-01 9.87701474e-01 -1.74975548e-03 -1.88235536e+01] [-1.05762331e-02 9.73482290e-05 9.99944065e-01 -2.18673905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.395769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.63, Y:-18.83, Z:-2.19 [[ 9.87291766e-01 1.58530640e-01 1.10907811e-02 1.50625999e+02] [-1.58519747e-01 9.87354055e-01 -1.85999759e-03 -1.88304732e+01] [-1.12453943e-02 7.82524786e-05 9.99936765e-01 -2.18691364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.425769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.65, Y:-18.84, Z:-2.19 [[ 9.86965966e-01 1.60493479e-01 1.18332362e-02 1.50654184e+02] [-1.60481223e-01 9.87036899e-01 -1.98422351e-03 -1.88393070e+01] [-1.19982957e-02 5.93488482e-05 9.99928016e-01 -2.18706920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.455769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:150.68, Y:-18.84, Z:-2.19 [[ 9.86920746e-01 1.60787655e-01 1.16090841e-02 1.50683116e+02] [-1.60775883e-01 9.86989021e-01 -1.94635138e-03 -1.88448045e+01] [-1.17709878e-02 5.44338118e-05 9.99930718e-01 -2.18743941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.485769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.71, Y:-18.85, Z:-2.19 [[ 9.86892270e-01 1.60966900e-01 1.15457444e-02 1.50711077e+02] [-1.60955270e-01 9.86959804e-01 -1.93562022e-03 -1.88504787e+01] [-1.17067565e-02 5.19002169e-05 9.99931472e-01 -2.18931933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.515769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.74, Y:-18.86, Z:-2.19 [[ 9.86880732e-01 1.61059445e-01 1.12372752e-02 1.50740425e+02] [-1.61048439e-01 9.86944706e-01 -1.88352132e-03 -1.88571038e+01] [-1.13939281e-02 4.90652789e-05 9.99935086e-01 -2.18994871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.545769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.77, Y:-18.87, Z:-2.19 [[ 9.87021795e-01 1.60218384e-01 1.08648879e-02 1.50768938e+02] [-1.60208046e-01 9.87081590e-01 -1.82087070e-03 -1.88678786e+01] [-1.10162678e-02 5.65966052e-05 9.99939317e-01 -2.19068569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.80, Y:-18.88, Z:-2.19 [[ 9.87126811e-01 1.59601238e-01 1.03972543e-02 1.50798205e+02] [-1.59591740e-01 9.87181564e-01 -1.74228027e-03 -1.88753393e+01] [-1.05420478e-02 6.05356723e-05 9.99944429e-01 -2.19099473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.83, Y:-18.88, Z:-2.19 [[ 9.86961413e-01 1.60713886e-01 8.84401178e-03 1.50828157e+02] [-1.60707060e-01 9.87001036e-01 -1.48176110e-03 -1.88839856e+01] [-8.96718837e-03 4.11459023e-05 9.99959793e-01 -2.19051798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.86, Y:-18.89, Z:-2.19 [[ 9.86603962e-01 1.62901737e-01 8.69753071e-03 1.50857521e+02] [-1.62895220e-01 9.86642298e-01 -1.45721908e-03 -1.88906112e+01] [-8.81873520e-03 2.09119349e-05 9.99961114e-01 -2.19120728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.89, Y:-18.90, Z:-2.19 [[ 9.85709931e-01 1.68261298e-01 8.00417260e-03 1.50886334e+02] [-1.68255955e-01 9.85742428e-01 -1.34110744e-03 -1.88965570e+01] [-8.11570902e-03 -2.48067911e-05 9.99967067e-01 -2.19144964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.91, Y:-18.90, Z:-2.19 [[ 9.85309486e-01 1.70591522e-01 7.98433153e-03 1.50914724e+02] [-1.70586282e-01 9.85341834e-01 -1.33783464e-03 -1.89013390e+01] [-8.09551912e-03 -4.38362687e-05 9.99967230e-01 -2.19275008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.94, Y:-18.91, Z:-2.19 [[ 9.84895182e-01 1.72995009e-01 7.36252353e-03 1.50942525e+02] [-1.72990622e-01 9.84922699e-01 -1.23342641e-03 -1.89059161e+01] [-7.46489316e-03 -5.88517952e-05 9.99972136e-01 -2.19399043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:-18.91, Z:-2.19 [[ 9.84788769e-01 1.73556695e-01 8.31590136e-03 1.50971984e+02] [-1.73551123e-01 9.84823877e-01 -1.39247599e-03 -1.89105665e+01] [-8.43137175e-03 -7.19393100e-05 9.99964453e-01 -2.19316721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.00, Y:-18.91, Z:-2.19 [[ 9.84737296e-01 1.73811687e-01 9.05294505e-03 1.51002056e+02] [-1.73805098e-01 9.84778905e-01 -1.51556876e-03 -1.89148872e+01] [-9.17857287e-03 -8.10109134e-05 9.99957873e-01 -2.19267763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.03, Y:-18.92, Z:-2.19 [[ 9.84578687e-01 1.74618220e-01 1.06436386e-02 1.51031245e+02] [-1.74609159e-01 9.84636210e-01 -1.78189417e-03 -1.89182970e+01] [-1.07912632e-02 -1.04061760e-04 9.99941767e-01 -2.19249099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:-18.92, Z:-2.19 [[ 9.84536317e-01 1.74792754e-01 1.16505035e-02 1.51061298e+02] [-1.74781912e-01 9.84605240e-01 -1.95029008e-03 -1.89225243e+01] [-1.18120434e-02 -1.16165861e-04 9.99930229e-01 -2.19268752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.09, Y:-18.93, Z:-2.19 [[ 9.84552634e-01 1.74565547e-01 1.35270136e-02 1.51090914e+02] [-1.74550909e-01 9.84645547e-01 -2.26440733e-03 -1.89251918e+01] [-1.37146012e-02 -1.31724313e-04 9.99905942e-01 -2.19225845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.12, Y:-18.93, Z:-2.19 [[ 9.84485708e-01 1.74904275e-01 1.40137573e-02 1.51119432e+02] [-1.74888603e-01 9.84585433e-01 -2.34568622e-03 -1.89288467e+01] [-1.42080119e-02 -1.41551874e-04 9.99899051e-01 -2.19221608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.15, Y:-18.93, Z:-2.19 [[ 9.84361993e-01 1.75618619e-01 1.37683732e-02 1.51149303e+02] [-1.75603567e-01 9.84458266e-01 -2.30416040e-03 -1.89321044e+01] [-1.39590423e-02 -1.49647516e-04 9.99902557e-01 -2.19183497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.18, Y:-18.94, Z:-2.19 [[ 9.84345933e-01 1.75748685e-01 1.32470313e-02 1.51178298e+02] [-1.75734766e-01 9.84435055e-01 -2.21661717e-03 -1.89361773e+01] [-1.34304095e-02 -1.46045849e-04 9.99909797e-01 -2.19309095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.21, Y:-18.94, Z:-2.19 [[ 9.84458076e-01 1.75203840e-01 1.20793491e-02 1.51206390e+02] [-1.75192229e-01 9.84532172e-01 -2.02098014e-03 -1.89391988e+01] [-1.22465913e-02 -1.26637876e-04 9.99925000e-01 -2.19486707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.025769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.24, Y:-18.94, Z:-2.20 [[ 9.84603416e-01 1.74423108e-01 1.15192626e-02 1.51235984e+02] [-1.74412501e-01 9.84670791e-01 -1.92687597e-03 -1.89431581e+01] [-1.16787731e-02 -1.11894726e-04 9.99931795e-01 -2.19588889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.26, Y:-18.95, Z:-2.20 [[ 9.84961033e-01 1.72410093e-01 1.12482696e-02 1.51264516e+02] [-1.72399850e-01 9.85025255e-01 -1.88130832e-03 -1.89476160e+01] [-1.14041862e-02 -8.61846014e-05 9.99934966e-01 -2.19644075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.29, Y:-18.95, Z:-2.20 [[ 9.85095549e-01 1.71658569e-01 1.09587895e-02 1.51293862e+02] [-1.71648804e-01 9.85156500e-01 -1.83250359e-03 -1.89523516e+01] [-1.11106877e-02 -7.58719834e-05 9.99938272e-01 -2.19642796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:-18.96, Z:-2.20 [[ 9.85183507e-01 1.71298288e-01 8.38775912e-03 1.51321768e+02] [-1.71292555e-01 9.85219211e-01 -1.40250425e-03 -1.89561558e+01] [-8.50402800e-03 -5.50366419e-05 9.99963839e-01 -2.19894153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.145769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.35, Y:-18.96, Z:-2.20 [[ 9.85176735e-01 1.71386509e-01 7.31200514e-03 1.51350788e+02] [-1.71382157e-01 9.85203868e-01 -1.22236837e-03 -1.89609984e+01] [-7.41331319e-03 -4.88983305e-05 9.99972520e-01 -2.20065009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.175769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.38, Y:-18.97, Z:-2.20 [[ 9.85145229e-01 1.71582856e-01 6.94276020e-03 1.51379098e+02] [-1.71578938e-01 9.85169692e-01 -1.16055688e-03 -1.89659473e+01] [-7.03892859e-03 -4.79143519e-05 9.99975225e-01 -2.20065436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:-18.97, Z:-2.20 [[ 9.85230000e-01 1.71017169e-01 8.65883269e-03 1.51407884e+02] [-1.71011057e-01 9.85268047e-01 -1.44694280e-03 -1.89709423e+01] [-8.77872323e-03 -5.51846758e-05 9.99961465e-01 -2.19958139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:-18.98, Z:-2.20 [[ 9.85501333e-01 1.69436758e-01 8.84916157e-03 1.51437534e+02] [-1.69430313e-01 9.85541061e-01 -1.47843444e-03 -1.89756865e+01] [-8.97171322e-03 -4.23170950e-05 9.99959752e-01 -2.19950170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.47, Y:-18.98, Z:-2.20 [[ 9.85599354e-01 1.68925788e-01 7.61521183e-03 1.51467050e+02] [-1.68921000e-01 9.85628772e-01 -1.27234084e-03 -1.89809154e+01] [-7.72070306e-03 -3.23508857e-05 9.99970194e-01 -2.20045896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.50, Y:-18.99, Z:-2.20 [[ 9.85824530e-01 1.67685152e-01 5.62901334e-03 1.51497425e+02] [-1.67682516e-01 9.85840601e-01 -9.40372587e-04 -1.89865020e+01] [-5.70699641e-03 -1.68447550e-05 9.99983715e-01 -2.20256555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.53, Y:-18.99, Z:-2.20 [[ 9.85967950e-01 1.66810184e-01 6.44703279e-03 1.51525751e+02] [-1.66806706e-01 9.85989028e-01 -1.07726136e-03 -1.89911705e+01] [-6.53640175e-03 -1.32631236e-05 9.99978637e-01 -2.20243521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.355769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.56, Y:-19.00, Z:-2.20 [[ 9.86185719e-01 1.65353618e-01 9.79333151e-03 1.51555241e+02] [-1.65345527e-01 9.86234344e-01 -1.63576299e-03 -1.89957112e+01] [-9.92899921e-03 -6.11745522e-06 9.99950706e-01 -2.20077511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:-19.00, Z:-2.20 [[ 9.86205524e-01 1.65210126e-01 1.02117049e-02 1.51584390e+02] [-1.65201324e-01 9.86258391e-01 -1.70535171e-03 -1.90021463e+01] [-1.03531211e-02 -5.15989903e-06 9.99946405e-01 -2.20030368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.61, Y:-19.01, Z:-2.20 [[ 9.86300982e-01 1.64652581e-01 9.99502421e-03 1.51614317e+02] [-1.64644121e-01 9.86351625e-01 -1.66901571e-03 -1.90084173e+01] [-1.01334161e-02 5.29858306e-07 9.99948656e-01 -2.20166341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.64, Y:-19.02, Z:-2.20 [[ 9.86910594e-01 1.60959500e-01 9.97587222e-03 1.51644475e+02] [-1.60950885e-01 9.86961011e-01 -1.66575045e-03 -1.90170676e+01] [-1.01139153e-02 3.83213078e-05 9.99948852e-01 -2.20355651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.67, Y:-19.03, Z:-2.20 [[ 9.87217949e-01 1.59042317e-01 1.03083392e-02 1.51673570e+02] [-1.59033012e-01 9.87271765e-01 -1.72145239e-03 -1.90253056e+01] [-1.04509160e-02 6.00824642e-05 9.99945386e-01 -2.20421697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.70, Y:-19.04, Z:-2.20 [[ 9.87868081e-01 1.54924527e-01 1.07258889e-02 1.51703590e+02] [-1.54914205e-01 9.87926303e-01 -1.79160156e-03 -1.90393692e+01] [-1.08739508e-02 1.08273453e-04 9.99940871e-01 -2.20342526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.73, Y:-19.05, Z:-2.20 [[ 9.88014849e-01 1.53951493e-01 1.12069508e-02 1.51734105e+02] [-1.53940140e-01 9.88078399e-01 -1.87393931e-03 -1.90484401e+01] [-1.13618417e-02 1.26280300e-04 9.99935444e-01 -2.20349564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.76, Y:-19.06, Z:-2.20 [[ 9.88013905e-01 1.53910111e-01 1.18406292e-02 1.51764710e+02] [-1.53897407e-01 9.88084844e-01 -1.98218067e-03 -1.90565078e+01] [-1.20046239e-02 1.36179935e-04 9.99927933e-01 -2.20319462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:-19.07, Z:-2.20 [[ 9.87659946e-01 1.56177995e-01 1.16732961e-02 1.51796607e+02] [-1.56165781e-01 9.87728921e-01 -1.95621841e-03 -1.90673331e+01] [-1.18355705e-02 1.09109161e-04 9.99929951e-01 -2.20409279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.83, Y:-19.08, Z:-2.21 [[ 9.87044694e-01 1.60185313e-01 9.13445427e-03 1.51827036e+02] [-1.60177992e-01 9.87086958e-01 -1.53223518e-03 -1.90781290e+01] [-9.26194225e-03 4.92460572e-05 9.99957106e-01 -2.20548985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.86, Y:-19.09, Z:-2.21 [[ 9.86609448e-01 1.62886466e-01 8.35446952e-03 1.51858133e+02] [-1.62880433e-01 9.86644819e-01 -1.40206387e-03 -1.90854002e+01] [-8.47127130e-03 2.25098420e-05 9.99964118e-01 -2.20587861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.89, Y:-19.09, Z:-2.21 [[ 9.85811479e-01 1.67640450e-01 8.50926202e-03 1.51887832e+02] [-1.67634356e-01 9.85848203e-01 -1.42954648e-03 -1.90945035e+01] [-8.62849049e-03 -1.71813317e-05 9.99962774e-01 -2.20597684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.92, Y:-19.10, Z:-2.21 [[ 9.85561668e-01 1.69057762e-01 9.36330345e-03 1.51919665e+02] [-1.69050432e-01 9.85606145e-01 -1.57461903e-03 -1.91018615e+01] [-9.49473098e-03 -3.09863322e-05 9.99954924e-01 -2.20581262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.95, Y:-19.11, Z:-2.21 [[ 9.85151387e-01 1.71378563e-01 1.03020707e-02 1.51950185e+02] [-1.71369796e-01 9.85205250e-01 -1.73442012e-03 -1.91081029e+01] [-1.04468966e-02 -5.67973605e-05 9.99945428e-01 -2.20642573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.98, Y:-19.11, Z:-2.21 [[ 9.84907104e-01 1.72826379e-01 9.43609794e-03 1.51982246e+02] [-1.72819078e-01 9.84952303e-01 -1.58985883e-03 -1.91131588e+01] [-9.56887594e-03 -6.48744960e-05 9.99954215e-01 -2.20748294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.01, Y:-19.12, Z:-2.21 [[ 9.84323083e-01 1.76193176e-01 8.00207819e-03 1.52012898e+02] [-1.76188028e-01 9.84355606e-01 -1.34928333e-03 -1.91176255e+01] [-8.11462504e-03 -8.17396462e-05 9.99967073e-01 -2.20830704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:-19.12, Z:-2.21 [[ 9.83362955e-01 1.81461850e-01 8.30034968e-03 1.52043549e+02] [-1.81456482e-01 9.83397977e-01 -1.40154872e-03 -1.91201042e+01] [-8.41687470e-03 -1.27921162e-04 9.99964569e-01 -2.20711778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.07, Y:-19.12, Z:-2.21 [[ 9.82643545e-01 1.85315614e-01 8.35385373e-03 1.52074292e+02] [-1.85310317e-01 9.82679041e-01 -1.41058310e-03 -1.91221968e+01] [-8.47056005e-03 -1.61954901e-04 9.99964111e-01 -2.20735777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:-19.12, Z:-2.21 [[ 9.80890552e-01 1.94425218e-01 7.24983769e-03 1.52104124e+02] [-1.94421475e-01 9.80917321e-01 -1.22435384e-03 -1.91202778e+01] [-7.34953663e-03 -2.08567026e-04 9.99972970e-01 -2.20794131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:-19.12, Z:-2.21 [[ 9.80049325e-01 1.98627454e-01 7.10312554e-03 1.52132591e+02] [-1.98623972e-01 9.80075038e-01 -1.19946635e-03 -1.91215397e+01] [-7.19984297e-03 -2.35314821e-04 9.99974053e-01 -2.20865586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:-19.12, Z:-2.21 [[ 9.79086287e-01 2.03257482e-01 8.74289693e-03 1.52163738e+02] [-2.03252398e-01 9.79125265e-01 -1.47557010e-03 -1.91177118e+01] [-8.86031194e-03 -3.32304313e-04 9.99960691e-01 -2.20884035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:-19.12, Z:-2.21 [[ 9.78925344e-01 2.03988106e-01 9.69659875e-03 1.52192964e+02] [-2.03981891e-01 9.78973294e-01 -1.63625445e-03 -1.91179075e+01] [-9.82648767e-03 -3.76159593e-04 9.99951648e-01 -2.20914285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:-19.11, Z:-2.21 [[ 9.78837340e-01 2.04297538e-01 1.18311872e-02 1.52221479e+02] [-2.04288311e-01 9.78908730e-01 -1.99612127e-03 -1.91141567e+01] [-1.19894551e-02 -4.63095203e-04 9.99928017e-01 -2.20812930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:-19.11, Z:-2.21 [[ 9.78794432e-01 2.04447168e-01 1.27598935e-02 1.52249616e+02] [-2.04436459e-01 9.78877471e-01 -2.15198668e-03 -1.91135332e+01] [-1.29303399e-02 -5.02234869e-04 9.99916274e-01 -2.20717620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:-19.12, Z:-2.21 [[ 9.78814867e-01 2.04349305e-01 1.27600181e-02 1.52277741e+02] [-2.04338597e-01 9.78897906e-01 -2.15124784e-03 -1.91181113e+01] [-1.29303610e-02 -5.01690827e-04 9.99916274e-01 -2.20754301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:-19.11, Z:-2.21 [[ 9.78812174e-01 2.04311112e-01 1.35535036e-02 1.52306304e+02] [-2.04299047e-01 9.78905861e-01 -2.28355652e-03 -1.91104751e+01] [-1.37341601e-02 -5.33794952e-04 9.99905539e-01 -2.20753129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.34, Y:-19.10, Z:-2.21 [[ 9.79123931e-01 2.02881272e-01 1.24706867e-02 1.52336356e+02] [-2.02870956e-01 9.79203230e-01 -2.10003065e-03 -1.91031609e+01] [-1.26373936e-02 -4.73749867e-04 9.99920033e-01 -2.20958655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.165769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.37, Y:-19.10, Z:-2.21 [[ 9.79353021e-01 2.01809285e-01 1.18605215e-02 1.52365294e+02] [-2.01799883e-01 9.79424740e-01 -1.99668147e-03 -1.91019756e+01] [-1.20194370e-02 -4.37995820e-04 9.99927668e-01 -2.20985742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:-19.10, Z:-2.21 [[ 9.80069080e-01 1.98274120e-01 1.23276625e-02 1.52393745e+02] [-1.98263694e-01 9.80146522e-01 -2.07448820e-03 -1.90953292e+01] [-1.24942328e-02 -4.10986154e-04 9.99921860e-01 -2.20928301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:-19.10, Z:-2.21 [[ 9.80668601e-01 1.95278384e-01 1.24678401e-02 1.52422552e+02] [-1.95267489e-01 9.80747781e-01 -2.09711627e-03 -1.90953716e+01] [-1.26373280e-02 -3.77987750e-04 9.99920074e-01 -2.20906293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:-19.09, Z:-2.21 [[ 9.82330418e-01 1.86787451e-01 1.17217038e-02 1.52450767e+02] [-1.86777225e-01 9.82400318e-01 -1.97091329e-03 -1.90932928e+01] [-1.18835474e-02 -2.53259217e-04 9.99929356e-01 -2.21024335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:-19.09, Z:-2.21 [[ 9.84063995e-01 1.77504527e-01 1.04974486e-02 1.52479043e+02] [-1.77495803e-01 9.84119976e-01 -1.76436492e-03 -1.90937068e+01] [-1.06439317e-02 -1.27005079e-04 9.99943344e-01 -2.21131191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.51, Y:-19.10, Z:-2.21 [[ 9.84785993e-01 1.73490945e-01 9.87117110e-03 1.52506849e+02] [-1.73483036e-01 9.84835461e-01 -1.65844665e-03 -1.90969214e+01] [-1.00092048e-02 -7.92657015e-05 9.99949904e-01 -2.21177841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.53, Y:-19.10, Z:-2.21 [[ 9.85699413e-01 1.68256960e-01 9.28772602e-03 1.52533874e+02] [-1.68249732e-01 9.85743169e-01 -1.55977478e-03 -1.91021038e+01] [-9.41775544e-03 -2.51883249e-05 9.99955652e-01 -2.21344199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:-19.11, Z:-2.21 [[ 9.85837314e-01 1.67443614e-01 9.35018804e-03 1.52561574e+02] [-1.67436258e-01 9.85881654e-01 -1.56963245e-03 -1.91077946e+01] [-9.48100378e-03 -1.81582597e-05 9.99955054e-01 -2.21348708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:-19.11, Z:-2.21 [[ 9.85699415e-01 1.68262479e-01 9.18707019e-03 1.52589356e+02] [-1.68255417e-01 9.85742227e-01 -1.54174924e-03 -1.91136706e+01] [-9.31550157e-03 -2.60730036e-05 9.99956609e-01 -2.21305757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:-19.12, Z:-2.21 [[ 9.85583041e-01 1.68964305e-01 8.78251894e-03 1.52617459e+02] [-1.68957885e-01 9.85622170e-01 -1.47318850e-03 -1.91194116e+01] [-8.90516165e-03 -3.19262237e-05 9.99960348e-01 -2.21330735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:-19.13, Z:-2.21 [[ 9.85393744e-01 1.70044223e-01 9.17229369e-03 1.52644350e+02] [-1.70037273e-01 9.85436431e-01 -1.53812270e-03 -1.91287993e+01] [-9.30026124e-03 -4.39753121e-05 9.99956751e-01 -2.21381260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:-19.14, Z:-2.21 [[ 9.85341195e-01 1.70269614e-01 1.05350821e-02 1.52671696e+02] [-1.70260466e-01 9.85397511e-01 -1.76587601e-03 -1.91355710e+01] [-1.06819187e-02 -5.37175965e-05 9.99942945e-01 -2.21370138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:-19.14, Z:-2.21 [[ 9.84797009e-01 1.73237291e-01 1.27942536e-02 1.52699200e+02] [-1.73224060e-01 9.84880109e-01 -2.14355539e-03 -1.91389520e+01] [-1.29721496e-02 -1.05305615e-04 9.99915853e-01 -2.21263175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.73, Y:-19.14, Z:-2.21 [[ 9.84110801e-01 1.77175436e-01 1.16102050e-02 1.52727823e+02] [-1.77164823e-01 9.84179274e-01 -1.94450756e-03 -1.91396565e+01] [-1.17710421e-02 -1.43309012e-04 9.99930709e-01 -2.21397670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.76, Y:-19.14, Z:-2.22 [[ 9.83950768e-01 1.78110912e-01 1.08346184e-02 1.52755337e+02] [-1.78101734e-01 9.84010407e-01 -1.81396750e-03 -1.91424397e+01] [-1.09844647e-02 -1.44809609e-04 9.99939658e-01 -2.21502592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.78, Y:-19.14, Z:-2.22 [[ 9.84124496e-01 1.77206496e-01 9.84042812e-03 1.52783911e+02] [-1.77198885e-01 9.84173685e-01 -1.64698509e-03 -1.91428802e+01] [-9.97654686e-03 -1.22874517e-04 9.99950225e-01 -2.21640149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:-19.14, Z:-2.22 [[ 9.84488672e-01 1.75173577e-01 9.81181892e-03 1.52810708e+02] [-1.75165916e-01 9.84537560e-01 -1.64151522e-03 -1.91449323e+01] [-9.94765435e-03 -1.02643112e-04 9.99950516e-01 -2.21693320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:-19.14, Z:-2.22 [[ 9.85549724e-01 1.68996928e-01 1.14795342e-02 1.52839370e+02] [-1.68986035e-01 9.85616577e-01 -1.91934591e-03 -1.91445748e+01] [-1.16387828e-02 -4.82701308e-05 9.99932266e-01 -2.21608560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.705769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.87, Y:-19.15, Z:-2.22 [[ 9.86153497e-01 1.65399250e-01 1.20153578e-02 1.52867380e+02] [-1.65387061e-01 9.86226692e-01 -2.00800816e-03 -1.91471606e+01] [-1.21819896e-02 -6.98043592e-06 9.99925797e-01 -2.21574480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:-19.15, Z:-2.22 [[ 9.87467944e-01 1.57426709e-01 1.11306322e-02 1.52896110e+02] [-1.57415749e-01 9.87530670e-01 -1.85951694e-03 -1.91507410e+01] [-1.12845783e-02 8.40765671e-05 9.99936324e-01 -2.21601767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:-19.16, Z:-2.22 [[ 9.88013543e-01 1.54019467e-01 1.03557653e-02 1.52923768e+02] [-1.54009797e-01 9.88067807e-01 -1.72965141e-03 -1.91555255e+01] [-1.04985983e-02 1.14029722e-04 9.99944882e-01 -2.21633259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:-19.16, Z:-2.22 [[ 9.88806928e-01 1.48826824e-01 1.05563216e-02 1.52952112e+02] [-1.48816488e-01 9.88863260e-01 -1.76241939e-03 -1.91615552e+01] [-1.07010539e-02 1.71737794e-04 9.99942727e-01 -2.21730265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:-19.17, Z:-2.22 [[ 9.89166065e-01 1.46408117e-01 1.07311835e-02 1.52979454e+02] [-1.46397298e-01 9.89224253e-01 -1.79111105e-03 -1.91701351e+01] [-1.08777802e-02 2.00689998e-04 9.99940815e-01 -2.21787843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.01, Y:-19.18, Z:-2.22 [[ 9.89254729e-01 1.45901823e-01 9.36694163e-03 1.53006478e+02] [-1.45893561e-01 9.89299058e-01 -1.56306184e-03 -1.91773701e+01] [-9.49476010e-03 1.79689854e-04 9.99954908e-01 -2.21821257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:-19.19, Z:-2.22 [[ 9.89307913e-01 1.45696599e-01 6.50803975e-03 1.53034326e+02] [-1.45692608e-01 9.89329311e-01 -1.08575044e-03 -1.91881778e+01] [-6.59678463e-03 1.25968219e-04 9.99978233e-01 -2.21919533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:-19.20, Z:-2.22 [[ 9.89250003e-01 1.46058242e-01 7.17094040e-03 1.53060943e+02] [-1.46053408e-01 9.89275983e-01 -1.19599389e-03 -1.91952630e+01] [-7.26872388e-03 1.35796669e-04 9.99973573e-01 -2.21941079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:-19.20, Z:-2.22 [[ 9.88870905e-01 1.48406465e-01 1.04811367e-02 1.53089091e+02] [-1.48396281e-01 9.88926434e-01 -1.74705208e-03 -1.92047762e+01] [-1.06243470e-02 1.72247260e-04 9.99943545e-01 -2.21917032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:-19.21, Z:-2.22 [[ 9.88674294e-01 1.49734213e-01 1.01393162e-02 1.53117467e+02] [-1.49724757e-01 9.88726273e-01 -1.68960892e-03 -1.92116413e+01] [-1.02780006e-02 1.52366258e-04 9.99947168e-01 -2.21946218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:-19.22, Z:-2.22 [[ 9.88252851e-01 1.52680515e-01 6.70537061e-03 1.53144680e+02] [-1.52676448e-01 9.88275596e-01 -1.11733157e-03 -1.92192509e+01] [-6.79734889e-03 8.04539473e-05 9.99976895e-01 -2.22101888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:-19.23, Z:-2.22 [[ 9.88002282e-01 1.54310034e-01 6.31701904e-03 1.53172607e+02] [-1.54306460e-01 9.88022474e-01 -1.05220018e-03 -1.92250288e+01] [-6.40372182e-03 6.48193282e-05 9.99979494e-01 -2.22135013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:-19.23, Z:-2.22 [[ 9.87449413e-01 1.57672747e-01 9.10836813e-03 1.53199458e+02] [-1.57665466e-01 9.87491418e-01 -1.51646699e-03 -1.92318664e+01] [-9.23354088e-03 6.13593331e-05 9.99957368e-01 -2.22020923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:-19.24, Z:-2.22 [[ 9.87242859e-01 1.58904824e-01 1.00396748e-02 1.53228011e+02] [-1.58896049e-01 9.87293905e-01 -1.67079962e-03 -1.92378224e+01] [-1.01776078e-02 5.42203360e-05 9.99948205e-01 -2.21971321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:-19.24, Z:-2.22 [[ 9.87205858e-01 1.59118457e-01 1.02912496e-02 1.53256558e+02] [-1.59109254e-01 9.87259497e-01 -1.71214828e-03 -1.92438247e+01] [-1.04325683e-02 5.28097611e-05 9.99945578e-01 -2.22169402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.28, Y:-19.25, Z:-2.22 [[ 9.87415023e-01 1.57775650e-01 1.08819082e-02 1.53284446e+02] [-1.57765285e-01 9.87474982e-01 -1.80985055e-03 -1.92488881e+01] [-1.10311624e-02 7.02862718e-05 9.99939152e-01 -2.22232759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.31, Y:-19.26, Z:-2.22 [[ 9.87947594e-01 1.54331563e-01 1.18878259e-02 1.53313293e+02] [-1.54318952e-01 9.88019106e-01 -1.97648070e-03 -1.92580788e+01] [-1.20504325e-02 1.18142516e-04 9.99927384e-01 -2.22206649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:-19.27, Z:-2.22 [[ 9.88231448e-01 1.52643008e-01 9.93570809e-03 1.53341988e+02] [-1.52634116e-01 9.88281386e-01 -1.65162055e-03 -1.92670508e+01] [-1.00713837e-02 1.15655344e-04 9.99949276e-01 -2.22123139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.245769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.37, Y:-19.27, Z:-2.22 [[ 9.88127921e-01 1.53375259e-01 8.90180317e-03 1.53371608e+02] [-1.53368149e-01 9.88168012e-01 -1.47998474e-03 -1.92717521e+01] [-9.02347018e-03 9.71611705e-05 9.99959283e-01 -2.22190918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.275769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.40, Y:-19.28, Z:-2.22 [[ 9.87594301e-01 1.56757855e-01 9.19088294e-03 1.53398988e+02] [-1.56750423e-01 9.87637064e-01 -1.52793997e-03 -1.92758694e+01] [-9.31677323e-03 6.83100215e-05 9.99956596e-01 -2.22353286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.305769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.43, Y:-19.28, Z:-2.22 [[ 9.87326210e-01 1.58400696e-01 9.80683949e-03 1.53427660e+02] [-1.58392323e-01 9.87374912e-01 -1.62967203e-03 -1.92816804e+01] [-9.94116846e-03 5.56898276e-05 9.99950584e-01 -2.22358866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:-19.29, Z:-2.22 [[ 9.86911130e-01 1.61037297e-01 8.56793832e-03 1.53455058e+02] [-1.61031007e-01 9.86948321e-01 -1.42350685e-03 -1.92858446e+01] [-8.68535003e-03 2.51710203e-05 9.99962281e-01 -2.22416784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:-19.29, Z:-2.23 [[ 9.86846547e-01 1.61484710e-01 7.52205513e-03 1.53483797e+02] [-1.61479879e-01 9.86875214e-01 -1.24931494e-03 -1.92900893e+01] [-7.62507502e-03 1.82215892e-05 9.99970929e-01 -2.22575564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:-19.30, Z:-2.23 [[ 9.86940308e-01 1.60945094e-01 6.74579733e-03 1.53511868e+02] [-1.60941197e-01 9.86963361e-01 -1.12013179e-03 -1.92954458e+01] [-6.83813452e-03 1.98265112e-05 9.99976619e-01 -2.22664172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.425769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.54, Y:-19.31, Z:-2.23 [[ 9.87402761e-01 1.58057915e-01 7.31317763e-03 1.53540068e+02] [-1.58053260e-01 9.87429842e-01 -1.21381322e-03 -1.93065340e+01] [-7.41310263e-03 4.26509608e-05 9.99972522e-01 -2.22706550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:-19.32, Z:-2.23 [[ 9.88075361e-01 1.53739555e-01 8.43981456e-03 1.53567808e+02] [-1.53733200e-01 9.88111402e-01 -1.40049346e-03 -1.93198373e+01] [-8.55478823e-03 8.63133838e-05 9.99963403e-01 -2.22615080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.60, Y:-19.33, Z:-2.23 [[ 9.88339503e-01 1.52009061e-01 8.84716536e-03 1.53597418e+02] [-1.52002010e-01 9.88379094e-01 -1.46792357e-03 -1.93283795e+01] [-8.96749097e-03 1.06019936e-04 9.99959786e-01 -2.22643754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:-19.34, Z:-2.23 [[ 9.88473179e-01 1.51088441e-01 9.64666950e-03 1.53626370e+02] [-1.51080014e-01 9.88520241e-01 -1.60054059e-03 -1.93415191e+01] [-9.77775124e-03 1.24672473e-04 9.99952189e-01 -2.22667141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.66, Y:-19.35, Z:-2.23 [[ 9.88343609e-01 1.51916645e-01 9.91175414e-03 1.53656904e+02] [-1.51907790e-01 9.88393302e-01 -1.64461232e-03 -1.93514076e+01] [-1.00465554e-02 1.19769411e-04 9.99949525e-01 -2.22708327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.69, Y:-19.37, Z:-2.23 [[ 9.87701794e-01 1.56106766e-01 8.70883873e-03 1.53686764e+02] [-1.56100091e-01 9.87740185e-01 -1.44519279e-03 -1.93652083e+01] [-8.82767435e-03 6.79690000e-05 9.99961033e-01 -2.22736881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.605769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.72, Y:-19.38, Z:-2.23 [[ 9.86783818e-01 1.61928978e-01 6.05836082e-03 1.53716312e+02] [-1.61925857e-01 9.86802415e-01 -1.00540839e-03 -1.93770777e+01] [-6.14120984e-03 1.11154628e-05 9.99981143e-01 -2.22738279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:-19.38, Z:-2.23 [[ 9.86264477e-01 1.65087824e-01 5.32848174e-03 1.53747044e+02] [-1.65085455e-01 9.86278870e-01 -8.84374835e-04 -1.93843380e+01] [-5.40136847e-03 -7.42735020e-06 9.99985412e-01 -2.22727279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:-19.39, Z:-2.23 [[ 9.85753224e-01 1.68102666e-01 5.66342614e-03 1.53776782e+02] [-1.68100038e-01 9.85769493e-01 -9.40212526e-04 -1.93908493e+01] [-5.74088495e-03 -2.52046223e-05 9.99983521e-01 -2.22741744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.81, Y:-19.40, Z:-2.23 [[ 9.84833763e-01 1.73268534e-01 8.97077101e-03 1.53805663e+02] [-1.73262153e-01 9.84874615e-01 -1.48957110e-03 -1.93981035e+01] [-9.09318045e-03 -8.73151865e-05 9.99958652e-01 -2.22701335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.84, Y:-19.41, Z:-2.23 [[ 9.84256828e-01 1.76341425e-01 1.19247266e-02 1.53835775e+02] [-1.76330377e-01 9.84329050e-01 -1.97986377e-03 -1.94055038e+01] [-1.20869868e-02 -1.53997101e-04 9.99926938e-01 -2.22655966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.87, Y:-19.41, Z:-2.23 [[ 9.83993866e-01 1.77730536e-01 1.29586810e-02 1.53865883e+02] [-1.77717610e-01 9.84079175e-01 -2.15153438e-03 -1.94111062e+01] [-1.31347614e-02 -1.85889186e-04 9.99913718e-01 -2.22716726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.90, Y:-19.42, Z:-2.23 [[ 9.83283762e-01 1.81694950e-01 1.18316460e-02 1.53896520e+02] [-1.81684460e-01 9.83354919e-01 -1.96454819e-03 -1.94153457e+01] [-1.19916558e-02 -2.17917876e-04 9.99928074e-01 -2.22792102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.93, Y:-19.42, Z:-2.23 [[ 9.82927479e-01 1.83708799e-01 1.02297179e-02 1.53926861e+02] [-1.83701066e-01 9.82980688e-01 -1.69856112e-03 -1.94184696e+01] [-1.03676558e-02 -2.09647692e-04 9.99946232e-01 -2.22863980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.96, Y:-19.42, Z:-2.23 [[ 9.82389207e-01 1.86701621e-01 7.34509248e-03 1.53956229e+02] [-1.86697717e-01 9.82416650e-01 -1.21977745e-03 -1.94175161e+01] [-7.44367557e-03 -1.73015797e-04 9.99972280e-01 -2.22959861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.98, Y:-19.42, Z:-2.23 [[ 9.82200447e-01 1.87692367e-01 7.33873785e-03 1.53984458e+02] [-1.87688497e-01 9.82227847e-01 -1.21861253e-03 -1.94185912e+01] [-7.43703694e-03 -1.80474912e-04 9.99972329e-01 -2.22979395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.01, Y:-19.42, Z:-2.23 [[ 9.82035149e-01 1.88492224e-01 8.81175697e-03 1.54013522e+02] [-1.88486684e-01 9.82074657e-01 -1.46245380e-03 -1.94170088e+01] [-8.92946437e-03 -2.24717818e-04 9.99960106e-01 -2.22942119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.04, Y:-19.42, Z:-2.23 [[ 9.82107916e-01 1.88087075e-01 9.34304593e-03 1.54042340e+02] [-1.88080834e-01 9.82152329e-01 -1.55017312e-03 -1.94183536e+01] [-9.46786185e-03 -2.34810570e-04 9.99955151e-01 -2.22996116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.07, Y:-19.42, Z:-2.23 [[ 9.82442185e-01 1.86330386e-01 9.39891845e-03 1.54070397e+02] [-1.86323993e-01 9.82487119e-01 -1.55903577e-03 -1.94163603e+01] [-9.52481205e-03 -2.19581507e-04 9.99954614e-01 -2.23034972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.10, Y:-19.42, Z:-2.23 [[ 9.82455944e-01 1.86257823e-01 9.39899777e-03 1.54099349e+02] [-1.86251431e-01 9.82500878e-01 -1.55855741e-03 -1.94210481e+01] [-9.52481707e-03 -2.19362798e-04 9.99954614e-01 -2.23072727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.13, Y:-19.42, Z:-2.23 [[ 9.82785079e-01 1.84550029e-01 8.64729381e-03 1.54128058e+02] [-1.84544559e-01 9.82823103e-01 -1.43321249e-03 -1.94224744e+01] [-8.76325954e-03 -1.87271178e-04 9.99961584e-01 -2.23098706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.055769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.16, Y:-19.42, Z:-2.23 [[ 9.83488800e-01 1.80789554e-01 8.05708292e-03 1.54157657e+02] [-1.80784682e-01 9.83521793e-01 -1.33500184e-03 -1.94207880e+01] [-8.16567102e-03 -1.43637810e-04 9.99966650e-01 -2.23180388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.085769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.19, Y:-19.42, Z:-2.23 [[ 9.83716547e-01 1.79542947e-01 8.12929369e-03 1.54185231e+02] [-1.79537946e-01 9.83750127e-01 -1.34677873e-03 -1.94217054e+01] [-8.23899832e-03 -1.34668169e-04 9.99966050e-01 -2.23206750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.115769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.21, Y:-19.42, Z:-2.23 [[ 9.84115492e-01 1.77323126e-01 8.55609405e-03 1.54214303e+02] [-1.77317508e-01 9.84152678e-01 -1.41693767e-03 -1.94192109e+01] [-8.67175869e-03 -1.22714962e-04 9.99962392e-01 -2.23109652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:-19.42, Z:-2.23 [[ 9.84648383e-01 1.74328519e-01 8.78237292e-03 1.54243816e+02] [-1.74322486e-01 9.84687543e-01 -1.45377983e-03 -1.94188410e+01] [-8.90132850e-03 -9.95031255e-05 9.99960377e-01 -2.23138262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.175769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.27, Y:-19.42, Z:-2.23 [[ 9.84906374e-01 1.72880261e-01 8.47645443e-03 1.54272268e+02] [-1.72874590e-01 9.84942845e-01 -1.40277115e-03 -1.94225149e+01] [-8.59133459e-03 -8.37653362e-05 9.99963090e-01 -2.23225172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.205769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.30, Y:-19.42, Z:-2.23 [[ 9.85575253e-01 1.69069712e-01 7.54009315e-03 1.54301132e+02] [-1.69065116e-01 9.85604094e-01 -1.24754327e-03 -1.94240228e+01] [-7.64246846e-03 -4.52189494e-05 9.99970795e-01 -2.23364772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:-19.43, Z:-2.23 [[ 9.86010764e-01 1.66500409e-01 7.77089905e-03 1.54329238e+02] [-1.66495449e-01 9.86041385e-01 -1.28540057e-03 -1.94268627e+01] [-7.87644779e-03 -2.64005280e-05 9.99968980e-01 -2.23430094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.36, Y:-19.43, Z:-2.23 [[ 9.87093004e-01 1.59896486e-01 8.97304209e-03 1.54357393e+02] [-1.59889606e-01 9.87133787e-01 -1.48355499e-03 -1.94308092e+01] [-9.09480824e-03 2.97105869e-05 9.99958641e-01 -2.23395100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.39, Y:-19.44, Z:-2.23 [[ 9.87560250e-01 1.56955012e-01 9.48032005e-03 1.54385426e+02] [-1.56947201e-01 9.87605752e-01 -1.56694317e-03 -1.94359294e+01] [-9.60875819e-03 5.95410931e-05 9.99953833e-01 -2.23404277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.325769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.41, Y:-19.44, Z:-2.23 [[ 9.88211255e-01 1.52773810e-01 9.93372044e-03 1.54414721e+02] [-1.52765029e-01 9.88261176e-01 -1.64132559e-03 -1.94423184e+01] [-1.00678618e-02 1.04451335e-04 9.99949312e-01 -2.23395267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.355769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.44, Y:-19.45, Z:-2.23 [[ 9.88685754e-01 1.49632259e-01 1.05198256e-02 1.54441798e+02] [-1.49622236e-01 9.88741709e-01 -1.73789143e-03 -1.94512639e+01] [-1.06614350e-02 1.44228675e-04 9.99943155e-01 -2.23425507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.47, Y:-19.46, Z:-2.23 [[ 9.88922901e-01 1.48053151e-01 1.05716962e-02 1.54470616e+02] [-1.48042941e-01 9.88979392e-01 -1.74620055e-03 -1.94584826e+01] [-1.07137202e-02 1.61792708e-04 9.99942593e-01 -2.23467758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.50, Y:-19.47, Z:-2.24 [[ 9.89107356e-01 1.46830273e-01 1.03686415e-02 1.54499825e+02] [-1.46820388e-01 9.89161686e-01 -1.71236473e-03 -1.94657782e+01] [-1.05076898e-02 1.71384594e-04 9.99944778e-01 -2.23535984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:-19.48, Z:-2.24 [[ 9.89440905e-01 1.44653708e-01 9.05544104e-03 1.54529623e+02] [-1.44646078e-01 9.89482327e-01 -1.49540178e-03 -1.94758478e+01] [-9.17651429e-03 1.69777659e-04 9.99957880e-01 -2.23669063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.56, Y:-19.48, Z:-2.24 [[ 9.89598820e-01 1.43593522e-01 8.66465741e-03 1.54559230e+02] [-1.43586493e-01 9.89636737e-01 -1.43111885e-03 -1.94842205e+01] [-8.78036268e-03 1.72105750e-04 9.99961437e-01 -2.23697393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:-19.50, Z:-2.24 [[ 9.89753748e-01 1.42450286e-01 9.76902032e-03 1.54588684e+02] [-1.42441295e-01 9.89801937e-01 -1.61362833e-03 -1.94954975e+01] [-9.89925705e-03 2.05582787e-04 9.99950980e-01 -2.23645472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.62, Y:-19.50, Z:-2.24 [[ 9.89717957e-01 1.42641358e-01 1.05740029e-02 1.54618518e+02] [-1.42630831e-01 9.89774416e-01 -1.74687431e-03 -1.95045277e+01] [-1.07150541e-02 2.20734045e-04 9.99942568e-01 -2.23645512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.65, Y:-19.51, Z:-2.24 [[ 9.89591660e-01 1.43523340e-01 1.04592965e-02 1.54649740e+02] [-1.43513091e-01 9.89646910e-01 -1.72783258e-03 -1.95117095e+01] [-1.05989948e-02 2.08802741e-04 9.99943807e-01 -2.23690088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:-19.52, Z:-2.24 [[ 9.89250712e-01 1.45908739e-01 9.67823613e-03 1.54679181e+02] [-1.45900060e-01 9.89298039e-01 -1.60057038e-03 -1.95217649e+01] [-9.80819723e-03 1.71310159e-04 9.99951884e-01 -2.23805873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:-19.53, Z:-2.24 [[ 9.89073472e-01 1.47191238e-01 8.27086252e-03 1.54710833e+02] [-1.47184942e-01 9.89108043e-01 -1.36812553e-03 -1.95298295e+01] [-8.38215273e-03 1.35830241e-04 9.99964860e-01 -2.23932482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:-19.54, Z:-2.24 [[ 9.88729520e-01 1.49575633e-01 6.40829979e-03 1.54740874e+02] [-1.49571900e-01 9.88750283e-01 -1.06071504e-03 -1.95382925e+01] [-6.49486535e-03 9.02587019e-05 9.99978904e-01 -2.24105160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.77, Y:-19.54, Z:-2.24 [[ 9.88510088e-01 1.51008752e-01 6.64544953e-03 1.54770306e+02] [-1.51004756e-01 9.88532422e-01 -1.10197096e-03 -1.95445959e+01] [-6.73564958e-03 8.58149263e-05 9.99977312e-01 -2.24053176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.80, Y:-19.55, Z:-2.24 [[ 9.87999308e-01 1.54229458e-01 8.40490185e-03 1.54800756e+02] [-1.54223181e-01 9.88035054e-01 -1.39381907e-03 -1.95517345e+01] [-8.51930561e-03 8.08615779e-05 9.99963707e-01 -2.23869219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.83, Y:-19.56, Z:-2.24 [[ 9.87675196e-01 1.56266337e-01 8.86228352e-03 1.54830308e+02] [-1.56259437e-01 9.87714953e-01 -1.46994441e-03 -1.95571193e+01] [-8.98311278e-03 6.70121963e-05 9.99959649e-01 -2.23891231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.86, Y:-19.56, Z:-2.24 [[ 9.87297622e-01 1.58618221e-01 9.14686323e-03 1.54861155e+02] [-1.58610972e-01 9.87339991e-01 -1.51721764e-03 -1.95621693e+01] [-9.27172222e-03 4.71525093e-05 9.99957016e-01 -2.23958028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.89, Y:-19.57, Z:-2.24 [[ 9.86469995e-01 1.63582439e-01 1.08505853e-02 1.54892394e+02] [-1.63572534e-01 9.86529668e-01 -1.80013333e-03 -1.95666936e+01] [-1.09988945e-02 9.19774193e-07 9.99939510e-01 -2.24007868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.92, Y:-19.57, Z:-2.24 [[ 9.85849487e-01 1.67165371e-01 1.25111297e-02 1.54922569e+02] [-1.67152486e-01 9.85928870e-01 -2.07597984e-03 -1.95711794e+01] [-1.26821159e-02 -4.46627788e-05 9.99919578e-01 -2.23979394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.95, Y:-19.58, Z:-2.24 [[ 9.85519343e-01 1.69081780e-01 1.27661959e-02 1.54953563e+02] [-1.69068523e-01 9.85602022e-01 -2.11846345e-03 -1.95752340e+01] [-1.29405821e-02 -7.05751810e-05 9.99916265e-01 -2.23880976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.98, Y:-19.58, Z:-2.24 [[ 9.85107931e-01 1.71467375e-01 1.27005631e-02 1.54983447e+02] [-1.71454448e-01 9.85189793e-01 -2.10787778e-03 -1.95787182e+01] [-1.28738974e-02 -1.01080910e-04 9.99917123e-01 -2.23911244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.01, Y:-19.58, Z:-2.24 [[ 9.84336073e-01 1.75910762e-01 1.17430485e-02 1.55014250e+02] [-1.75900025e-01 9.84406106e-01 -1.94910295e-03 -1.95797051e+01] [-1.19027968e-02 -1.47030170e-04 9.99929148e-01 -2.24006436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.04, Y:-19.58, Z:-2.24 [[ 9.83768654e-01 1.79151614e-01 1.01948220e-02 1.55044010e+02] [-1.79143695e-01 9.83821464e-01 -1.69215923e-03 -1.95812276e+01] [-1.03330377e-02 -1.61644872e-04 9.99946600e-01 -2.24184398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:-19.58, Z:-2.24 [[ 9.83498739e-01 1.80663657e-01 9.53273011e-03 1.55073058e+02] [-1.80656805e-01 9.83544923e-01 -1.58219788e-03 -1.95844670e+01] [-9.66171396e-03 -1.66062942e-04 9.99953311e-01 -2.24220302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:-19.58, Z:-2.24 [[ 9.82951862e-01 1.83619231e-01 9.46654868e-03 1.55101891e+02] [-1.83612612e-01 9.82997427e-01 -1.57106765e-03 -1.95847468e+01] [-9.59407122e-03 -1.93893857e-04 9.99953957e-01 -2.24279769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.13, Y:-19.59, Z:-2.24 [[ 9.82714138e-01 1.84898839e-01 9.23803827e-03 1.55130052e+02] [-1.84892596e-01 9.82757538e-01 -1.53275539e-03 -1.95871155e+01] [-9.36215644e-03 -2.01784486e-04 9.99956154e-01 -2.24325044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.16, Y:-19.59, Z:-2.24 [[ 9.82242399e-01 1.87375595e-01 9.50031238e-03 1.55159347e+02] [-1.87369115e-01 9.82288314e-01 -1.57564494e-03 -1.95879663e+01] [-9.62728324e-03 -2.32399855e-04 9.99953630e-01 -2.24355105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.105769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.19, Y:-19.59, Z:-2.24 [[ 9.82008626e-01 1.88578754e-01 9.85457503e-03 1.55187923e+02] [-1.88571846e-01 9.82058038e-01 -1.63392132e-03 -1.95895958e+01] [-9.98588747e-03 -2.53770572e-04 9.99950108e-01 -2.24348960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.22, Y:-19.59, Z:-2.24 [[ 9.81670322e-01 1.90357652e-01 9.34574451e-03 1.55217458e+02] [-1.90351523e-01 9.81714774e-01 -1.54916051e-03 -1.95895782e+01] [-9.46975001e-03 -2.58211801e-04 9.99955128e-01 -2.24443980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.165769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.25, Y:-19.59, Z:-2.25 [[ 9.81686762e-01 1.90304466e-01 8.67816425e-03 1.55245557e+02] [-1.90299183e-01 9.81725090e-01 -1.43817101e-03 -1.95927701e+01] [-8.79326195e-03 -2.39614119e-04 9.99961310e-01 -2.24505411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.27, Y:-19.59, Z:-2.25 [[ 9.82162333e-01 1.87820805e-01 8.97196083e-03 1.55273722e+02] [-1.87815060e-01 9.82203286e-01 -1.48628342e-03 -1.95946011e+01] [-9.09144436e-03 -2.25297764e-04 9.99958647e-01 -2.24607154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.30, Y:-19.60, Z:-2.25 [[ 9.82518004e-01 1.85920210e-01 9.59410446e-03 1.55302538e+02] [-1.85913555e-01 9.82564820e-01 -1.58868215e-03 -1.95968525e+01] [-9.72219764e-03 -2.22765258e-04 9.99952714e-01 -2.24655478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.33, Y:-19.60, Z:-2.25 [[ 9.83057120e-01 1.83077590e-01 9.01632961e-03 1.55331171e+02] [-1.83071597e-01 9.83098450e-01 -1.49257566e-03 -1.95982043e+01] [-9.13719682e-03 -1.83346729e-04 9.99958238e-01 -2.24699517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.36, Y:-19.60, Z:-2.25 [[ 9.83295837e-01 1.81810512e-01 8.61595956e-03 1.55359292e+02] [-1.81804993e-01 9.83333570e-01 -1.42610738e-03 -1.96016395e+01] [-8.73164359e-03 -1.64139022e-04 9.99961865e-01 -2.24721177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.39, Y:-19.60, Z:-2.25 [[ 9.83733803e-01 1.79429877e-01 8.52786047e-03 1.55388143e+02] [-1.79424385e-01 9.83770755e-01 -1.41097610e-03 -1.96032501e+01] [-8.64263100e-03 -1.42081239e-04 9.99962642e-01 -2.24711365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.42, Y:-19.60, Z:-2.25 [[ 9.83976095e-01 1.78173827e-01 6.71796982e-03 1.55416731e+02] [-1.78170391e-01 9.83999023e-01 -1.11133462e-03 -1.96048548e+01] [-6.80848648e-03 -1.03416615e-04 9.99976817e-01 -2.24758920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.44, Y:-19.61, Z:-2.25 [[ 9.84044813e-01 1.77809827e-01 6.28260708e-03 1.55444637e+02] [-1.77806816e-01 9.84064864e-01 -1.03912254e-03 -1.96085993e+01] [-6.36725909e-03 -9.45472181e-05 9.99979724e-01 -2.24848287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.47, Y:-19.61, Z:-2.25 [[ 9.84196486e-01 1.76875749e-01 8.49979955e-03 1.55473040e+02] [-1.76870210e-01 9.84233181e-01 -1.40498815e-03 -1.96107602e+01] [-8.61429308e-03 -1.20576936e-04 9.99962889e-01 -2.24666503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:-19.61, Z:-2.25 [[ 9.84323653e-01 1.76066715e-01 1.03662008e-02 1.55501354e+02] [-1.76058438e-01 9.84378226e-01 -1.71289492e-03 -1.96129388e+01] [-1.05058462e-02 -1.39014140e-04 9.99944802e-01 -2.24562327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:-19.62, Z:-2.25 [[ 9.84426876e-01 1.75447162e-01 1.10462714e-02 1.55530528e+02] [-1.75437732e-01 9.84488839e-01 -1.82454494e-03 -1.96160671e+01] [-1.11950421e-02 -1.41801730e-04 9.99937323e-01 -2.24645378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:-19.62, Z:-2.25 [[ 9.84659287e-01 1.74186089e-01 1.02613650e-02 1.55558986e+02] [-1.74177888e-01 9.84712746e-01 -1.69445005e-03 -1.96199796e+01] [-1.03996466e-02 -1.18846911e-04 9.99945915e-01 -2.24856594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.59, Y:-19.62, Z:-2.25 [[ 9.84734078e-01 1.73783051e-01 9.91192452e-03 1.55586458e+02] [-1.73775383e-01 9.84783955e-01 -1.63632173e-03 -1.96241626e+01] [-1.00454692e-02 -1.11106710e-04 9.99949537e-01 -2.24855763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:-19.63, Z:-2.25 [[ 9.84803064e-01 1.73364677e-01 1.03736777e-02 1.55613862e+02] [-1.73356261e-01 9.84857693e-01 -1.71188841e-03 -1.96282157e+01] [-1.05133773e-02 -1.12469029e-04 9.99944727e-01 -2.24733001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.64, Y:-19.63, Z:-2.25 [[ 9.84876123e-01 1.72958678e-01 1.02136428e-02 1.55641839e+02] [-1.72950505e-01 9.84929076e-01 -1.68486065e-03 -1.96327853e+01] [-1.03511251e-02 -1.07075659e-04 9.99946420e-01 -2.24859478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.67, Y:-19.64, Z:-2.25 [[ 9.84999618e-01 1.72250960e-01 1.02644267e-02 1.55669292e+02] [-1.72242671e-01 9.85053093e-01 -1.69276418e-03 -1.96376721e+01] [-1.04025855e-02 -1.00600207e-04 9.99945887e-01 -2.24985952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.645769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:155.70, Y:-19.64, Z:-2.25 [[ 9.85195814e-01 1.71106968e-01 1.05647193e-02 1.55697326e+02] [-1.71098129e-01 9.85252453e-01 -1.74159617e-03 -1.96431243e+01] [-1.07069148e-02 -9.17904450e-05 9.99942675e-01 -2.25048472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:-19.65, Z:-2.25 [[ 9.85586356e-01 1.68862215e-01 1.02512079e-02 1.55724118e+02] [-1.68853777e-01 9.85639664e-01 -1.68946377e-03 -1.96503520e+01] [-1.03892837e-02 -6.58427270e-05 9.99946028e-01 -2.25030509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.75, Y:-19.66, Z:-2.25 [[ 9.85868386e-01 1.67211815e-01 1.01850161e-02 1.55752387e+02] [-1.67203403e-01 9.85920994e-01 -1.67791429e-03 -1.96563610e+01] [-1.03221883e-02 -4.87667004e-05 9.99946724e-01 -2.25073280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.78, Y:-19.66, Z:-2.25 [[ 9.86519697e-01 1.63299667e-01 1.05880508e-02 1.55779919e+02] [-1.63290356e-01 9.86576514e-01 -1.74380024e-03 -1.96633588e+01] [-1.07306843e-02 -8.63330487e-06 9.99942425e-01 -2.25173776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.765769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:155.81, Y:-19.67, Z:-2.25 [[ 9.87169387e-01 1.59362338e-01 1.00122946e-02 1.55808530e+02] [-1.59353816e-01 9.87220160e-01 -1.64838020e-03 -1.96693061e+01] [-1.01470288e-02 3.17331167e-05 9.99948517e-01 -2.25195337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.795769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.84, Y:-19.67, Z:-2.25 [[ 9.87463598e-01 1.57551757e-01 9.64812227e-03 1.55835947e+02] [-1.57543762e-01 9.87510730e-01 -1.58800063e-03 -1.96741511e+01] [-9.77781655e-03 4.80913443e-05 9.99952195e-01 -2.25307972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.86, Y:-19.68, Z:-2.25 [[ 9.87929830e-01 1.54699361e-01 7.92207043e-03 1.55862882e+02] [-1.54693880e-01 9.87961590e-01 -1.30370238e-03 -1.96813634e+01] [-8.02838323e-03 6.24706523e-05 9.99967770e-01 -2.25442896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.89, Y:-19.69, Z:-2.25 [[ 9.88140216e-01 1.53342299e-01 8.06552155e-03 1.55892081e+02] [-1.53336578e-01 9.88173130e-01 -1.32668167e-03 -1.96885555e+01] [-8.17356809e-03 7.42080389e-05 9.99966593e-01 -2.25492468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.92, Y:-19.69, Z:-2.26 [[ 9.88152085e-01 1.53265796e-01 8.06551009e-03 1.55921038e+02] [-1.53260072e-01 9.88184998e-01 -1.32675148e-03 -1.96932039e+01] [-8.17356169e-03 7.49115871e-05 9.99966593e-01 -2.25530224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.95, Y:-19.70, Z:-2.25 [[ 9.88596120e-01 1.50304964e-01 9.28063246e-03 1.55949364e+02] [-1.50297265e-01 9.88639674e-01 -1.52555631e-03 -1.97020572e+01] [-9.40450014e-03 1.13305373e-04 9.99955770e-01 -2.25447417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.98, Y:-19.71, Z:-2.25 [[ 9.88831664e-01 1.48699773e-01 1.00158747e-02 1.55977783e+02] [-1.48690726e-01 9.88882378e-01 -1.64605025e-03 -1.97085447e+01] [-1.01492893e-02 1.38398925e-04 9.99948485e-01 -2.25436880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.01, Y:-19.72, Z:-2.25 [[ 9.89125101e-01 1.46645531e-01 1.12526516e-02 1.56006780e+02] [-1.46633977e-01 9.89189090e-01 -1.84947771e-03 -1.97182163e+01] [-1.14022179e-02 1.79343765e-04 9.99934977e-01 -2.25396696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.04, Y:-19.73, Z:-2.25 [[ 9.89168890e-01 1.46326905e-01 1.15474706e-02 1.56036786e+02] [-1.46314717e-01 9.89236272e-01 -1.89790588e-03 -1.97258693e+01] [-1.17008914e-02 1.87784561e-04 9.99931525e-01 -2.25444704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.07, Y:-19.73, Z:-2.26 [[ 9.89161818e-01 1.46425449e-01 1.08851317e-02 1.56066240e+02] [-1.46414622e-01 9.89221692e-01 -1.78931465e-03 -1.97347966e+01] [-1.10298096e-02 1.76179290e-04 9.99939154e-01 -2.25534278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:-19.74, Z:-2.26 [[ 9.89120173e-01 1.46751391e-01 1.02621779e-02 1.56096210e+02] [-1.46741785e-01 9.89173394e-01 -1.68692230e-03 -1.97419999e+01] [-1.03986315e-02 1.62678576e-04 9.99945920e-01 -2.25520369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:-19.75, Z:-2.26 [[ 9.89041224e-01 1.47287667e-01 1.01882457e-02 1.56126027e+02] [-1.47278221e-01 9.89093685e-01 -1.67546920e-03 -1.97499813e+01] [-1.03239054e-02 1.56601415e-04 9.99946695e-01 -2.25590878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:-19.76, Z:-2.26 [[ 9.88756828e-01 1.49159057e-01 1.05598434e-02 1.56156120e+02] [-1.49149016e-01 9.88813206e-01 -1.73652673e-03 -1.97626969e+01] [-1.07007313e-02 1.42012411e-04 9.99942735e-01 -2.25553178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:-19.77, Z:-2.26 [[ 9.88128301e-01 1.53138568e-01 1.22898325e-02 1.56186720e+02] [-1.53125271e-01 9.88204719e-01 -2.02130373e-03 -1.97729704e+01] [-1.24544100e-02 1.15423498e-04 9.99922434e-01 -2.25626400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.22, Y:-19.78, Z:-2.26 [[ 9.87648844e-01 1.56196069e-01 1.23510550e-02 1.56218279e+02] [-1.56182851e-01 9.87726066e-01 -2.03356538e-03 -1.97804132e+01] [-1.25170939e-02 7.94255027e-05 9.99921655e-01 -2.25689379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:-19.79, Z:-2.26 [[ 9.86640920e-01 1.62570502e-01 1.05131548e-02 1.56248818e+02] [-1.62561265e-01 9.86696930e-01 -1.73294136e-03 -1.97902535e+01] [-1.06550228e-02 7.59101662e-07 9.99943234e-01 -2.25837416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.245769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.28, Y:-19.80, Z:-2.26 [[ 9.86227826e-01 1.65158482e-01 8.79495177e-03 1.56278943e+02] [-1.65152119e-01 9.86267041e-01 -1.44988205e-03 -1.97972796e+01] [-8.91363137e-03 -2.25909035e-05 9.99960273e-01 -2.25869288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:-19.80, Z:-2.26 [[ 9.85850006e-01 1.67466476e-01 7.39899271e-03 1.56310168e+02] [-1.67462043e-01 9.85877770e-01 -1.21906981e-03 -1.98042084e+01] [-7.49865576e-03 -3.72304537e-05 9.99971884e-01 -2.25979194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.305769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.34, Y:-19.81, Z:-2.26 [[ 9.85182185e-01 1.71382377e-01 6.64402637e-03 1.56340294e+02] [-1.71378885e-01 9.85204587e-01 -1.09570727e-03 -1.98139966e+01] [-6.73351017e-03 -5.91745503e-05 9.99977328e-01 -2.26139888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:-19.82, Z:-2.26 [[ 9.84806875e-01 1.73490613e-01 7.51170563e-03 1.56369939e+02] [-1.73486193e-01 9.84835520e-01 -1.24103357e-03 -1.98239903e+01] [-7.61310219e-03 -8.09988213e-05 9.99971017e-01 -2.26183430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.365769231 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:156.40, Y:-19.83, Z:-2.26 [[ 9.84600282e-01 1.74666576e-01 7.33978328e-03 1.56401307e+02] [-1.74662394e-01 9.84627635e-01 -1.21199053e-03 -1.98312688e+01] [-7.43864769e-03 -8.86579061e-05 9.99972329e-01 -2.26206615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:-19.84, Z:-2.26 [[ 9.84052632e-01 1.77752629e-01 6.66482669e-03 1.56431915e+02] [-1.77749244e-01 9.84075197e-01 -1.10158115e-03 -1.98389893e+01] [-6.75449958e-03 -1.00654080e-04 9.99977183e-01 -2.26233778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:-19.84, Z:-2.26 [[ 9.83685805e-01 1.79743232e-01 7.38967335e-03 1.56462312e+02] [-1.79739110e-01 9.83713553e-01 -1.22368130e-03 -1.98446441e+01] [-7.48927026e-03 -1.24495388e-04 9.99971947e-01 -2.26280561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:-19.85, Z:-2.26 [[ 9.82727678e-01 1.84836215e-01 9.04898034e-03 1.56493586e+02] [-1.84830250e-01 9.82769319e-01 -1.49836284e-03 -1.98499458e+01] [-9.17001196e-03 -2.00042660e-04 9.99957935e-01 -2.26235315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:-19.85, Z:-2.26 [[ 9.82172797e-01 1.87789708e-01 8.46303274e-03 1.56523576e+02] [-1.87784598e-01 9.82209235e-01 -1.40157710e-03 -1.98538558e+01] [-8.57567066e-03 -2.12636301e-04 9.99963206e-01 -2.26281339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:-19.86, Z:-2.26 [[ 9.81407177e-01 1.91826257e-01 6.53001414e-03 1.56552932e+02] [-1.91823302e-01 9.81428882e-01 -1.08170484e-03 -1.98553294e+01] [-6.61624387e-03 -1.91015978e-04 9.99978094e-01 -2.26451211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:-19.86, Z:-2.26 [[ 9.81329121e-01 1.92233532e-01 6.27889011e-03 1.56582505e+02] [-1.92230809e-01 9.81349191e-01 -1.03998093e-03 -1.98586174e+01] [-6.36170293e-03 -1.86432557e-04 9.99979747e-01 -2.26477216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:-19.86, Z:-2.26 [[ 9.81689512e-01 1.90292908e-01 8.62038232e-03 1.56613441e+02] [-1.90287705e-01 9.81727331e-01 -1.42739341e-03 -1.98606465e+01] [-8.73448777e-03 -2.39095627e-04 9.99961825e-01 -2.26416974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:-19.86, Z:-2.26 [[ 9.81923132e-01 1.89013993e-01 1.00336335e-02 1.56643131e+02] [-1.89006877e-01 9.81974358e-01 -1.66143706e-03 -1.98636502e+01] [-1.01668056e-02 -2.65022245e-04 9.99948282e-01 -2.26412035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:-19.86, Z:-2.26 [[ 9.82246636e-01 1.87211819e-01 1.19700324e-02 1.56674181e+02] [-1.87201559e-01 9.82319525e-01 -1.98189433e-03 -1.98644517e+01] [-1.21294305e-02 -2.94099683e-04 9.99926393e-01 -2.26344629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.665769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.70, Y:-19.87, Z:-2.26 [[ 9.82248040e-01 1.87198899e-01 1.20565264e-02 1.56703832e+02] [-1.87188490e-01 9.82321986e-01 -1.99622303e-03 -1.98665704e+01] [-1.22170817e-02 -2.96056806e-04 9.99925325e-01 -2.26320347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.695769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.73, Y:-19.86, Z:-2.26 [[ 9.82370737e-01 1.86584242e-01 1.15782681e-02 1.56733957e+02] [-1.86574601e-01 9.82438926e-01 -1.91691625e-03 -1.98644792e+01] [-1.17326076e-02 -2.77088312e-04 9.99931132e-01 -2.26408792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:-19.87, Z:-2.27 [[ 9.82566420e-01 1.85517376e-01 1.21051369e-02 1.56764055e+02] [-1.85506760e-01 9.82640945e-01 -2.00384559e-03 -1.98660240e+01] [-1.22667514e-02 -2.76673345e-04 9.99924722e-01 -2.26553070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.79, Y:-19.86, Z:-2.27 [[ 9.83056855e-01 1.82833282e-01 1.30847706e-02 1.56794277e+02] [-1.82820645e-01 9.83143897e-01 -2.16567229e-03 -1.98647281e+01] [-1.32601694e-02 -2.63187214e-04 9.99912045e-01 -2.26563596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.82, Y:-19.87, Z:-2.27 [[ 9.83316778e-01 1.81453340e-01 1.27592676e-02 1.56823226e+02] [-1.81441212e-01 9.83399526e-01 -2.11149744e-03 -1.98662429e+01] [-1.29305960e-02 -2.38786112e-04 9.99916368e-01 -2.26577798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:156.85, Y:-19.87, Z:-2.27 [[ 9.83519014e-01 1.80395292e-01 1.21608895e-02 1.56852759e+02] [-1.80384199e-01 9.83594171e-01 -2.01205142e-03 -1.98680805e+01] [-1.23243446e-02 -2.14741485e-04 9.99924029e-01 -2.26616000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.88, Y:-19.87, Z:-2.27 [[ 9.83989417e-01 1.77879604e-01 1.11209113e-02 1.56882651e+02] [-1.77870169e-01 9.84052244e-01 -1.83975037e-03 -1.98673195e+01] [-1.12708118e-02 -1.67783477e-04 9.99936468e-01 -2.26715144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.91, Y:-19.87, Z:-2.27 [[ 9.85019314e-01 1.72102053e-01 1.08551342e-02 1.56912602e+02] [-1.72092716e-01 9.85079120e-01 -1.79551253e-03 -1.98691202e+01] [-1.10021774e-02 -9.94749939e-05 9.99939469e-01 -2.26800119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.94, Y:-19.87, Z:-2.27 [[ 9.85540657e-01 1.69087311e-01 1.09130410e-02 1.56941574e+02] [-1.69077690e-01 9.85601074e-01 -1.80500048e-03 -1.98723991e+01] [-1.10611076e-02 -6.62503928e-05 9.99938822e-01 -2.26855064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:-19.87, Z:-2.27 [[ 9.86102103e-01 1.65853505e-01 9.75998037e-03 1.56971217e+02] [-1.65845655e-01 9.86150401e-01 -1.61394125e-03 -1.98744526e+01] [-9.89248637e-03 -2.71394770e-05 9.99951068e-01 -2.26917912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.00, Y:-19.88, Z:-2.27 [[ 9.86182502e-01 1.65465325e-01 8.08074362e-03 1.57000464e+02] [-1.65459932e-01 9.86215608e-01 -1.33611559e-03 -1.98791883e+01] [-8.19043628e-03 -1.93854768e-05 9.99966458e-01 -2.26947049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.03, Y:-19.88, Z:-2.27 [[ 9.86177095e-01 1.65568300e-01 6.47111575e-03 1.57028703e+02] [-1.65564843e-01 9.86198326e-01 -1.07002590e-03 -1.98842540e+01] [-6.55896589e-03 -1.61542266e-05 9.99978490e-01 -2.26987259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.06, Y:-19.89, Z:-2.27 [[ 9.86155981e-01 1.65658032e-01 7.33471424e-03 1.57055960e+02] [-1.65653596e-01 9.86183257e-01 -1.21245299e-03 -1.98883562e+01] [-7.43422496e-03 -1.93540245e-05 9.99972366e-01 -2.26970181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:-19.89, Z:-2.27 [[ 9.86026596e-01 1.66356855e-01 8.77204815e-03 1.57084998e+02] [-1.66350544e-01 9.86065614e-01 -1.44932413e-03 -1.98922506e+01] [-8.89092005e-03 -3.01628477e-05 9.99960475e-01 -2.26998489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.11, Y:-19.90, Z:-2.27 [[ 9.85503389e-01 1.69351344e-01 1.01584107e-02 1.57112326e+02] [-1.69343045e-01 9.85555741e-01 -1.67784125e-03 -1.98964900e+01] [-1.02958246e-02 -6.67379690e-05 9.99946994e-01 -2.27067781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.14, Y:-19.90, Z:-2.27 [[ 9.84886812e-01 1.72848104e-01 1.10227573e-02 1.57139738e+02] [-1.72838561e-01 9.84948486e-01 -1.81981843e-03 -1.98988147e+01] [-1.11714003e-02 -1.12842337e-04 9.99937592e-01 -2.26949968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.17, Y:-19.90, Z:-2.27 [[ 9.84630227e-01 1.74196383e-01 1.26069801e-02 1.57168507e+02] [-1.74184021e-01 9.84710921e-01 -2.08052808e-03 -1.99009588e+01] [-1.27766514e-02 -1.47383643e-04 9.99918364e-01 -2.26939021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.20, Y:-19.90, Z:-2.27 [[ 9.84367128e-01 1.75695484e-01 1.23472082e-02 1.57196830e+02] [-1.75683750e-01 9.84444549e-01 -2.03709422e-03 -1.99025928e+01] [-1.25130501e-02 -1.63955260e-04 9.99921695e-01 -2.27008535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:-19.91, Z:-2.27 [[ 9.84531655e-01 1.74856685e-01 1.10707207e-02 1.57225340e+02] [-1.74847205e-01 9.84593886e-01 -1.82590823e-03 -1.99072353e+01] [-1.12194362e-02 -1.38020118e-04 9.99937051e-01 -2.27195609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.25, Y:-19.91, Z:-2.27 [[ 9.84911449e-01 1.72788551e-01 9.67228937e-03 1.57253123e+02] [-1.72781220e-01 9.84958936e-01 -1.59482657e-03 -1.99123503e+01] [-9.80237562e-03 -1.00427010e-04 9.99951951e-01 -2.27276224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.28, Y:-19.92, Z:-2.27 [[ 9.85967735e-01 1.66712641e-01 8.63251380e-03 1.57280779e+02] [-1.66706570e-01 9.86005524e-01 -1.42320080e-03 -1.99167811e+01] [-8.74897186e-03 -3.58666906e-05 9.99961726e-01 -2.27334155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.31, Y:-19.92, Z:-2.27 [[ 9.86675338e-01 1.62306578e-01 1.13292827e-02 1.57309291e+02] [-1.62295841e-01 9.86740379e-01 -1.86689371e-03 -1.99210710e+01] [-1.14820698e-02 3.32252220e-06 9.99934079e-01 -2.27227175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:-19.93, Z:-2.27 [[ 9.86817969e-01 1.61355259e-01 1.24409201e-02 1.57337247e+02] [-1.61342244e-01 9.86896388e-01 -2.04944319e-03 -1.99259054e+01] [-1.26085875e-02 1.51814001e-05 9.99920508e-01 -2.27132391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.37, Y:-19.93, Z:-2.27 [[ 9.87116357e-01 1.59487514e-01 1.28464009e-02 1.57365392e+02] [-1.59473486e-01 9.87199945e-01 -2.11563085e-03 -1.99290666e+01] [-1.30193830e-02 3.97134884e-05 9.99915243e-01 -2.27197195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:-19.93, Z:-2.27 [[ 9.87384446e-01 1.57816371e-01 1.28821129e-02 1.57394676e+02] [-1.57802129e-01 9.87468475e-01 -2.12106991e-03 -1.99330509e+01] [-1.30554199e-02 6.14866007e-05 9.99914772e-01 -2.27257477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.42, Y:-19.94, Z:-2.27 [[ 9.88068304e-01 1.53385871e-01 1.39212792e-02 1.57423209e+02] [-1.53368803e-01 9.88166361e-01 -2.29181466e-03 -1.99389035e+01] [-1.41080718e-02 1.29379505e-04 9.99900468e-01 -2.27260236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:157.45, Y:-19.95, Z:-2.27 [[ 9.88455213e-01 1.50885755e-01 1.37760698e-02 1.57451211e+02] [-1.50868805e-01 9.88551194e-01 -2.26744305e-03 -1.99457969e+01] [-1.39604751e-02 1.62886712e-04 9.99902535e-01 -2.27307349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47576923100002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:157.48, Y:-19.96, Z:-2.27 [[ 9.89189565e-01 1.46134010e-01 1.22006300e-02 1.57481281e+02] [-1.46120358e-01 9.89264783e-01 -2.00774110e-03 -1.99556651e+01] [-1.23630529e-02 2.03276121e-04 9.99923554e-01 -2.27397646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.51, Y:-19.96, Z:-2.27 [[ 9.89381986e-01 1.44927896e-01 1.09174418e-02 1.57510949e+02] [-1.44916889e-01 9.89442200e-01 -1.79683200e-03 -1.99622536e+01] [-1.10625887e-02 1.95631507e-04 9.99938789e-01 -2.27499497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.54, Y:-19.97, Z:-2.28 [[ 9.89307972e-01 1.45602414e-01 8.34706291e-03 1.57539178e+02] [-1.45596002e-01 9.89343174e-01 -1.37395417e-03 -1.99704682e+01] [-8.45816075e-03 1.43964823e-04 9.99964219e-01 -2.27545795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:-19.98, Z:-2.28 [[ 9.89154437e-01 1.46642504e-01 8.33516970e-03 1.57568167e+02] [-1.46636148e-01 9.89189546e-01 -1.37195775e-03 -1.99769919e+01] [-8.44625006e-03 1.34840922e-04 9.99964321e-01 -2.27592093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:-19.99, Z:-2.28 [[ 9.88762462e-01 1.49220202e-01 9.06228798e-03 1.57597050e+02] [-1.49212799e-01 9.88803983e-01 -1.49136039e-03 -1.99857080e+01] [-9.18336755e-03 1.22391812e-04 9.99957825e-01 -2.27508602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.63, Y:-19.99, Z:-2.28 [[ 9.88496460e-01 1.50967968e-01 9.13351115e-03 1.57625607e+02] [-1.50960524e-01 9.88538649e-01 -1.50301576e-03 -1.99925297e+01] [-9.25573601e-03 1.06926130e-04 9.99957159e-01 -2.27587989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.65, Y:-20.00, Z:-2.28 [[ 9.88013558e-01 1.54110935e-01 8.88980417e-03 1.57654184e+02] [-1.54104012e-01 9.88053548e-01 -1.46266865e-03 -2.00029731e+01] [-9.00901579e-03 7.51819672e-05 9.99959415e-01 -2.27759088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.68, Y:-20.01, Z:-2.28 [[ 9.87814673e-01 1.55374757e-01 8.99204270e-03 1.57683372e+02] [-1.55367728e-01 9.87855597e-01 -1.47934219e-03 -2.00111833e+01] [-9.11269214e-03 6.42426818e-05 9.99958476e-01 -2.27830365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.71, Y:-20.02, Z:-2.28 [[ 9.87476110e-01 1.57489192e-01 9.38548947e-03 1.57711377e+02] [-1.57481630e-01 9.87520710e-01 -1.54410881e-03 -2.00219492e+01] [-9.51154567e-03 4.67283831e-05 9.99954763e-01 -2.27795715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.74, Y:-20.03, Z:-2.28 [[ 9.87201060e-01 1.59209801e-01 9.29009208e-03 1.57741269e+02] [-1.59202469e-01 9.87244771e-01 -1.52826988e-03 -2.00296022e+01] [-9.41491037e-03 2.97040540e-05 9.99955678e-01 -2.27818575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.77, Y:-20.03, Z:-2.28 [[ 9.87199297e-01 1.59220735e-01 9.29009830e-03 1.57771854e+02] [-1.59213403e-01 9.87243008e-01 -1.52823208e-03 -2.00346408e+01] [-9.41491082e-03 2.95614728e-05 9.99955678e-01 -2.27858483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.80, Y:-20.04, Z:-2.28 [[ 9.86841990e-01 1.61413776e-01 9.40637366e-03 1.57802062e+02] [-1.61406358e-01 9.86886819e-01 -1.54750584e-03 -2.00417784e+01] [-9.53281494e-03 8.89522274e-06 9.99954562e-01 -2.27864419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.83, Y:-20.05, Z:-2.28 [[ 9.85789972e-01 1.67658463e-01 1.04292979e-02 1.57831235e+02] [-1.67649693e-01 9.85845138e-01 -1.71579399e-03 -2.00502226e+01] [-1.05693400e-02 -5.70560863e-05 9.99944141e-01 -2.27931875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.86, Y:-20.06, Z:-2.28 [[ 9.84845289e-01 1.73115422e-01 1.05264753e-02 1.57859977e+02] [-1.73106799e-01 9.84901537e-01 -1.73180576e-03 -2.00580814e+01] [-1.06673440e-02 -1.16643701e-04 9.99943095e-01 -2.28031583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.89, Y:-20.06, Z:-2.28 [[ 9.84394417e-01 1.75661370e-01 1.05221054e-02 1.57888455e+02] [-1.75652900e-01 9.84450640e-01 -1.73101664e-03 -2.00646699e+01] [-1.06625661e-02 -1.44235199e-04 9.99943143e-01 -2.27983795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.92, Y:-20.07, Z:-2.28 [[ 9.83989254e-01 1.77889489e-01 1.09762296e-02 1.57917439e+02] [-1.77880415e-01 9.84050455e-01 -1.80532281e-03 -2.00708231e+01] [-1.11223117e-02 -1.76038036e-04 9.99938130e-01 -2.27952036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.955769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.95, Y:-20.08, Z:-2.28 [[ 9.83261575e-01 1.81762033e-01 1.26189456e-02 1.57946218e+02] [-1.81750362e-01 9.83342514e-01 -2.07519162e-03 -2.00754850e+01] [-1.27859367e-02 -2.53041752e-04 9.99918225e-01 -2.27879787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.98, Y:-20.08, Z:-2.28 [[ 9.82994460e-01 1.83144095e-01 1.34213622e-02 1.57975315e+02] [-1.83131028e-01 9.83086038e-01 -2.20669014e-03 -2.00799307e+01] [-1.35984961e-02 -2.88703683e-04 9.99907494e-01 -2.27996862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.01, Y:-20.08, Z:-2.28 [[ 9.82738971e-01 1.84473010e-01 1.39220561e-02 1.58005803e+02] [-1.84459087e-01 9.82837528e-01 -2.28875564e-03 -2.00849754e+01] [-1.41053329e-02 -3.18800391e-04 9.99900464e-01 -2.28102298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.04, Y:-20.09, Z:-2.28 [[ 9.82694551e-01 1.84759168e-01 1.32464909e-02 1.58037796e+02] [-1.84746584e-01 9.82783779e-01 -2.17807476e-03 -2.00892987e+01] [-1.34208557e-02 -3.06861761e-04 9.99909889e-01 -2.28126298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.07, Y:-20.09, Z:-2.28 [[ 9.82664645e-01 1.85014671e-01 1.18223081e-02 1.58068564e+02] [-1.85004643e-01 9.82735720e-01 -1.94583210e-03 -2.00883648e+01] [-1.19782119e-02 -2.75081477e-04 9.99928221e-01 -2.28033369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.10, Y:-20.09, Z:-2.28 [[ 9.82664242e-01 1.85026365e-01 1.16718572e-02 1.58097893e+02] [-1.85016589e-01 9.82733520e-01 -1.92120880e-03 -2.00897691e+01] [-1.18257996e-02 -2.71584023e-04 9.99930036e-01 -2.28015373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.13, Y:-20.09, Z:-2.28 [[ 9.82677038e-01 1.84946318e-01 1.18616608e-02 1.58128373e+02] [-1.84936214e-01 9.82748586e-01 -1.95261228e-03 -2.00924940e+01] [-1.20181588e-02 -2.74863394e-04 9.99927742e-01 -2.28056882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.16, Y:-20.09, Z:-2.28 [[ 9.83116264e-01 1.82615979e-01 1.15678685e-02 1.58158047e+02] [-1.82606209e-01 9.83184289e-01 -1.90426312e-03 -2.00934168e+01] [-1.17210955e-02 -2.40252568e-04 9.99931277e-01 -2.28205584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.195769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:158.19, Y:-20.09, Z:-2.28 [[ 9.83835447e-01 1.78795226e-01 1.00040526e-02 1.58188527e+02] [-1.78787722e-01 9.83886294e-01 -1.64670156e-03 -2.00933990e+01] [-1.01372726e-02 -1.68518412e-04 9.99948602e-01 -2.28366393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.22, Y:-20.10, Z:-2.28 [[ 9.84145351e-01 1.77116653e-01 9.36049983e-03 1.58217667e+02] [-1.77110007e-01 9.84189855e-01 -1.54081123e-03 -2.00960918e+01] [-9.48541230e-03 -1.41455984e-04 9.99955002e-01 -2.28367791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.25, Y:-20.10, Z:-2.28 [[ 9.84462226e-01 1.75337238e-01 9.53828214e-03 1.58247694e+02] [-1.75330255e-01 9.84508424e-01 -1.56999377e-03 -2.00988060e+01] [-9.66579749e-03 -1.26749878e-04 9.99953277e-01 -2.28380692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.28, Y:-20.10, Z:-2.28 [[ 9.85004349e-01 1.72202120e-01 1.06237005e-02 1.58277871e+02] [-1.72193277e-01 9.85061632e-01 -1.74836509e-03 -2.01000393e+01] [-1.07660719e-02 -1.07182584e-04 9.99942038e-01 -2.28408271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.31, Y:-20.10, Z:-2.29 [[ 9.85371256e-01 1.70098203e-01 1.04923066e-02 1.58307565e+02] [-1.70089461e-01 9.85427113e-01 -1.72646136e-03 -2.01041722e+01] [-1.06330714e-02 -8.34253820e-05 9.99943464e-01 -2.28520207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.34, Y:-20.11, Z:-2.29 [[ 9.85681213e-01 1.68299998e-01 1.03757982e-02 1.58337045e+02] [-1.68291351e-01 9.85735820e-01 -1.70719404e-03 -2.01088390e+01] [-1.05151167e-02 -6.34079936e-05 9.99944713e-01 -2.28605665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.37, Y:-20.11, Z:-2.29 [[ 9.86078234e-01 1.65904439e-01 1.11997023e-02 1.58366741e+02] [-1.65894213e-01 9.86141833e-01 -1.84244261e-03 -2.01124978e+01] [-1.13501644e-02 -4.11732442e-05 9.99935584e-01 -2.28599269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.40, Y:-20.12, Z:-2.29 [[ 9.86157166e-01 1.65402667e-01 1.16619936e-02 1.58395724e+02] [-1.65391547e-01 9.86226118e-01 -1.91835850e-03 -2.01165131e+01] [-1.18186643e-02 -3.69921860e-05 9.99930156e-01 -2.28625588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43576923100002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:158.43, Y:-20.12, Z:-2.29 [[ 9.86158752e-01 1.65485486e-01 1.02698608e-02 1.58425031e+02] [-1.65476869e-01 9.86212225e-01 -1.68915578e-03 -2.01211252e+01] [-1.04077931e-02 -3.36486563e-05 9.99945837e-01 -2.28667550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.45, Y:-20.13, Z:-2.29 [[ 9.86164583e-01 1.65525404e-01 8.98644434e-03 1.58453603e+02] [-1.65518809e-01 9.86205526e-01 -1.47792974e-03 -2.01255967e+01] [-9.10711598e-03 -2.99435965e-05 9.99958529e-01 -2.28718888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.495769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:158.48, Y:-20.13, Z:-2.29 [[ 9.86077571e-01 1.65993502e-01 9.85802660e-03 1.58482028e+02] [-1.65985592e-01 9.86126846e-01 -1.62090435e-03 -2.01289427e+01] [-9.99032426e-03 -3.79529549e-05 9.99950095e-01 -2.28747302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.525769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:158.51, Y:-20.13, Z:-2.29 [[ 9.85941538e-01 1.66703386e-01 1.13694265e-02 1.58511542e+02] [-1.66692920e-01 9.86007088e-01 -1.86877656e-03 -2.01330027e+01] [-1.15218665e-02 -5.26984649e-05 9.99933620e-01 -2.28744234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.54, Y:-20.14, Z:-2.29 [[ 9.85479215e-01 1.69346374e-01 1.23499928e-02 1.58540786e+02] [-1.69334236e-01 9.85556593e-01 -2.02963431e-03 -2.01361630e+01] [-1.25153280e-02 -9.11141566e-05 9.99921676e-01 -2.28738903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.57, Y:-20.14, Z:-2.29 [[ 9.85360619e-01 1.70106006e-01 1.13312494e-02 1.58569794e+02] [-1.70095841e-01 9.85425765e-01 -1.86198521e-03 -2.01386899e+01] [-1.14828400e-02 -9.26714933e-05 9.99934066e-01 -2.28876545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.60, Y:-20.14, Z:-2.29 [[ 9.85321926e-01 1.70431683e-01 9.68215831e-03 1.58598568e+02] [-1.70424279e-01 9.85369491e-01 -1.59076199e-03 -2.01405499e+01] [-9.81161965e-03 -8.26621850e-05 9.99951861e-01 -2.28965588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:-20.14, Z:-2.29 [[ 9.85279245e-01 1.70759250e-01 8.12942716e-03 1.58626266e+02] [-1.70754043e-01 9.85312779e-01 -1.33541897e-03 -2.01420796e+01] [-8.23806361e-03 -7.23719588e-05 9.99966064e-01 -2.28967043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.675769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.65, Y:-20.15, Z:-2.29 [[ 9.85510947e-01 1.69376446e-01 8.93271331e-03 1.58654875e+02] [-1.69370108e-01 9.85551427e-01 -1.46673814e-03 -2.01454190e+01] [-9.05207924e-03 -6.74481308e-05 9.99959027e-01 -2.28966559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.705769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.68, Y:-20.15, Z:-2.29 [[ 9.85712842e-01 1.68193492e-01 9.00789454e-03 1.58683687e+02] [-1.68187002e-01 9.85753999e-01 -1.47866664e-03 -2.01489551e+01] [-9.12827017e-03 -5.74700819e-05 9.99958335e-01 -2.29044084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.735769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:158.71, Y:-20.15, Z:-2.29 [[ 9.85939941e-01 1.66814103e-01 9.77179661e-03 1.58711079e+02] [-1.66806402e-01 9.85988363e-01 -1.60359015e-03 -2.01523630e+01] [-9.90237920e-03 -4.89546603e-05 9.99950969e-01 -2.29172254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.74, Y:-20.16, Z:-2.29 [[ 9.86392673e-01 1.64068679e-01 1.05339450e-02 1.58739403e+02] [-1.64059581e-01 9.86448918e-01 -1.72796582e-03 -2.01574508e+01] [-1.06747037e-02 -2.37417741e-05 9.99943023e-01 -2.29178575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.795769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.77, Y:-20.16, Z:-2.29 [[ 9.86674469e-01 1.62419217e-01 9.66902556e-03 1.58766771e+02] [-1.62411476e-01 9.86721844e-01 -1.58573238e-03 -2.01620560e+01] [-9.79819215e-03 -5.75905563e-06 9.99951997e-01 -2.29209061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.825769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:158.79, Y:-20.17, Z:-2.29 [[ 9.86666750e-01 1.62489405e-01 9.26921119e-03 1.58794923e+02] [-1.62482300e-01 9.86710288e-01 -1.51956174e-03 -2.01656339e+01] [-9.39293872e-03 -6.78171450e-06 9.99955885e-01 -2.29204729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.855769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:158.82, Y:-20.17, Z:-2.29 [[ 9.86467235e-01 1.63654532e-01 9.97943604e-03 1.58822665e+02] [-1.63646361e-01 9.86517711e-01 -1.63552253e-03 -2.01686801e+01] [-1.01125511e-02 -1.97089991e-05 9.99948867e-01 -2.29135694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.85, Y:-20.17, Z:-2.29 [[ 9.85834502e-01 1.67234959e-01 1.27594510e-02 1.58850978e+02] [-1.67221912e-01 9.85917067e-01 -2.09020663e-03 -2.01703246e+01] [-1.29293162e-02 -7.30619877e-05 9.99916410e-01 -2.29072786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.915769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.88, Y:-20.17, Z:-2.29 [[ 9.85666046e-01 1.68180514e-01 1.33326955e-02 1.58880182e+02] [-1.68166365e-01 9.85756211e-01 -2.18334795e-03 -2.01732142e+01] [-1.35099839e-02 -9.00589920e-05 9.99908732e-01 -2.29065600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.945769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:158.91, Y:-20.17, Z:-2.29 [[ 9.85558274e-01 1.68858925e-01 1.27103030e-02 1.58908280e+02] [-1.68846131e-01 9.85640226e-01 -2.08083936e-03 -2.01734074e+01] [-1.28791542e-02 -9.52970269e-05 9.99917056e-01 -2.29229864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.94, Y:-20.18, Z:-2.29 [[ 9.85686651e-01 1.68169595e-01 1.18664468e-02 1.58936831e+02] [-1.68158401e-01 9.85758074e-01 -1.94201073e-03 -2.01760991e+01] [-1.20240329e-02 -8.12286639e-05 9.99927705e-01 -2.29313108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.96, Y:-20.18, Z:-2.29 [[ 9.85893920e-01 1.67006759e-01 1.10417841e-02 1.58964158e+02] [-1.66996999e-01 9.85955749e-01 -1.80662304e-03 -2.01784748e+01] [-1.11884288e-02 -6.28061430e-05 9.99937406e-01 -2.29333270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:158.99, Y:-20.18, Z:-2.29 [[ 9.86370376e-01 1.64264448e-01 9.52223938e-03 1.58993266e+02] [-1.64257066e-01 9.86416337e-01 -1.55755543e-03 -2.01782411e+01] [-9.64874348e-03 -2.77685616e-05 9.99953449e-01 -2.29266548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.02, Y:-20.18, Z:-2.29 [[ 9.86451182e-01 1.63815795e-01 8.85730297e-03 1.59021640e+02] [-1.63809393e-01 9.86490945e-01 -1.44840392e-03 -2.01804736e+01] [-8.97492062e-03 -2.21296625e-05 9.99959724e-01 -2.29295525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.05, Y:-20.18, Z:-2.29 [[ 9.86481573e-01 1.63623825e-01 9.01938662e-03 1.59049507e+02] [-1.63617182e-01 9.86522804e-01 -1.47450131e-03 -2.01814278e+01] [-9.13909413e-03 -2.11582536e-05 9.99958237e-01 -2.29378530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.08, Y:-20.18, Z:-2.29 [[ 9.86509713e-01 1.63424897e-01 9.53359515e-03 1.59077107e+02] [-1.63417472e-01 9.86555778e-01 -1.55794158e-03 -2.01838056e+01] [-9.66002982e-03 -2.10315215e-05 9.99953341e-01 -2.29413344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.10, Y:-20.19, Z:-2.29 [[ 9.86890814e-01 1.61043843e-01 1.05547590e-02 1.59104766e+02] [-1.61034613e-01 9.86947253e-01 -1.72411244e-03 -2.01852208e+01] [-1.06946481e-02 1.82918866e-06 9.99942811e-01 -2.29420868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:159.13, Y:-20.19, Z:-2.29 [[ 9.87252875e-01 1.58775591e-01 1.10486575e-02 1.59133022e+02] [-1.58765345e-01 9.87314697e-01 -1.80401618e-03 -2.01892164e+01] [-1.11949357e-02 2.68762472e-05 9.99937334e-01 -2.29405578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.16, Y:-20.19, Z:-2.29 [[ 9.88024687e-01 1.53882962e-01 1.12806182e-02 1.59160214e+02] [-1.53871967e-01 9.88089079e-01 -1.84135231e-03 -2.01934696e+01] [-1.14296084e-02 8.35306241e-05 9.99934676e-01 -2.29496841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.19, Y:-20.20, Z:-2.30 [[ 9.88339585e-01 1.51888280e-01 1.07151395e-02 1.59188614e+02] [-1.51878250e-01 9.88397663e-01 -1.74841274e-03 -2.01973020e+01] [-1.08563822e-02 1.00628891e-04 9.99941063e-01 -2.29532507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.275769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.22, Y:-20.20, Z:-2.30 [[ 9.88572441e-01 1.50399355e-01 1.02256527e-02 1.59216990e+02] [-1.50390144e-01 9.88625319e-01 -1.66814240e-03 -2.02006707e+01] [-1.03602267e-02 1.11242215e-04 9.99946325e-01 -2.29574468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.305769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:159.25, Y:-20.20, Z:-2.30 [[ 9.88719434e-01 1.49402965e-01 1.06129327e-02 1.59245047e+02] [-1.49392992e-01 9.88776384e-01 -1.73081722e-03 -2.02027086e+01] [-1.07524064e-02 1.25794844e-04 9.99942183e-01 -2.29549731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.27, Y:-20.21, Z:-2.30 [[ 9.88664647e-01 1.49711338e-01 1.13459566e-02 1.59274041e+02] [-1.49699969e-01 9.88729740e-01 -1.84962134e-03 -2.02061820e+01] [-1.14949940e-02 1.30165877e-04 9.99933922e-01 -2.29528500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.30, Y:-20.21, Z:-2.30 [[ 9.88524180e-01 1.50503545e-01 1.29857037e-02 1.59303379e+02] [-1.50488729e-01 9.88609460e-01 -2.11630217e-03 -2.02074245e+01] [-1.31563005e-02 1.37813826e-04 9.99913443e-01 -2.29571218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.395769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:159.33, Y:-20.21, Z:-2.29 [[ 9.88547796e-01 1.50363780e-01 1.28057998e-02 1.59332113e+02] [-1.50349367e-01 9.88630727e-01 -2.08640167e-03 -2.02104814e+01] [-1.29739264e-02 1.37163881e-04 9.99915826e-01 -2.29210334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.425769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.36, Y:-20.21, Z:-2.30 [[ 9.88917025e-01 1.48111518e-01 1.03002534e-02 1.59361560e+02] [-1.48102075e-01 9.88970657e-01 -1.67779070e-03 -2.02112693e+01] [-1.04351485e-02 1.33706881e-04 9.99945543e-01 -2.29763767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.39, Y:-20.21, Z:-2.30 [[ 9.89130236e-01 1.46761407e-01 9.08104766e-03 1.59389134e+02] [-1.46754014e-01 9.89171913e-01 -1.47886083e-03 -2.02147657e+01] [-9.19975698e-03 1.30105775e-04 9.99957673e-01 -2.29859075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.42, Y:-20.22, Z:-2.30 [[ 9.89385885e-01 1.45006410e-01 9.41864793e-03 1.59416728e+02] [-1.44998383e-01 9.89430704e-01 -1.53320202e-03 -2.02175987e+01] [-9.54142358e-03 1.51239715e-04 9.99954468e-01 -2.29899801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.45, Y:-20.22, Z:-2.30 [[ 9.89439773e-01 1.44549787e-01 1.06909120e-02 1.59445838e+02] [-1.44539426e-01 9.89497513e-01 -1.73958286e-03 -2.02208088e+01] [-1.08300872e-02 1.75954182e-04 9.99941337e-01 -2.29937228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.545769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.47, Y:-20.22, Z:-2.30 [[ 9.89461442e-01 1.44240262e-01 1.26807693e-02 1.59473271e+02] [-1.44225669e-01 9.89542673e-01 -2.06267508e-03 -2.02225059e+01] [-1.28456831e-02 2.12045029e-04 9.99917468e-01 -2.29903312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.50, Y:-20.23, Z:-2.30 [[ 9.89439719e-01 1.44382479e-01 1.27570109e-02 1.59501468e+02] [-1.44367731e-01 9.89521933e-01 -2.07434413e-03 -2.02256711e+01] [-1.29228411e-02 2.10737754e-04 9.99916474e-01 -2.29929055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.605769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.53, Y:-20.23, Z:-2.30 [[ 9.89400750e-01 1.44746527e-01 1.16016446e-02 1.59528647e+02] [-1.44734360e-01 9.89468750e-01 -1.88601798e-03 -2.02288873e+01] [-1.17524594e-02 1.86870997e-04 9.99930920e-01 -2.29997845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.635769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.56, Y:-20.23, Z:-2.30 [[ 9.89413098e-01 1.44885444e-01 8.36243079e-03 1.59556107e+02] [-1.44879130e-01 9.89448427e-01 -1.35912097e-03 -2.02317691e+01] [-8.47111084e-03 1.33190395e-04 9.99964111e-01 -2.30218795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.665769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.58, Y:-20.23, Z:-2.30 [[ 9.89385113e-01 1.45084927e-01 8.21356106e-03 1.59584474e+02] [-1.45078847e-01 9.89419197e-01 -1.33443976e-03 -2.02343842e+01] [-8.32026209e-03 1.28660865e-04 9.99965378e-01 -2.30224974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.695769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.61, Y:-20.24, Z:-2.30 [[ 9.89390195e-01 1.45050259e-01 8.21363186e-03 1.59613436e+02] [-1.45044182e-01 9.89424280e-01 -1.33400386e-03 -2.02390017e+01] [-8.32026439e-03 1.28510826e-04 9.99965378e-01 -2.30262733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72576923100002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:159.64, Y:-20.24, Z:-2.30 [[ 9.89299333e-01 1.45632899e-01 8.82542186e-03 1.59642600e+02] [-1.45625908e-01 9.89338689e-01 -1.43306500e-03 -2.02415677e+01] [-8.94003270e-03 1.32520176e-04 9.99960028e-01 -2.30266919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.67, Y:-20.24, Z:-2.30 [[ 9.89197590e-01 1.46276711e-01 9.55258121e-03 1.59670284e+02] [-1.46268555e-01 9.89243704e-01 -1.55066050e-03 -2.02433029e+01] [-9.67665634e-03 1.36667372e-04 9.99953171e-01 -2.30272595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.70, Y:-20.24, Z:-2.30 [[ 9.89255772e-01 1.45870905e-01 9.73119736e-03 1.59698780e+02] [-1.45862428e-01 9.89303623e-01 -1.57907052e-03 -2.02408935e+01] [-9.85744925e-03 1.42688555e-04 9.99951404e-01 -2.30321129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.73, Y:-20.24, Z:-2.30 [[ 9.89590248e-01 1.43617917e-01 9.22144236e-03 1.59727102e+02] [-1.43610212e-01 9.89633200e-01 -1.49580443e-03 -2.02394363e+01] [-9.34066982e-03 1.55940186e-04 9.99956363e-01 -2.30445552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.75, Y:-20.24, Z:-2.30 [[ 9.89847910e-01 1.41820737e-01 9.38049593e-03 1.59754186e+02] [-1.41812690e-01 9.89892341e-01 -1.52095913e-03 -2.02410634e+01] [-9.50138463e-03 1.75244856e-04 9.99954845e-01 -2.30498227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.78, Y:-20.24, Z:-2.31 [[ 9.90117246e-01 1.39887099e-01 9.97186913e-03 1.59781987e+02] [-1.39877915e-01 9.90167439e-01 -1.61592115e-03 -2.02421917e+01] [-1.00998666e-02 2.05107132e-04 9.99948974e-01 -2.30510373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:159.81, Y:-20.24, Z:-2.30 [[ 9.90659031e-01 1.35909493e-01 1.11038232e-02 1.59810549e+02] [-1.35897867e-01 9.90721220e-01 -1.79847027e-03 -2.02390151e+01] [-1.12452224e-02 2.72684927e-04 9.99936733e-01 -2.30463914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.84, Y:-20.24, Z:-2.31 [[ 9.90875211e-01 1.34294409e-01 1.14598031e-02 1.59838399e+02] [-1.34281927e-01 9.90941432e-01 -1.85528426e-03 -2.02404520e+01] [-1.16051480e-02 2.99510729e-04 9.99932613e-01 -2.30533203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.87, Y:-20.24, Z:-2.31 [[ 9.91256432e-01 1.31460681e-01 1.13479682e-02 1.59866695e+02] [-1.31448264e-01 9.91321331e-01 -1.83645164e-03 -2.02405122e+01] [-1.14909042e-02 3.28723774e-04 9.99933923e-01 -2.30550844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.995769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.89, Y:-20.24, Z:-2.31 [[ 9.91389036e-01 1.30467977e-01 1.12198753e-02 1.59894556e+02] [-1.30455784e-01 9.91452467e-01 -1.81494499e-03 -2.02425758e+01] [-1.13607652e-02 3.35618941e-04 9.99935408e-01 -2.30576589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.92, Y:-20.24, Z:-2.31 [[ 9.91579174e-01 1.28921542e-01 1.22465224e-02 1.59922754e+02] [-1.28906909e-01 9.91654722e-01 -1.98015722e-03 -2.02423482e+01] [-1.23996067e-02 3.84821311e-04 9.99923048e-01 -2.30614449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.95, Y:-20.25, Z:-2.31 [[ 9.91800096e-01 1.27170742e-01 1.26559100e-02 1.59951089e+02] [-1.27154982e-01 9.91880752e-01 -2.04545249e-03 -2.02459717e+01] [-1.28132752e-02 4.19417972e-04 9.99917819e-01 -2.30737042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.98, Y:-20.25, Z:-2.31 [[ 9.92114719e-01 1.24694399e-01 1.26368958e-02 1.59979468e+02] [-1.24678494e-01 9.92195094e-01 -2.04180538e-03 -2.02507571e+01] [-1.27928677e-02 4.50156033e-04 9.99918067e-01 -2.30802877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.01, Y:-20.26, Z:-2.31 [[ 9.92857224e-01 1.18778825e-01 1.12304494e-02 1.60007521e+02] [-1.18765891e-01 9.92920627e-01 -1.81409678e-03 -2.02583606e+01] [-1.13664212e-02 4.67344760e-04 9.99935291e-01 -2.30941743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.04, Y:-20.27, Z:-2.31 [[ 9.93485533e-01 1.13612264e-01 8.87403782e-03 1.60035182e+02] [-1.13603985e-01 9.93525078e-01 -1.43316621e-03 -2.02666418e+01] [-8.97940438e-03 4.15703845e-04 9.99959598e-01 -2.30960888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.175769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.06, Y:-20.27, Z:-2.31 [[ 9.93657924e-01 1.12109077e-01 8.68826082e-03 1.60062967e+02] [-1.12101087e-01 9.93695818e-01 -1.40276887e-03 -2.02734273e+01] [-8.79075157e-03 4.19908924e-04 9.99961272e-01 -2.31009880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.09, Y:-20.28, Z:-2.31 [[ 9.93696160e-01 1.11738253e-01 9.08320157e-03 1.60090569e+02] [-1.11729508e-01 9.93737575e-01 -1.46608765e-03 -2.02804379e+01] [-9.19013677e-03 4.41984019e-04 9.99957672e-01 -2.30994298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.12, Y:-20.29, Z:-2.31 [[ 9.93419736e-01 1.14061684e-01 1.03518374e-02 1.60117377e+02] [-1.14050457e-01 9.93473554e-01 -1.67031717e-03 -2.02908884e+01] [-1.04747959e-02 4.78694245e-04 9.99945023e-01 -2.30999015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.14, Y:-20.30, Z:-2.31 [[ 9.93198629e-01 1.15961364e-01 1.04616447e-02 1.60144700e+02] [-1.15950011e-01 9.93253617e-01 -1.68729546e-03 -2.02979540e+01] [-1.05867275e-02 4.62791719e-04 9.99943852e-01 -2.30964204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.17, Y:-20.31, Z:-2.31 [[ 9.92716048e-01 1.20114688e-01 9.34402082e-03 1.60171900e+02] [-1.20105819e-01 9.92759952e-01 -1.50656880e-03 -2.03068396e+01] [-9.45733070e-03 3.73323746e-04 9.99955209e-01 -2.31022703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.20, Y:-20.31, Z:-2.31 [[ 9.92466065e-01 1.22240569e-01 8.26760904e-03 1.60200303e+02] [-1.22233703e-01 9.92500451e-01 -1.33257425e-03 -2.03143462e+01] [-8.36850034e-03 3.11954256e-04 9.99964935e-01 -2.31151353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.23, Y:-20.33, Z:-2.31 [[ 9.92154910e-01 1.24787370e-01 7.53299951e-03 1.60226318e+02] [-1.24781746e-01 9.92183472e-01 -1.21386043e-03 -2.03253878e+01] [-7.62559206e-03 2.64356755e-04 9.99970890e-01 -2.31242225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.25, Y:-20.33, Z:-2.31 [[ 9.92093738e-01 1.25242346e-01 8.02308987e-03 1.60253245e+02] [-1.25235985e-01 9.92126140e-01 -1.29246180e-03 -2.03332286e+01] [-8.12178813e-03 2.77463699e-04 9.99966979e-01 -2.31257494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.28, Y:-20.34, Z:-2.31 [[ 9.92099403e-01 1.25149923e-01 8.73333473e-03 1.60280665e+02] [-1.25142387e-01 9.92137796e-01 -1.40628908e-03 -2.03407629e+01] [-8.84066843e-03 3.02268202e-04 9.99960875e-01 -2.31252749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:-20.35, Z:-2.31 [[ 9.92076275e-01 1.25149563e-01 1.10567365e-02 1.60306991e+02] [-1.25137493e-01 9.92137814e-01 -1.77956273e-03 -2.03529113e+01] [-1.11925178e-02 3.81849685e-04 9.99937289e-01 -2.31053323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.33, Y:-20.36, Z:-2.31 [[ 9.91876782e-01 1.26674882e-01 1.15725217e-02 1.60334126e+02] [-1.26661771e-01 9.91944217e-01 -1.86187582e-03 -2.03648305e+01] [-1.17151488e-02 3.80955311e-04 9.99931303e-01 -2.31079707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.36, Y:-20.37, Z:-2.31 [[ 9.91675504e-01 1.28375052e-01 9.97696315e-03 1.60360587e+02] [-1.28365397e-01 9.91725642e-01 -1.60481669e-03 -2.03726239e+01] [-1.01004286e-02 3.10760566e-04 9.99948941e-01 -2.31196852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.39, Y:-20.38, Z:-2.31 [[ 9.91385510e-01 1.30716527e-01 8.24374487e-03 1.60388136e+02] [-1.30710020e-01 9.91419756e-01 -1.32563086e-03 -2.03801067e+01] [-8.34629339e-03 2.36671174e-04 9.99965141e-01 -2.31343427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.41, Y:-20.39, Z:-2.31 [[ 9.90559478e-01 1.36887587e-01 7.32868966e-03 1.60414577e+02] [-1.36882614e-01 9.90586575e-01 -1.17829279e-03 -2.03891571e+01] [-7.42099525e-03 1.63998891e-04 9.99972451e-01 -2.31348392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.44, Y:-20.39, Z:-2.31 [[ 9.90051364e-01 1.40481010e-01 7.96136038e-03 1.60442536e+02] [-1.40475263e-01 9.90083362e-01 -1.27934011e-03 -2.03949115e+01] [-8.06213345e-03 1.48238227e-04 9.99967489e-01 -2.31309741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.47, Y:-20.40, Z:-2.31 [[ 9.89177741e-01 1.46528956e-01 7.52736583e-03 1.60470288e+02] [-1.46523995e-01 9.89206377e-01 -1.20932892e-03 -2.03989207e+01] [-7.62331998e-03 9.33015387e-05 9.99970938e-01 -2.31401415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.50, Y:-20.40, Z:-2.31 [[ 9.88884441e-01 1.48534188e-01 6.71989612e-03 1.60498909e+02] [-1.48530284e-01 9.88907271e-01 -1.07912745e-03 -2.04033997e+01] [-6.80564145e-03 6.90242686e-05 9.99976839e-01 -2.31468929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.53, Y:-20.41, Z:-2.31 [[ 9.88757281e-01 1.49335384e-01 7.61457501e-03 1.60525765e+02] [-1.49330397e-01 9.88786599e-01 -1.22258949e-03 -2.04089213e+01] [-7.71176560e-03 7.17567578e-05 9.99970261e-01 -2.31498923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.55, Y:-20.41, Z:-2.31 [[ 9.88873380e-01 1.48498233e-01 8.81544572e-03 1.60553677e+02] [-1.48491522e-01 9.88912669e-01 -1.41470776e-03 -2.04143607e+01] [-8.92778756e-03 8.99479001e-05 9.99960142e-01 -2.31459048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.58, Y:-20.42, Z:-2.31 [[ 9.89091138e-01 1.46964870e-01 1.00023714e-02 1.60581046e+02] [-1.46956156e-01 9.89141705e-01 -1.60465525e-03 -2.04190377e+01] [-1.01295907e-02 1.17240229e-04 9.99948688e-01 -2.31435136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.61, Y:-20.42, Z:-2.31 [[ 9.89340229e-01 1.45144293e-01 1.17917635e-02 1.60608924e+02] [-1.45132063e-01 9.89410485e-01 -1.89087538e-03 -2.04248206e+01] [-1.19413442e-02 1.59356113e-04 9.99928687e-01 -2.31462865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.64, Y:-20.43, Z:-2.31 [[ 9.89540867e-01 1.43712436e-01 1.24742882e-02 1.60636398e+02] [-1.43698644e-01 9.89619473e-01 -1.99969025e-03 -2.04319687e+01] [-1.26321789e-02 1.86236922e-04 9.99920194e-01 -2.31425692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.66, Y:-20.44, Z:-2.31 [[ 9.89619076e-01 1.43119238e-01 1.30754577e-02 1.60664807e+02] [-1.43104039e-01 9.89705432e-01 -2.09557541e-03 -2.04376210e+01] [-1.32407687e-02 2.02670594e-04 9.99912317e-01 -2.31410317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.69, Y:-20.44, Z:-2.31 [[ 9.89674744e-01 1.42684994e-01 1.35975518e-02 1.60693850e+02] [-1.42668523e-01 9.89768127e-01 -2.17876264e-03 -2.04435928e+01] [-1.37693001e-02 2.16323733e-04 9.99905175e-01 -2.31449234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.72, Y:-20.45, Z:-2.32 [[ 9.89668893e-01 1.42852717e-01 1.21894765e-02 1.60721159e+02] [-1.42839496e-01 9.89743939e-01 -1.95289653e-03 -2.04528018e+01] [-1.23434371e-02 1.91582264e-04 9.99923799e-01 -2.31577084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.75, Y:-20.46, Z:-2.32 [[ 9.89654847e-01 1.43062597e-01 1.07878162e-02 1.60750042e+02] [-1.43052259e-01 9.89713628e-01 -1.72798700e-03 -2.04602695e+01] [-1.09240591e-02 1.66889232e-04 9.99940317e-01 -2.31658564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.78, Y:-20.47, Z:-2.32 [[ 9.89547941e-01 1.43949534e-01 8.56765191e-03 1.60777041e+02] [-1.43943047e-01 9.89585022e-01 -1.37222408e-03 -2.04708601e+01] [-8.67595102e-03 1.24627594e-04 9.99962355e-01 -2.31748722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.81, Y:-20.48, Z:-2.32 [[ 9.89424605e-01 1.44824384e-01 8.05291206e-03 1.60805303e+02] [-1.44818683e-01 9.89457369e-01 -1.28961441e-03 -2.04788781e+01] [-8.15478080e-03 1.09764110e-04 9.99966743e-01 -2.31772882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.83, Y:-20.49, Z:-2.32 [[ 9.89294186e-01 1.45668301e-01 8.81809059e-03 1.60834399e+02] [-1.45661502e-01 9.89333479e-01 -1.41192144e-03 -2.04868490e+01] [-8.92970444e-03 1.12349357e-04 9.99960123e-01 -2.31820373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.86, Y:-20.50, Z:-2.32 [[ 9.89138104e-01 1.46556949e-01 1.12637218e-02 1.60862018e+02] [-1.46545916e-01 9.89202226e-01 -1.80318363e-03 -2.04980756e+01] [-1.14063678e-02 1.32945205e-04 9.99934936e-01 -2.31867889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:-20.51, Z:-2.32 [[ 9.89018656e-01 1.47386739e-01 1.09200529e-02 1.60889654e+02] [-1.47376424e-01 9.89078933e-01 -1.74776531e-03 -2.05106461e+01] [-1.10583917e-02 1.19214151e-04 9.99938847e-01 -2.31866116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.92, Y:-20.52, Z:-2.32 [[ 9.88897858e-01 1.48295182e-01 9.46388719e-03 1.60919270e+02] [-1.48287478e-01 9.88943138e-01 -1.51457956e-03 -2.05191728e+01] [-9.58385115e-03 9.43885256e-05 9.99954069e-01 -2.31899749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:-20.53, Z:-2.32 [[ 9.88656511e-01 1.49975574e-01 8.10120554e-03 1.60949385e+02] [-1.49969985e-01 9.88689700e-01 -1.29649901e-03 -2.05269473e+01] [-8.20402165e-03 6.68545129e-05 9.99966344e-01 -2.31921695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:-20.53, Z:-2.32 [[ 9.88012353e-01 1.54171380e-01 7.92316222e-03 1.60977054e+02] [-1.54166168e-01 9.88044121e-01 -1.26811337e-03 -2.05346756e+01] [-8.02394064e-03 3.14281099e-05 9.99967807e-01 -2.31943672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.01, Y:-20.54, Z:-2.32 [[ 9.87717038e-01 1.56026152e-01 8.41975907e-03 1.61006318e+02] [-1.56020335e-01 9.87752924e-01 -1.34738571e-03 -2.05406584e+01] [-8.52686905e-03 1.71821837e-05 9.99963645e-01 -2.31989890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.03, Y:-20.55, Z:-2.32 [[ 9.87171496e-01 1.59402665e-01 9.12288206e-03 1.61033890e+02] [-1.59395982e-01 9.87213650e-01 -1.45971592e-03 -2.05494884e+01] [-9.23891631e-03 -1.31607994e-05 9.99957320e-01 -2.32010218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.06, Y:-20.56, Z:-2.32 [[ 9.86864790e-01 1.61262565e-01 9.60581493e-03 1.61062487e+02] [-1.61255248e-01 9.86911538e-01 -1.53660955e-03 -2.05568143e+01] [-9.72788718e-03 -3.25622036e-05 9.99952682e-01 -2.32028463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.09, Y:-20.56, Z:-2.32 [[ 9.86604111e-01 1.62836692e-01 9.82543806e-03 1.61091187e+02] [-1.62829116e-01 9.86653034e-01 -1.57151772e-03 -2.05635296e+01] [-9.95019901e-03 -4.94015496e-05 9.99950494e-01 -2.32031750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.12, Y:-20.57, Z:-2.32 [[ 9.86206952e-01 1.65256760e-01 9.27633083e-03 1.61119593e+02] [-1.65250116e-01 9.86250576e-01 -1.48350193e-03 -2.05692175e+01] [-9.39394534e-03 -6.98748297e-05 9.99955873e-01 -2.32057059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.15, Y:-20.57, Z:-2.32 [[ 9.85849629e-01 1.67367245e-01 9.41887248e-03 1.61147788e+02] [-1.67360493e-01 9.85894618e-01 -1.50612069e-03 -2.05732764e+01] [-9.53809095e-03 -9.15386120e-05 9.99954507e-01 -2.32129078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.18, Y:-20.58, Z:-2.32 [[ 9.85381300e-01 1.70099156e-01 9.48527904e-03 1.61177228e+02] [-1.70092438e-01 9.85426945e-01 -1.51638908e-03 -2.05772380e+01] [-9.60498604e-03 -1.19152793e-04 9.99953864e-01 -2.32106489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.20, Y:-20.58, Z:-2.32 [[ 9.84360964e-01 1.75923616e-01 9.18555135e-03 1.61204931e+02] [-1.75917570e-01 9.84403806e-01 -1.46841029e-03 -2.05799176e+01] [-9.30061975e-03 -1.70454105e-04 9.99956734e-01 -2.32027793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.23, Y:-20.58, Z:-2.32 [[ 9.83466448e-01 1.80740241e-01 1.12565610e-02 1.61232956e+02] [-1.80731486e-01 9.83530831e-01 -1.79865887e-03 -2.05811887e+01] [-1.13962648e-02 -2.65494342e-04 9.99935025e-01 -2.31990144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.26, Y:-20.58, Z:-2.32 [[ 9.83228978e-01 1.81918500e-01 1.29010145e-02 1.61260561e+02] [-1.81907113e-01 9.83313559e-01 -2.06056875e-03 -2.05839802e+01] [-1.30605981e-02 -3.20775406e-04 9.99914655e-01 -2.31977073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.29, Y:-20.59, Z:-2.32 [[ 9.83032265e-01 1.82947974e-01 1.33268087e-02 1.61289024e+02] [-1.82935927e-01 9.83122535e-01 -2.12781793e-03 -2.05866013e+01] [-1.34911660e-02 -3.46238432e-04 9.99908930e-01 -2.31975351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.32, Y:-20.58, Z:-2.32 [[ 9.82558830e-01 1.85607930e-01 1.13067479e-02 1.61318340e+02] [-1.85599439e-01 9.82623830e-01 -1.80488733e-03 -2.05842157e+01] [-1.14452813e-02 -3.25118082e-04 9.99934448e-01 -2.32054045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:-20.58, Z:-2.32 [[ 9.82304378e-01 1.87011400e-01 1.02394274e-02 1.61347529e+02] [-1.87004517e-01 9.82357695e-01 -1.63413020e-03 -2.05841903e+01] [-1.03643813e-02 -3.09605928e-04 9.99946240e-01 -2.32115454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.38, Y:-20.59, Z:-2.32 [[ 9.82314036e-01 1.86960659e-01 1.02394907e-02 1.61375691e+02] [-1.86953777e-01 9.82367353e-01 -1.63373356e-03 -2.05885440e+01] [-1.03643853e-02 -3.09472056e-04 9.99946240e-01 -2.32152138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.40, Y:-20.58, Z:-2.32 [[ 9.81680757e-01 1.90247552e-01 1.04287848e-02 1.61404930e+02] [-1.90240604e-01 9.81736088e-01 -1.66339526e-03 -2.05847545e+01] [-1.05547712e-02 -3.51055198e-04 9.99944235e-01 -2.32153268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.43, Y:-20.59, Z:-2.32 [[ 9.81460143e-01 1.91387400e-01 1.03368620e-02 1.61433079e+02] [-1.91380644e-01 9.81514510e-01 -1.64808289e-03 -2.05855218e+01] [-1.04612023e-02 -3.60747629e-04 9.99945215e-01 -2.32226206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.46, Y:-20.59, Z:-2.32 [[ 9.81374780e-01 1.91853941e-01 9.77781868e-03 1.61461484e+02] [-1.91847925e-01 9.81423428e-01 -1.55837465e-03 -2.05867185e+01] [-9.89516064e-03 -3.46504640e-04 9.99950982e-01 -2.32333608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.705769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.49, Y:-20.59, Z:-2.32 [[ 9.81830768e-01 1.89526520e-01 9.38302029e-03 1.61490368e+02] [-1.89520879e-01 9.81875553e-01 -1.49489066e-03 -2.05858351e+01] [-9.49627966e-03 -3.10548605e-04 9.99954861e-01 -2.32438448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.52, Y:-20.59, Z:-2.32 [[ 9.82724074e-01 1.84866465e-01 8.81959629e-03 1.61519922e+02] [-1.84861299e-01 9.82763617e-01 -1.40455566e-03 -2.05853339e+01] [-8.92723359e-03 -2.50111370e-04 9.99960120e-01 -2.32434858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.55, Y:-20.59, Z:-2.33 [[ 9.83182423e-01 1.82440353e-01 8.23652336e-03 1.61548054e+02] [-1.82435765e-01 9.83216900e-01 -1.31139745e-03 -2.05870438e+01] [-8.33754078e-03 -2.13293513e-04 9.99965219e-01 -2.32527942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.58, Y:-20.59, Z:-2.33 [[ 9.83567876e-01 1.80378367e-01 7.60776217e-03 1.61575621e+02] [-1.80374393e-01 9.83597281e-01 -1.21090947e-03 -2.05891390e+01] [-7.70139606e-03 -1.81233832e-04 9.99970327e-01 -2.32658462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.60, Y:-20.59, Z:-2.33 [[ 9.84238441e-01 1.76667928e-01 7.94568627e-03 1.61604700e+02] [-1.76663478e-01 9.84270500e-01 -1.26407985e-03 -2.05919342e+01] [-8.04402697e-03 -1.59556596e-04 9.99967634e-01 -2.32730893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.63, Y:-20.60, Z:-2.33 [[ 9.84460307e-01 1.75409128e-01 8.33916236e-03 1.61632531e+02] [-1.75404185e-01 9.84495613e-01 -1.32629669e-03 -2.05956022e+01] [-8.44251331e-03 -1.57037523e-04 9.99964349e-01 -2.32679924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.66, Y:-20.60, Z:-2.33 [[ 9.84467300e-01 1.75334708e-01 9.04854675e-03 1.61660566e+02] [-1.75328890e-01 9.84508868e-01 -1.43851917e-03 -2.05950895e+01] [-9.16059686e-03 -1.70296573e-04 9.99958026e-01 -2.32550320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.69, Y:-20.60, Z:-2.33 [[ 9.84280627e-01 1.76365868e-01 9.31282474e-03 1.61688838e+02] [-1.76359757e-01 9.84324665e-01 -1.47991598e-03 -2.05962786e+01] [-9.42784976e-03 -1.85754876e-04 9.99955540e-01 -2.32561704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.72, Y:-20.60, Z:-2.33 [[ 9.83728140e-01 1.79442916e-01 8.89864681e-03 1.61717063e+02] [-1.79437467e-01 9.83768366e-01 -1.41356556e-03 -2.05964385e+01] [-9.00786156e-03 -2.06186430e-04 9.99959407e-01 -2.32649435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.74, Y:-20.60, Z:-2.33 [[ 9.83492575e-01 1.80757178e-01 8.31853104e-03 1.61744722e+02] [-1.80752467e-01 9.83527733e-01 -1.32093547e-03 -2.05987792e+01] [-8.42027454e-03 -2.04464782e-04 9.99964528e-01 -2.32761227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.77, Y:-20.60, Z:-2.33 [[ 9.83334594e-01 1.81635649e-01 7.84648320e-03 1.61773047e+02] [-1.81631489e-01 9.83365878e-01 -1.24552085e-03 -2.06003016e+01] [-7.94219483e-03 -2.00404691e-04 9.99968440e-01 -2.32766413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.80, Y:-20.60, Z:-2.33 [[ 9.83293779e-01 1.81834450e-01 8.34132091e-03 1.61801976e+02] [-1.81829761e-01 9.83329134e-01 -1.32351794e-03 -2.05967653e+01] [-8.44292502e-03 -2.15293431e-04 9.99964335e-01 -2.32705143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.83, Y:-20.60, Z:-2.33 [[ 9.83388425e-01 1.81296649e-01 8.87306936e-03 1.61829187e+02] [-1.81291327e-01 9.83428429e-01 -1.40724435e-03 -2.05972069e+01] [-8.98115735e-03 -2.24742714e-04 9.99959643e-01 -2.32665014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.86, Y:-20.59, Z:-2.33 [[ 9.83624579e-01 1.79923781e-01 1.04938402e-02 1.61857883e+02] [-1.79916270e-01 9.83680522e-01 -1.66320696e-03 -2.05936322e+01] [-1.06218367e-02 -2.52041344e-04 9.99943555e-01 -2.32631312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.89, Y:-20.59, Z:-2.33 [[ 9.83661294e-01 1.79644213e-01 1.17650404e-02 1.61885303e+02] [-1.79634763e-01 9.83731609e-01 -1.86375821e-03 -2.05927277e+01] [-1.19084555e-02 -2.80103442e-04 9.99929053e-01 -2.32603774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.91, Y:-20.59, Z:-2.33 [[ 9.83416190e-01 1.80884564e-01 1.31670779e-02 1.61914939e+02] [-1.80872862e-01 9.83504278e-01 -2.08408359e-03 -2.05860772e+01] [-1.33268560e-02 -3.32045519e-04 9.99911138e-01 -2.32531813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:161.94, Y:-20.59, Z:-2.33 [[ 9.83208838e-01 1.82029915e-01 1.28642890e-02 1.61942711e+02] [-1.82018855e-01 9.83292934e-01 -2.03523353e-03 -2.05852526e+01] [-1.30198379e-02 -3.40483569e-04 9.99915180e-01 -2.32623501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:161.97, Y:-20.58, Z:-2.33 [[ 9.82933299e-01 1.83641010e-01 1.08678401e-02 1.61972144e+02] [-1.83633224e-01 9.82993329e-01 -1.71858792e-03 -2.05794776e+01] [-1.09986176e-02 -3.06439223e-04 9.99939466e-01 -2.32775822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.00, Y:-20.58, Z:-2.33 [[ 9.82953456e-01 1.83527148e-01 1.09676405e-02 1.61999320e+02] [-1.83519219e-01 9.83014593e-01 -1.73362468e-03 -2.05778375e+01] [-1.10995179e-02 -3.08700456e-04 9.99938351e-01 -2.32764102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.275769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.03, Y:-20.58, Z:-2.33 [[ 9.82968686e-01 1.83365995e-01 1.22259411e-02 1.62027146e+02] [-1.83356144e-01 9.83044655e-01 -1.93144486e-03 -2.05762075e+01] [-1.23728073e-02 -3.43151587e-04 9.99923395e-01 -2.32782941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.305769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.06, Y:-20.57, Z:-2.33 [[ 9.82910326e-01 1.83504993e-01 1.46016878e-02 1.62056927e+02] [-1.83490989e-01 9.83018691e-01 -2.30452011e-03 -2.05695819e+01] [-1.47766230e-02 -4.14141525e-04 9.99890734e-01 -2.32651548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.08, Y:-20.57, Z:-2.33 [[ 9.82862210e-01 1.83730025e-01 1.50051211e-02 1.62084753e+02] [-1.83715302e-01 9.82976649e-01 -2.36562526e-03 -2.05679385e+01] [-1.51843201e-02 -4.31586686e-04 9.99884618e-01 -2.32665947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.365769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.11, Y:-20.56, Z:-2.33 [[ 9.82984297e-01 1.83143198e-01 1.41576787e-02 1.62114747e+02] [-1.83130048e-01 9.83086166e-01 -2.23078643e-03 -2.05595075e+01] [-1.43267714e-02 -3.99868344e-04 9.99897287e-01 -2.32739084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.395769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:162.14, Y:-20.56, Z:-2.33 [[ 9.83077318e-01 1.82751176e-01 1.26883899e-02 1.62141909e+02] [-1.82740610e-01 9.83159133e-01 -1.99701997e-03 -2.05574899e+01] [-1.28396642e-02 -3.55459079e-04 9.99917505e-01 -2.32892388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.17, Y:-20.55, Z:-2.33 [[ 9.83366428e-01 1.81375005e-01 9.67343759e-03 1.62169842e+02] [-1.81368803e-01 9.83413972e-01 -1.52191554e-03 -2.05506332e+01] [-9.78903113e-03 -2.57859149e-04 9.99952053e-01 -2.33106778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.20, Y:-20.55, Z:-2.33 [[ 9.83589991e-01 1.80174145e-01 9.38122509e-03 1.62198576e+02] [-1.80168262e-01 9.83634699e-01 -1.47554705e-03 -2.05490095e+01] [-9.49355394e-03 -2.38865709e-04 9.99954907e-01 -2.33202639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.23, Y:-20.54, Z:-2.33 [[ 9.84317467e-01 1.76145813e-01 9.58005082e-03 1.62227560e+02] [-1.76139504e-01 9.84364064e-01 -1.50499646e-03 -2.05426242e+01] [-9.69535658e-03 -2.06031089e-04 9.99952978e-01 -2.33249530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.25, Y:-20.54, Z:-2.33 [[ 9.84801242e-01 1.73439569e-01 9.23203168e-03 1.62254945e+02] [-1.73433609e-01 9.84844498e-01 -1.44838613e-03 -2.05426408e+01] [-9.34332307e-03 -1.74772117e-04 9.99956335e-01 -2.33326329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.28, Y:-20.54, Z:-2.33 [[ 9.85496517e-01 1.69430501e-01 9.48260919e-03 1.62282204e+02] [-1.69424042e-01 9.85542128e-01 -1.48622425e-03 -2.05409695e+01] [-9.59732256e-03 -1.41913148e-04 9.99953935e-01 -2.33232401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.31, Y:-20.54, Z:-2.33 [[ 9.85773151e-01 1.67756730e-01 1.04391123e-02 1.62309987e+02] [-1.67748815e-01 9.85828413e-01 -1.63542872e-03 -2.05414588e+01] [-1.05655277e-02 -1.38986999e-04 9.99944174e-01 -2.33167921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.605769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.34, Y:-20.54, Z:-2.33 [[ 9.86007170e-01 1.66334013e-01 1.10840961e-02 1.62336983e+02] [-1.66325027e-01 9.86069459e-01 -1.73410816e-03 -2.05411423e+01] [-1.12181298e-02 -1.33719500e-04 9.99937066e-01 -2.33197727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.635769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:162.37, Y:-20.54, Z:-2.33 [[ 9.86336830e-01 1.64347457e-01 1.13829222e-02 1.62365508e+02] [-1.64337864e-01 9.86402504e-01 -1.77941648e-03 -2.05370707e+01] [-1.15205855e-02 -1.15541107e-04 9.99933629e-01 -2.33398627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.665769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.39, Y:-20.54, Z:-2.33 [[ 9.86576074e-01 1.62921177e-01 1.11507642e-02 1.62392627e+02] [-1.62911906e-01 9.86639083e-01 -1.74087668e-03 -2.05374196e+01] [-1.12854054e-02 -9.90849743e-05 9.99936313e-01 -2.33423875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.42, Y:-20.54, Z:-2.33 [[ 9.87152792e-01 1.59340396e-01 1.18323279e-02 1.62421180e+02] [-1.59329711e-01 9.87223700e-01 -1.84633464e-03 -2.05350431e+01] [-1.19753502e-02 -6.26269837e-05 9.99928291e-01 -2.33407543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.45, Y:-20.54, Z:-2.33 [[ 9.87463865e-01 1.57393454e-01 1.19338420e-02 1.62448816e+02] [-1.57382470e-01 9.87535973e-01 -1.85991785e-03 -2.05360968e+01] [-1.20778372e-02 -4.15758563e-05 9.99927059e-01 -2.33486244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:162.48, Y:-20.54, Z:-2.34 [[ 9.87797732e-01 1.55291782e-01 1.18364844e-02 1.62477238e+02] [-1.55280851e-01 9.87868646e-01 -1.84257442e-03 -2.05372434e+01] [-1.19790284e-02 -1.78885285e-05 9.99928249e-01 -2.33607730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.51, Y:-20.54, Z:-2.34 [[ 9.88580107e-01 1.50297174e-01 1.09604719e-02 1.62505724e+02] [-1.50287515e-01 9.88640864e-01 -1.70427890e-03 -2.05360510e+01] [-1.10921187e-02 3.75941307e-05 9.99938480e-01 -2.33668572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.53, Y:-20.54, Z:-2.34 [[ 9.89025364e-01 1.47357589e-01 1.07037956e-02 1.62533797e+02] [-1.47348227e-01 9.89083281e-01 -1.66235493e-03 -2.05376815e+01] [-1.08319058e-02 6.69258907e-05 9.99941331e-01 -2.33659086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:-20.54, Z:-2.34 [[ 9.89801886e-01 1.41889233e-01 1.26361068e-02 1.62561392e+02] [-1.41875778e-01 9.89882530e-01 -1.95951889e-03 -2.05380712e+01] [-1.27862960e-02 1.46778007e-04 9.99918241e-01 -2.33601091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.59, Y:-20.54, Z:-2.34 [[ 9.90206680e-01 1.38896946e-01 1.40843776e-02 1.62589065e+02] [-1.38879947e-01 9.90306819e-01 -2.18263514e-03 -2.05414172e+01] [-1.42510165e-02 2.05222282e-04 9.99898428e-01 -2.33656727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:162.62, Y:-20.55, Z:-2.34 [[ 9.90979558e-01 1.33260956e-01 1.41786444e-02 1.62615330e+02] [-1.33243190e-01 9.91080943e-01 -2.19456367e-03 -2.05461797e+01] [-1.43446339e-02 2.85559924e-04 9.99897070e-01 -2.33827272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.64, Y:-20.55, Z:-2.34 [[ 9.91393357e-01 1.30288688e-01 1.28089572e-02 1.62642982e+02] [-1.30273961e-01 9.91476056e-01 -1.98104769e-03 -2.05519828e+01] [-1.29578825e-02 2.95323924e-04 9.99916000e-01 -2.33946865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.67, Y:-20.56, Z:-2.34 [[ 9.91809749e-01 1.27220264e-01 1.13325134e-02 1.62668932e+02] [-1.27208544e-01 9.91874446e-01 -1.75201424e-03 -2.05576917e+01] [-1.14633221e-02 2.96072277e-04 9.99934250e-01 -2.33979514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.70, Y:-20.57, Z:-2.34 [[ 9.92395676e-01 1.22645046e-01 1.04410530e-02 1.62695371e+02] [-1.22634852e-01 9.92450548e-01 -1.61341589e-03 -2.05656965e+01] [-1.05601062e-02 3.20709962e-04 9.99944189e-01 -2.33945617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.72, Y:-20.57, Z:-2.34 [[ 9.92520933e-01 1.21601048e-01 1.07416107e-02 1.62722933e+02] [-1.21590209e-01 9.92578999e-01 -1.65893026e-03 -2.05707506e+01] [-1.08636249e-02 3.40448325e-04 9.99940931e-01 -2.33957637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.055769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.75, Y:-20.58, Z:-2.34 [[ 9.92472828e-01 1.21952645e-01 1.11909921e-02 1.62750488e+02] [-1.21940911e-01 9.92535858e-01 -1.72750612e-03 -2.05767278e+01] [-1.13181349e-02 3.49863115e-04 9.99935887e-01 -2.33945255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.085769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:162.78, Y:-20.58, Z:-2.34 [[ 9.92391817e-01 1.22576995e-01 1.15482026e-02 1.62777963e+02] [-1.22564551e-01 9.92458944e-01 -1.78180423e-03 -2.05829709e+01] [-1.16795252e-02 3.52847672e-04 9.99931730e-01 -2.33967172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.115769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.80, Y:-20.59, Z:-2.34 [[ 9.92303860e-01 1.23121521e-01 1.31962163e-02 1.62804986e+02] [-1.23105335e-01 9.92391523e-01 -2.03502872e-03 -2.05925486e+01] [-1.33463690e-02 3.94842231e-04 9.99910855e-01 -2.33924044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.145769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.83, Y:-20.60, Z:-2.34 [[ 9.92363906e-01 1.22576650e-01 1.37420351e-02 1.62831394e+02] [-1.22559060e-01 9.92458962e-01 -2.11816813e-03 -2.06003770e+01] [-1.38980438e-02 4.17782706e-04 9.99903330e-01 -2.34010217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.175769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.86, Y:-20.61, Z:-2.34 [[ 9.92484622e-01 1.21564887e-01 1.40090370e-02 1.62858218e+02] [-1.21546522e-01 9.92583390e-01 -2.15815703e-03 -2.06094282e+01] [-1.41674935e-02 4.39187947e-04 9.99899540e-01 -2.34080664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.205769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:162.88, Y:-20.62, Z:-2.34 [[ 9.92671763e-01 1.20001114e-01 1.42303996e-02 1.62883945e+02] [-1.19982019e-01 9.92773647e-01 -2.19120208e-03 -2.06224943e+01] [-1.43905124e-02 4.67752357e-04 9.99896342e-01 -2.34088093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.235769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.91, Y:-20.63, Z:-2.34 [[ 9.92682943e-01 1.20004638e-01 1.33962901e-02 1.62911288e+02] [-1.19987731e-01 9.92773234e-01 -2.06172038e-03 -2.06299417e+01] [-1.35468942e-02 4.39244211e-04 9.99908140e-01 -2.34088497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.94, Y:-20.64, Z:-2.34 [[ 9.92534135e-01 1.21438242e-01 1.13465536e-02 1.62937708e+02] [-1.21426214e-01 9.92598926e-01 -1.74559447e-03 -2.06419350e+01] [-1.14745588e-02 3.54793060e-04 9.99934102e-01 -2.34177772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.96, Y:-20.65, Z:-2.34 [[ 9.92411148e-01 1.22488451e-01 1.08024737e-02 1.62964113e+02] [-1.22477619e-01 9.92469885e-01 -1.66116730e-03 -2.06512486e+01] [-1.09246037e-02 3.25499687e-04 9.99940272e-01 -2.34295190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.99, Y:-20.66, Z:-2.34 [[ 9.92017475e-01 1.25599067e-01 1.12340498e-02 1.62989475e+02] [-1.25587560e-01 9.92081037e-01 -1.72671816e-03 -2.06645727e+01] [-1.13619620e-02 3.02077671e-04 9.99935405e-01 -2.34270030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.355769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.02, Y:-20.67, Z:-2.34 [[ 9.91756345e-01 1.27584834e-01 1.18937863e-02 1.63016712e+02] [-1.27572091e-01 9.91827618e-01 -1.82706794e-03 -2.06726998e+01] [-1.20296919e-02 2.94691035e-04 9.99927597e-01 -2.34285958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.04, Y:-20.68, Z:-2.34 [[ 9.91508004e-01 1.29516836e-01 1.17161328e-02 1.63042673e+02] [-1.29504615e-01 9.91577187e-01 -1.79898801e-03 -2.06806169e+01] [-1.18504493e-02 2.66417738e-04 9.99929745e-01 -2.34266526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.415769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.07, Y:-20.69, Z:-2.34 [[ 9.91060388e-01 1.32963103e-01 1.09599394e-02 1.63069081e+02] [-1.32952633e-01 9.91120966e-01 -1.68166319e-03 -2.06919289e+01] [-1.10862249e-02 2.09476972e-04 9.99938524e-01 -2.34376587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.10, Y:-20.70, Z:-2.34 [[ 9.90851893e-01 1.34504886e-01 1.09982532e-02 1.63095305e+02] [-1.34494446e-01 9.90912912e-01 -1.68682128e-03 -2.06985301e+01] [-1.11251968e-02 1.92186093e-04 9.99938095e-01 -2.34402432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.12, Y:-20.71, Z:-2.34 [[ 9.90595339e-01 1.36333151e-01 1.15821290e-02 1.63121231e+02] [-1.36321716e-01 9.90663030e-01 -1.77480047e-03 -2.07078913e+01] [-1.17159512e-02 1.79213371e-04 9.99931350e-01 -2.34409660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.15, Y:-20.71, Z:-2.34 [[ 9.90603049e-01 1.36277103e-01 1.15823594e-02 1.63149410e+02] [-1.36265682e-01 9.90670742e-01 -1.77329567e-03 -2.07120753e+01] [-1.17159642e-02 1.78353994e-04 9.99931350e-01 -2.34446351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.18, Y:-20.72, Z:-2.34 [[ 9.90564579e-01 1.36645798e-01 1.04757005e-02 1.63176682e+02] [-1.36636481e-01 9.90619958e-01 -1.60335948e-03 -2.07194668e+01] [-1.05965303e-02 1.56868258e-04 9.99943843e-01 -2.34448661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:-20.73, Z:-2.35 [[ 9.90415630e-01 1.37853576e-01 8.55986712e-03 1.63202670e+02] [-1.37847404e-01 9.90452613e-01 -1.30972915e-03 -2.07298900e+01] [-8.65869360e-03 1.17220763e-04 9.99962506e-01 -2.34630308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.23, Y:-20.74, Z:-2.35 [[ 9.90318153e-01 1.38488134e-01 9.53899612e-03 1.63229037e+02] [-1.38480506e-01 9.90364085e-01 -1.45873615e-03 -2.07358515e+01] [-9.64909681e-03 1.23647884e-04 9.99953439e-01 -2.34661962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.26, Y:-20.74, Z:-2.35 [[ 9.90233462e-01 1.38983057e-01 1.10181875e-02 1.63256663e+02] [-1.38972929e-01 9.90294750e-01 -1.68326729e-03 -2.07415412e+01] [-1.11451988e-02 1.35597809e-04 9.99937881e-01 -2.34647562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.28, Y:-20.75, Z:-2.35 [[ 9.90235756e-01 1.38826456e-01 1.26634429e-02 1.63283724e+02] [-1.38813078e-01 9.90316712e-01 -1.93358945e-03 -2.07476555e+01] [-1.28092525e-02 1.56857919e-04 9.99917946e-01 -2.34658622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.31, Y:-20.75, Z:-2.35 [[ 9.90299817e-01 1.38563172e-01 1.03208093e-02 1.63310005e+02] [-1.38554277e-01 9.90353589e-01 -1.57534837e-03 -2.07529713e+01] [-1.04395358e-02 1.30074921e-04 9.99945498e-01 -2.34717316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71576923100002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:163.34, Y:-20.76, Z:-2.35 [[ 9.90368286e-01 1.38174742e-01 8.85429916e-03 1.63337693e+02] [-1.38168186e-01 9.90407859e-01 -1.35087051e-03 -2.07572502e+01] [-8.95602366e-03 1.14476862e-04 9.99959887e-01 -2.34809512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.36, Y:-20.76, Z:-2.35 [[ 9.90413954e-01 1.37887209e-01 8.20470302e-03 1.63364028e+02] [-1.37881574e-01 9.90447932e-01 -1.25129840e-03 -2.07611424e+01] [-8.29886918e-03 1.08026032e-04 9.99965558e-01 -2.34849986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.775769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.39, Y:-20.77, Z:-2.35 [[ 9.90476823e-01 1.37231970e-01 1.10927419e-02 1.63391387e+02] [-1.37221642e-01 9.90538926e-01 -1.69044233e-03 -2.07650054e+01] [-1.12197754e-02 1.52179688e-04 9.99937045e-01 -2.34841468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.805769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.42, Y:-20.77, Z:-2.35 [[ 9.90514927e-01 1.36820293e-01 1.26643611e-02 1.63419459e+02] [-1.36806811e-01 9.90595869e-01 -1.92892961e-03 -2.07689737e+01] [-1.28091805e-02 1.78062717e-04 9.99917943e-01 -2.34849794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.45, Y:-20.77, Z:-2.35 [[ 9.90642367e-01 1.35957158e-01 1.19729603e-02 1.63447491e+02] [-1.35945055e-01 9.90714701e-01 -1.82283440e-03 -2.07733261e+01] [-1.21096152e-02 1.78112238e-04 9.99926660e-01 -2.34991153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.47, Y:-20.78, Z:-2.35 [[ 9.90788292e-01 1.35044432e-01 1.00777714e-02 1.63473638e+02] [-1.35035815e-01 9.90839531e-01 -1.53375061e-03 -2.07781475e+01] [-1.01925788e-02 1.58762074e-04 9.99948042e-01 -2.35178385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.50, Y:-20.78, Z:-2.35 [[ 9.90982690e-01 1.33765177e-01 7.75798786e-03 1.63501041e+02] [-1.33760036e-01 9.91013047e-01 -1.18022955e-03 -2.07838068e+01] [-7.84614080e-03 1.31878323e-04 9.99969210e-01 -2.35326667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.925769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.53, Y:-20.79, Z:-2.35 [[ 9.91292763e-01 1.31510029e-01 6.61584878e-03 1.63526756e+02] [-1.31506242e-01 9.91314832e-01 -1.00621238e-03 -2.07916161e+01] [-6.69071604e-03 1.27425647e-04 9.99977609e-01 -2.35309661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.955769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:163.55, Y:-20.80, Z:-2.35 [[ 9.91048634e-01 1.33088112e-01 1.04956755e-02 1.63553863e+02] [-1.33078683e-01 9.91104193e-01 -1.59484461e-03 -2.07958387e+01] [-1.06145629e-02 1.83817900e-04 9.99943647e-01 -2.34555582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.985769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.58, Y:-20.80, Z:-2.35 [[ 9.90683883e-01 1.35599915e-01 1.25740548e-02 1.63581803e+02] [-1.35586599e-01 9.90763659e-01 -1.90945164e-03 -2.07987981e+01] [-1.27168380e-02 1.86789637e-04 9.99919120e-01 -2.34912194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.015769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.61, Y:-20.80, Z:-2.35 [[ 9.90220356e-01 1.38859885e-01 1.34751533e-02 1.63609979e+02] [-1.38844907e-01 9.90312026e-01 -2.04530089e-03 -2.08010999e+01] [-1.36286166e-02 1.54342162e-04 9.99907114e-01 -2.34944803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.64, Y:-20.80, Z:-2.35 [[ 9.89240555e-01 1.45790563e-01 1.21751927e-02 1.63637313e+02] [-1.45778869e-01 9.89315475e-01 -1.84724146e-03 -2.08010979e+01] [-1.23144169e-02 5.24803384e-05 9.99924173e-01 -2.35260325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.67, Y:-20.80, Z:-2.35 [[ 9.88876932e-01 1.48322957e-01 1.10776468e-02 1.63665400e+02] [-1.48313444e-01 9.88938977e-01 -1.67990648e-03 -2.08034440e+01] [-1.12042854e-02 1.82568127e-05 9.99937230e-01 -2.35336273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.69, Y:-20.80, Z:-2.35 [[ 9.88398837e-01 1.51536372e-01 1.02208898e-02 1.63694295e+02] [-1.51528453e-01 9.88451682e-01 -1.54935569e-03 -2.08021235e+01] [-1.03376394e-02 -1.73742445e-05 9.99946565e-01 -2.35312137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.135769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:163.72, Y:-20.80, Z:-2.35 [[ 9.88263337e-01 1.52469312e-01 9.41726958e-03 1.63722916e+02] [-1.52462637e-01 9.88308205e-01 -1.42696538e-03 -2.08030791e+01] [-9.52473322e-03 -2.55641790e-05 9.99954638e-01 -2.35310613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.165769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:163.75, Y:-20.80, Z:-2.35 [[ 9.88237973e-01 1.52692187e-01 8.41454556e-03 1.63751429e+02] [-1.52686870e-01 9.88273796e-01 -1.27454621e-03 -2.08040034e+01] [-8.51048813e-03 -2.52356578e-05 9.99963785e-01 -2.35387996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.195769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:163.78, Y:-20.80, Z:-2.36 [[ 9.88539813e-01 1.50747090e-01 8.02202925e-03 1.63778613e+02] [-1.50742196e-01 9.88572362e-01 -1.21464152e-03 -2.08038595e+01] [-8.11346008e-03 -8.53680547e-06 9.99967085e-01 -2.35575013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.81, Y:-20.80, Z:-2.36 [[ 9.89476487e-01 1.44384172e-01 9.46006270e-03 1.63806175e+02] [-1.44377083e-01 9.89521707e-01 -1.43159662e-03 -2.08043644e+01] [-9.56763729e-03 5.07149371e-05 9.99954228e-01 -2.35643398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.83, Y:-20.81, Z:-2.36 [[ 9.90013780e-01 1.40614090e-01 1.00196333e-02 1.63834198e+02] [-1.40605959e-01 9.90064477e-01 -1.51481385e-03 -2.08067217e+01] [-1.01330872e-02 9.08664274e-05 9.99948655e-01 -2.35610404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28576923100002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:163.86, Y:-20.81, Z:-2.36 [[ 9.90498065e-01 1.37156892e-01 1.00782108e-02 1.63862212e+02] [-1.37148494e-01 9.90549328e-01 -1.52301588e-03 -2.08092092e+01] [-1.01918570e-02 1.26332851e-04 9.99948054e-01 -2.35615564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31576923100002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:163.89, Y:-20.81, Z:-2.36 [[ 9.91259515e-01 1.31671996e-01 8.18898837e-03 1.63889303e+02] [-1.31666267e-01 9.91293329e-01 -1.23714838e-03 -2.08119580e+01] [-8.28058734e-03 1.48121575e-04 9.99965704e-01 -2.35724043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34576923100002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:163.92, Y:-20.82, Z:-2.36 [[ 9.91564927e-01 1.29380395e-01 7.72710755e-03 1.63916831e+02] [-1.29375230e-01 9.91595023e-01 -1.16671287e-03 -2.08153561e+01] [-7.81311116e-03 1.57175248e-04 9.99969465e-01 -2.35747419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37576923100002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:163.94, Y:-20.82, Z:-2.36 [[ 9.92101787e-01 1.25077026e-01 9.47535841e-03 1.63944450e+02] [-1.25069072e-01 9.92147007e-01 -1.42982034e-03 -2.08178766e+01] [-9.57978617e-03 2.33453034e-04 9.99954086e-01 -2.35646131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:163.97, Y:-20.82, Z:-2.36 [[ 9.92361383e-01 1.22971073e-01 9.84889479e-03 1.63970756e+02] [-1.22962381e-01 9.92410221e-01 -1.48556580e-03 -2.08221085e+01] [-9.95682547e-03 2.63174585e-04 9.99950395e-01 -2.35691036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.00, Y:-20.83, Z:-2.36 [[ 9.93076065e-01 1.17106923e-01 9.26815065e-03 1.63998019e+02] [-1.17098981e-01 9.93119266e-01 -1.39688173e-03 -2.08288857e+01] [-9.36796350e-03 3.01918818e-04 9.99956074e-01 -2.35886282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.02, Y:-20.83, Z:-2.36 [[ 9.93532839e-01 1.13166406e-01 9.26616723e-03 1.64024239e+02] [-1.13158302e-01 9.93575991e-01 -1.39597116e-03 -2.08339337e+01] [-9.36461832e-03 3.38399437e-04 9.99956094e-01 -2.35970704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.05, Y:-20.84, Z:-2.36 [[ 9.94306198e-01 1.06050812e-01 1.04120152e-02 1.64052105e+02] [-1.06040201e-01 9.94360608e-01 -1.56754005e-03 -2.08436406e+01] [-1.05195366e-02 4.54522607e-04 9.99944565e-01 -2.35914655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.08, Y:-20.85, Z:-2.36 [[ 9.94613554e-01 1.03027479e-01 1.13673177e-02 1.64079309e+02] [-1.03014640e-01 9.94678369e-01 -1.71080935e-03 -2.08519786e+01] [-1.14830854e-02 5.30594020e-04 9.99933926e-01 -2.35859433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.11, Y:-20.86, Z:-2.36 [[ 9.94822852e-01 1.00886709e-01 1.22215342e-02 1.64107609e+02] [-1.00871716e-01 9.94897742e-01 -1.83862562e-03 -2.08605159e+01] [-1.23446696e-02 5.96299659e-04 9.99923624e-01 -2.35831890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.13, Y:-20.87, Z:-2.36 [[ 9.95018068e-01 9.90426105e-02 1.13844647e-02 1.64133927e+02] [-9.90294859e-02 9.95083026e-01 -1.71223349e-03 -2.08713552e+01] [-1.14980716e-02 5.76305575e-04 9.99933729e-01 -2.35896010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.615769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:164.16, Y:-20.88, Z:-2.36 [[ 9.95009220e-01 9.92667581e-02 1.01372484e-02 1.64160822e+02] [-9.92563687e-02 9.95060727e-01 -1.52412763e-03 -2.08801490e+01] [-1.02384730e-02 5.10334575e-04 9.99947455e-01 -2.36033361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.645769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.19, Y:-20.90, Z:-2.36 [[ 9.94819530e-01 1.01334118e-01 8.09317963e-03 1.64187688e+02] [-1.01327566e-01 9.94852373e-01 -1.21658248e-03 -2.08959421e+01] [-8.17480027e-03 3.90217823e-04 9.99966510e-01 -2.36164651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.675769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:164.21, Y:-20.91, Z:-2.36 [[ 9.94686912e-01 1.02628256e-01 8.08624370e-03 1.64213895e+02] [-1.02621760e-01 9.94719708e-01 -1.21521268e-03 -2.09054203e+01] [-8.16826113e-03 3.78931585e-04 9.99966567e-01 -2.36188136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.705769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:164.24, Y:-20.92, Z:-2.36 [[ 9.94196375e-01 1.07116617e-01 9.97989263e-03 1.64240905e+02] [-1.07106957e-01 9.94246374e-01 -1.49891538e-03 -2.09201135e+01] [-1.00830308e-02 4.21300308e-04 9.99949076e-01 -2.36081994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.735769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.27, Y:-20.93, Z:-2.36 [[ 9.93921238e-01 1.09589191e-01 1.05252614e-02 1.64268359e+02] [-1.09578591e-01 9.93976879e-01 -1.58031214e-03 -2.09297438e+01] [-1.06350516e-02 4.17362490e-04 9.99943359e-01 -2.36084626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.29, Y:-20.94, Z:-2.36 [[ 9.93683450e-01 1.11801090e-01 9.68080081e-03 1.64294794e+02] [-1.11792231e-01 9.93730540e-01 -1.45312816e-03 -2.09390461e+01] [-9.78256872e-03 3.61711076e-04 9.99952084e-01 -2.36090425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.795769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.32, Y:-20.95, Z:-2.36 [[ 9.93118377e-01 1.16925122e-01 6.66374090e-03 1.64322566e+02] [-1.16921042e-01 9.93140710e-01 -1.00000341e-03 -2.09513297e+01] [-6.73495789e-03 2.13990234e-04 9.99977297e-01 -2.36242887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.825769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:164.35, Y:-20.96, Z:-2.36 [[ 9.92791351e-01 1.19727955e-01 5.52726945e-03 1.64349379e+02] [-1.19725191e-01 9.92806724e-01 -8.29381828e-04 -2.09593347e+01] [-5.58681047e-03 1.61649712e-04 9.99984381e-01 -2.36362602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.855769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.38, Y:-20.97, Z:-2.36 [[ 9.92139163e-01 1.25033490e-01 5.14847541e-03 1.64376447e+02] [-1.25031166e-01 9.92152514e-01 -7.72210085e-04 -2.09735689e+01] [-5.20462495e-03 1.22419985e-04 9.99986448e-01 -2.36391440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.40, Y:-20.98, Z:-2.36 [[ 9.91929392e-01 1.26690033e-01 5.07116674e-03 1.64403606e+02] [-1.26687800e-01 9.91942349e-01 -7.60467981e-04 -2.09819281e+01] [-5.12664876e-03 1.11875584e-04 9.99986852e-01 -2.36367174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.915769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:164.43, Y:-20.99, Z:-2.36 [[ 9.91747521e-01 1.28077441e-01 5.74656916e-03 1.64432045e+02] [-1.28074600e-01 9.91764163e-01 -8.61193294e-04 -2.09894035e+01] [-5.80954079e-03 1.18096770e-04 9.99983118e-01 -2.36368611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.945769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.46, Y:-21.00, Z:-2.36 [[ 9.91297964e-01 1.31410192e-01 7.72713466e-03 1.64459293e+02] [-1.31405161e-01 9.91328071e-01 -1.15742559e-03 -2.09996548e+01] [-7.81222302e-03 1.31968251e-04 9.99969475e-01 -2.36358527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:164.49, Y:-21.01, Z:-2.36 [[ 9.91036742e-01 1.33294457e-01 8.87488479e-03 1.64485979e+02] [-1.33287900e-01 9.91076470e-01 -1.32888840e-03 -2.10067681e+01] [-8.97282295e-03 1.34062472e-04 9.99959734e-01 -2.36331636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:164.51, Y:-21.01, Z:-2.36 [[ 9.90426937e-01 1.37678950e-01 9.94933086e-03 1.64512919e+02] [-1.37670938e-01 9.90476903e-01 -1.48902343e-03 -2.10144778e+01] [-1.00595896e-02 1.05035207e-04 9.99949396e-01 -2.35949416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:164.54, Y:-21.02, Z:-2.36 [[ 9.90144430e-01 1.39747677e-01 9.19756076e-03 1.64541602e+02] [-1.39740924e-01 9.90187144e-01 -1.37592216e-03 -2.10187307e+01] [-9.29958835e-03 7.70860244e-05 9.99956755e-01 -2.36408815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:164.57, Y:-21.02, Z:-2.36 [[ 9.89435094e-01 1.44704057e-01 8.88425088e-03 1.64569247e+02] [-1.44697959e-01 9.89474980e-01 -1.32869559e-03 -2.10223150e+01] [-8.98301160e-03 2.91250725e-05 9.99959652e-01 -2.36487564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.60, Y:-21.03, Z:-2.36 [[ 9.89155104e-01 1.46559641e-01 9.61523973e-03 1.64597634e+02] [-1.46552593e-01 9.89201836e-01 -1.43735409e-03 -2.10264114e+01] [-9.72207089e-03 1.26278251e-05 9.99952739e-01 -2.36496414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.62, Y:-21.03, Z:-2.37 [[ 9.89043141e-01 1.47294091e-01 9.90534484e-03 1.64624646e+02] [-1.47286653e-01 9.89092741e-01 -1.48025755e-03 -2.10310864e+01] [-1.00153379e-02 5.11349735e-06 9.99949845e-01 -2.36606419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.65, Y:-21.04, Z:-2.37 [[ 9.89193503e-01 1.46290722e-01 9.75905260e-03 1.64652234e+02] [-1.46283459e-01 9.89241641e-01 -1.45781489e-03 -2.10359249e+01] [-9.86732601e-03 1.44730476e-05 9.99951317e-01 -2.36683661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:164.68, Y:-21.04, Z:-2.37 [[ 9.89639526e-01 1.43259273e-01 9.50732740e-03 1.64681032e+02] [-1.43252245e-01 9.89685192e-01 -1.41962711e-03 -2.10406117e+01] [-9.61263589e-03 4.29730993e-05 9.99953797e-01 -2.36709588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.71, Y:-21.04, Z:-2.37 [[ 9.89844744e-01 1.41826351e-01 9.62647124e-03 1.64709613e+02] [-1.41819083e-01 9.89891551e-01 -1.43695793e-03 -2.10443854e+01] [-9.73296105e-03 5.71479316e-05 9.99952632e-01 -2.36753381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.74, Y:-21.05, Z:-2.37 [[ 9.89966668e-01 1.40991129e-01 9.35406753e-03 1.64737250e+02] [-1.40984233e-01 9.90010857e-01 -1.39589840e-03 -2.10482275e+01] [-9.45743771e-03 6.31168467e-05 9.99955275e-01 -2.36799333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.275769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:164.76, Y:-21.05, Z:-2.37 [[ 9.89935570e-01 1.41348063e-01 6.94933391e-03 1.64764650e+02] [-1.41344267e-01 9.89959960e-01 -1.03683271e-03 -2.10527743e+01] [-7.02611662e-03 4.41490706e-05 9.99975316e-01 -2.36972910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.305769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.79, Y:-21.06, Z:-2.37 [[ 9.89785417e-01 1.42439897e-01 5.97531277e-03 1.64792991e+02] [-1.42437112e-01 9.89803453e-01 -8.91136306e-04 -2.10571405e+01] [-6.04131857e-03 3.09274228e-05 9.99981751e-01 -2.37030201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.82, Y:-21.06, Z:-2.37 [[ 9.89254526e-01 1.46029221e-01 7.13785776e-03 1.64820875e+02] [-1.46025344e-01 9.89280277e-01 -1.06415573e-03 -2.10606504e+01] [-7.21673973e-03 1.04127402e-05 9.99973959e-01 -2.36911902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.85, Y:-21.06, Z:-2.37 [[ 9.88861951e-01 1.48600295e-01 8.36629406e-03 1.64849437e+02] [-1.48595066e-01 9.88897342e-01 -1.24657283e-03 -2.10648053e+01] [-8.45864705e-03 -1.05015810e-05 9.99964225e-01 -2.36845405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.88, Y:-21.07, Z:-2.37 [[ 9.88872918e-01 1.48527294e-01 8.36633482e-03 1.64878458e+02] [-1.48522065e-01 9.88908309e-01 -1.24629925e-03 -2.10690199e+01] [-8.45864747e-03 -1.01537437e-05 9.99964225e-01 -2.36883159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.425769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:164.91, Y:-21.07, Z:-2.37 [[ 9.88451248e-01 1.51257056e-01 9.24300818e-03 1.64905819e+02] [-1.51250801e-01 9.88494462e-01 -1.37605634e-03 -2.10727101e+01] [-9.34480063e-03 -3.78477882e-05 9.99956336e-01 -2.36845430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.93, Y:-21.07, Z:-2.37 [[ 9.87849994e-01 1.55120665e-01 9.48513933e-03 1.64934404e+02] [-1.55114263e-01 9.87895528e-01 -1.41141892e-03 -2.10741533e+01] [-9.58926697e-03 -7.70102253e-05 9.99954019e-01 -2.36826504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.96, Y:-21.08, Z:-2.37 [[ 9.87550048e-01 1.57003810e-01 9.73168164e-03 1.64962048e+02] [-1.56997166e-01 9.87597992e-01 -1.44766212e-03 -2.10762294e+01] [-9.83827771e-03 -9.82076441e-05 9.99951598e-01 -2.36832470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.99, Y:-21.08, Z:-2.37 [[ 9.86975331e-01 1.60446909e-01 1.16827167e-02 1.64991406e+02] [-1.60437585e-01 9.87044459e-01 -1.73703984e-03 -2.10767613e+01] [-1.18100635e-02 -1.59931394e-04 9.99930246e-01 -2.36896802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.545769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.02, Y:-21.08, Z:-2.37 [[ 9.86775538e-01 1.61625154e-01 1.23023242e-02 1.65020390e+02] [-1.61614914e-01 9.86852206e-01 -1.82855895e-03 -2.10789290e+01] [-1.24361169e-02 -1.83861827e-04 9.99922652e-01 -2.36917630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.05, Y:-21.08, Z:-2.37 [[ 9.86777073e-01 1.61628623e-01 1.21324607e-02 1.65049469e+02] [-1.61618672e-01 9.86851638e-01 -1.80275443e-03 -2.10806306e+01] [-1.22643154e-02 -1.81915437e-04 9.99924774e-01 -2.36957603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.605769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.08, Y:-21.08, Z:-2.37 [[ 9.86972799e-01 1.60588869e-01 9.79336111e-03 1.65078615e+02] [-1.60582337e-01 9.87021376e-01 -1.45484819e-03 -2.10795093e+01] [-9.89988918e-03 -1.36745222e-04 9.99950986e-01 -2.37055089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.635769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.11, Y:-21.08, Z:-2.37 [[ 9.87455344e-01 1.57615943e-01 9.44235679e-03 1.65107704e+02] [-1.57609739e-01 9.87500483e-01 -1.40230429e-03 -2.10799619e+01] [-9.54535741e-03 -1.03494530e-04 9.99954437e-01 -2.37160394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.14, Y:-21.08, Z:-2.37 [[ 9.87857554e-01 1.55062331e-01 9.65019980e-03 1.65135759e+02] [-1.55055734e-01 9.87904685e-01 -1.43270396e-03 -2.10826548e+01] [-9.75563601e-03 -8.10113846e-05 9.99952409e-01 -2.37195298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.16, Y:-21.09, Z:-2.37 [[ 9.88372233e-01 1.51737195e-01 9.80578669e-03 1.65163703e+02] [-1.51730225e-01 9.88420873e-01 -1.45518532e-03 -2.10852835e+01] [-9.91304997e-03 -4.95694536e-05 9.99950863e-01 -2.37216100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.19, Y:-21.09, Z:-2.37 [[ 9.89494275e-01 1.44261338e-01 9.47339397e-03 1.65192641e+02] [-1.44254497e-01 9.89539623e-01 -1.40516584e-03 -2.10896597e+01] [-9.57700981e-03 2.38238786e-05 9.99954139e-01 -2.37414477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.22, Y:-21.10, Z:-2.38 [[ 9.90082467e-01 1.40181148e-01 9.27112718e-03 1.65221169e+02] [-1.40174420e-01 9.90125872e-01 -1.37476972e-03 -2.10950838e+01] [-9.37229968e-03 6.15605205e-05 9.99956077e-01 -2.37526571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.25, Y:-21.10, Z:-2.38 [[ 9.91197377e-01 1.32101373e-01 8.77427557e-03 1.65247957e+02] [-1.32095033e-01 9.91236203e-01 -1.30076278e-03 -2.11018199e+01] [-8.86921215e-03 1.30274436e-04 9.99960659e-01 -2.37548307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.28, Y:-21.11, Z:-2.38 [[ 9.91737675e-01 1.27999995e-01 8.50790517e-03 1.65275985e+02] [-1.27993888e-01 9.91774155e-01 -1.26064737e-03 -2.11083039e+01] [-8.59928332e-03 1.61271628e-04 9.99963012e-01 -2.37563175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.30, Y:-21.12, Z:-2.38 [[ 9.92665731e-01 1.20596661e-01 8.43754729e-03 1.65302897e+02] [-1.20590391e-01 9.92701564e-01 -1.24980258e-03 -2.11204597e+01] [-8.52668841e-03 2.23149068e-04 9.99963622e-01 -2.37578538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.33, Y:-21.13, Z:-2.38 [[ 9.93120176e-01 1.16763829e-01 8.86134578e-03 1.65332165e+02] [-1.16756765e-01 9.93159673e-01 -1.31213495e-03 -2.11292148e+01] [-8.95394118e-03 2.68485629e-04 9.99959877e-01 -2.37604217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.36, Y:-21.14, Z:-2.38 [[ 9.93577906e-01 1.12757120e-01 9.42210292e-03 1.65360431e+02] [-1.12748953e-01 9.93622527e-01 -1.39520720e-03 -2.11375818e+01] [-9.51933326e-03 3.23914811e-04 9.99954638e-01 -2.37635162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:-21.15, Z:-2.38 [[ 9.94173632e-01 1.07345806e-01 9.78095880e-03 1.65390524e+02] [-1.07336746e-01 9.94221668e-01 -1.44812098e-03 -2.11506046e+01] [-9.87989089e-03 3.89827404e-04 9.99951117e-01 -2.37676432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.42, Y:-21.16, Z:-2.38 [[ 9.94309138e-01 1.06129528e-01 9.26612015e-03 1.65421042e+02] [-1.06121341e-01 9.94352241e-01 -1.37210180e-03 -2.11600465e+01] [-9.35940785e-03 3.80960254e-04 9.99956127e-01 -2.37713354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.45, Y:-21.17, Z:-2.38 [[ 9.94214054e-01 1.07122118e-01 7.95404222e-03 1.65450473e+02] [-1.07116117e-01 9.94245820e-01 -1.17795991e-03 -2.11737072e+01] [-8.03445879e-03 3.19138185e-04 9.99967672e-01 -2.37730491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.48, Y:-21.18, Z:-2.38 [[ 9.94017116e-01 1.08903793e-01 8.36279064e-03 1.65480901e+02] [-1.08897220e-01 9.94052243e-01 -1.23870773e-03 -2.11827026e+01] [-8.44795076e-03 3.20612032e-04 9.99964264e-01 -2.37755190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.055769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:165.51, Y:-21.20, Z:-2.38 [[ 9.93701019e-01 1.11652506e-01 9.59177001e-03 1.65511478e+02] [-1.11643988e-01 9.93747253e-01 -1.42056920e-03 -2.11970195e+01] [-9.69040521e-03 3.40757604e-04 9.99952989e-01 -2.37751317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.085769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:165.54, Y:-21.21, Z:-2.38 [[ 9.93587080e-01 1.12657652e-01 9.64199810e-03 1.65542417e+02] [-1.12649075e-01 9.93633807e-01 -1.42976843e-03 -2.12068919e+01] [-9.74168963e-03 3.34437278e-04 9.99952493e-01 -2.37770841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.115769231 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:165.57, Y:-21.22, Z:-2.38 [[ 9.93408788e-01 1.14234803e-01 9.45457769e-03 1.65574029e+02] [-1.14226619e-01 9.93453729e-01 -1.40284098e-03 -2.12206702e+01] [-9.55293872e-03 3.13630117e-04 9.99954320e-01 -2.37748756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.145769231 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:165.61, Y:-21.23, Z:-2.38 [[ 9.93260362e-01 1.15468394e-01 1.00450713e-02 1.65606041e+02] [-1.15459198e-01 9.93311102e-01 -1.49248904e-03 -2.12296981e+01] [-1.01502162e-02 3.22634318e-04 9.99948433e-01 -2.37739564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.175769231 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:165.64, Y:-21.24, Z:-2.38 [[ 9.92863343e-01 1.18773187e-01 1.07383549e-02 1.65637548e+02] [-1.18762848e-01 9.92921363e-01 -1.59771316e-03 -2.12419576e+01] [-1.08521075e-02 3.10993219e-04 9.99941066e-01 -2.37730777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.205769231 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:165.67, Y:-21.25, Z:-2.38 [[ 9.92579540e-01 1.21182334e-01 1.00348726e-02 1.65669487e+02] [-1.21173410e-01 9.92630228e-01 -1.49480448e-03 -2.12499121e+01] [-1.01420618e-02 2.67752613e-04 9.99948532e-01 -2.37779092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.235769231 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:165.70, Y:-21.26, Z:-2.38 [[ 9.91839049e-01 1.27183797e-01 8.92089147e-03 1.65700013e+02] [-1.27176972e-01 9.91879150e-01 -1.33059143e-03 -2.12599177e+01] [-9.01767591e-03 1.85200579e-04 9.99959323e-01 -2.37771580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.265769231 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:165.73, Y:-21.27, Z:-2.38 [[ 9.91465787e-01 1.30077480e-01 8.68575705e-03 1.65732827e+02] [-1.30071115e-01 9.91503820e-01 -1.29623622e-03 -2.12665388e+01] [-8.78057244e-03 1.55407767e-04 9.99961438e-01 -2.37827309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.295769231 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:165.77, Y:-21.27, Z:-2.38 [[ 9.91063870e-01 1.33117472e-01 8.49383280e-03 1.65765661e+02] [-1.33111482e-01 9.91100259e-01 -1.26917821e-03 -2.12722332e+01] [-8.58718968e-03 1.27209992e-04 9.99963121e-01 -2.37853057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.325769231 meters Centerline goodness : 0.996496 Centerline is valid? [True, True] Translation: X:165.80, Y:-21.28, Z:-2.38 [[ 9.90060342e-01 1.40287950e-01 9.99053496e-03 1.65797391e+02] [-1.40280004e-01 9.90110744e-01 -1.49521156e-03 -2.12764311e+01] [-1.01014962e-02 7.88773787e-05 9.99948975e-01 -2.37848105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.355769231 meters Centerline goodness : 0.995854 Centerline is valid? [True, True] Translation: X:165.83, Y:-21.28, Z:-2.38 [[ 9.89470783e-01 1.44377221e-01 1.01384134e-02 1.65829328e+02] [-1.44369233e-01 9.89522722e-01 -1.51924404e-03 -2.12799836e+01] [-1.02515347e-02 3.95726224e-05 9.99947451e-01 -2.37865564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.385769231 meters Centerline goodness : 0.995774 Centerline is valid? [True, True] Translation: X:165.86, Y:-21.28, Z:-2.38 [[ 9.88941336e-01 1.47969828e-01 9.99824738e-03 1.65860748e+02] [-1.47962224e-01 9.88991876e-01 -1.50004696e-03 -2.12824308e+01] [-1.01101471e-02 4.09552248e-06 9.99948891e-01 -2.37916151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.415769231 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:165.89, Y:-21.28, Z:-2.38 [[ 9.88082321e-01 1.53631836e-01 9.51766468e-03 1.65892417e+02] [-1.53625198e-01 9.88128158e-01 -1.42905108e-03 -2.12801349e+01] [-9.62422021e-03 -5.01330086e-05 9.99953685e-01 -2.37932268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.445769231 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:165.92, Y:-21.28, Z:-2.38 [[ 9.87697502e-01 1.56111387e-01 9.10381364e-03 1.65923786e+02] [-1.56105419e-01 9.87739454e-01 -1.36691249e-03 -2.12764886e+01] [-9.20558653e-03 -7.10585914e-05 9.99957625e-01 -2.38002522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47576923100002 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:165.95, Y:-21.28, Z:-2.38 [[ 9.87682207e-01 1.56190034e-01 9.40909860e-03 1.65954310e+02] [-1.56183663e-01 9.87727021e-01 -1.41270910e-03 -2.12773806e+01] [-9.51427201e-03 -7.42398413e-05 9.99954736e-01 -2.38072914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50576923100002 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:165.99, Y:-21.28, Z:-2.38 [[ 9.87807400e-01 1.55386298e-01 9.57284810e-03 1.65985393e+02] [-1.55379663e-01 9.87853782e-01 -1.43745513e-03 -2.12787307e+01] [-9.67993503e-03 -6.74971039e-05 9.99953146e-01 -2.38110934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53576923100002 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:166.02, Y:-21.28, Z:-2.38 [[ 9.88202891e-01 1.52804627e-01 1.02855307e-02 1.66015431e+02] [-1.52796828e-01 9.88256416e-01 -1.54449941e-03 -2.12783320e+01] [-1.04007484e-02 -4.53176926e-05 9.99945910e-01 -2.38088328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56576923100002 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:166.05, Y:-21.28, Z:-2.38 [[ 9.88420419e-01 1.51388677e-01 1.03220406e-02 1.66045778e+02] [-1.51380747e-01 9.88474313e-01 -1.54980409e-03 -2.12804522e+01] [-1.04376948e-02 -3.07002092e-05 9.99945525e-01 -2.38114981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59576923100002 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:166.08, Y:-21.28, Z:-2.38 [[ 9.88824167e-01 1.48749366e-01 1.00196266e-02 1.66075871e+02] [-1.48741758e-01 9.88874929e-01 -1.50452117e-03 -2.12814533e+01] [-1.01319541e-02 -2.62998521e-06 9.99948670e-01 -2.38238147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62576923100002 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:166.11, Y:-21.29, Z:-2.38 [[ 9.88924007e-01 1.48106048e-01 9.69061029e-03 1.66105536e+02] [-1.48098897e-01 9.88971485e-01 -1.45531051e-03 -2.12853373e+01] [-9.79927754e-03 4.02280559e-06 9.99951986e-01 -2.38310253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65576923100002 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:166.14, Y:-21.29, Z:-2.38 [[ 9.88967322e-01 1.47838769e-01 9.34530489e-03 1.66135784e+02] [-1.47832109e-01 9.89011475e-01 -1.40330643e-03 -2.12895027e+01] [-9.45007687e-03 6.28807075e-06 9.99955347e-01 -2.38332960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68576923100002 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:166.17, Y:-21.29, Z:-2.38 [[ 9.88917923e-01 1.48191540e-01 8.97821991e-03 1.66165050e+02] [-1.48185407e-01 9.88958678e-01 -1.34823076e-03 -2.12912433e+01] [-9.07888489e-03 2.84839107e-06 9.99958786e-01 -2.38295670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71576923100002 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:166.19, Y:-21.29, Z:-2.38 [[ 9.88638991e-01 1.50103555e-01 7.86567045e-03 1.66194949e+02] [-1.50098909e-01 9.88670280e-01 -1.18114129e-03 -2.12925173e+01] [-7.95384812e-03 -1.29062155e-05 9.99968368e-01 -2.38365512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74576923100003 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:166.22, Y:-21.30, Z:-2.38 [[ 9.88541057e-01 1.50756669e-01 7.68152318e-03 1.66223948e+02] [-1.50752258e-01 9.88570901e-01 -1.15337150e-03 -2.12953642e+01] [-7.76760873e-03 -1.78518888e-05 9.99969832e-01 -2.38465600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.775769231 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:166.25, Y:-21.30, Z:-2.39 [[ 9.88531936e-01 1.50803127e-01 7.93903486e-03 1.66253767e+02] [-1.50798420e-01 9.88563815e-01 -1.19168288e-03 -2.12982322e+01] [-8.02795209e-03 -1.91773285e-05 9.99967775e-01 -2.38502379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.805769231 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:166.28, Y:-21.30, Z:-2.39 [[ 9.88767409e-01 1.49108386e-01 1.02810526e-02 1.66284062e+02] [-1.49100403e-01 9.88820858e-01 -1.54288952e-03 -2.12991902e+01] [-1.03961771e-02 -7.35021618e-06 9.99945958e-01 -2.38606308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.835769231 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:166.31, Y:-21.30, Z:-2.39 [[ 9.88963229e-01 1.47769805e-01 1.07618292e-02 1.66312127e+02] [-1.47760982e-01 9.89021782e-01 -1.61478922e-03 -2.13021113e+01] [-1.08823006e-02 6.78870709e-06 9.99940786e-01 -2.38616576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.865769231 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:166.34, Y:-21.30, Z:-2.39 [[ 9.89512790e-01 1.44077614e-01 1.02995325e-02 1.66342517e+02] [-1.44069337e-01 9.89566389e-01 -1.54498436e-03 -2.13048175e+01] [-1.04146688e-02 4.49349702e-05 9.99945765e-01 -2.38648459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.895769231 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:166.37, Y:-21.31, Z:-2.39 [[ 9.89866849e-01 1.41657531e-01 9.83693934e-03 1.66371891e+02] [-1.41649861e-01 9.89915723e-01 -1.47562857e-03 -2.13078421e+01] [-9.94677482e-03 6.72747037e-05 9.99950527e-01 -2.38717803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.925769231 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:166.40, Y:-21.31, Z:-2.39 [[ 9.90432489e-01 1.37771991e-01 7.89701340e-03 1.66401883e+02] [-1.37766924e-01 9.90463968e-01 -1.18461170e-03 -2.13104575e+01] [-7.98491354e-03 8.53306706e-05 9.99968116e-01 -2.38825210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.955769231 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:166.43, Y:-21.32, Z:-2.39 [[ 9.90542323e-01 1.37012937e-01 7.30488615e-03 1.66431238e+02] [-1.37008582e-01 9.90569254e-01 -1.09563937e-03 -2.13153553e+01] [-7.38611239e-03 8.44450720e-05 9.99972719e-01 -2.38875944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.985769231 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:166.46, Y:-21.32, Z:-2.39 [[ 9.90550336e-01 1.36905519e-01 8.17994497e-03 1.66459141e+02] [-1.36900056e-01 9.90584105e-01 -1.22665828e-03 -2.13207448e+01] [-8.27085976e-03 9.52318402e-05 9.99965791e-01 -2.38917670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.015769231 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:166.49, Y:-21.33, Z:-2.39 [[ 9.90438140e-01 1.37621644e-01 9.62149284e-03 1.66487882e+02] [-1.37614124e-01 9.90484867e-01 -1.44252062e-03 -2.13259498e+01] [-9.72846512e-03 1.04674129e-04 9.99952672e-01 -2.38784567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.045769231 meters Centerline goodness : 0.994588 Centerline is valid? [True, True] Translation: X:166.52, Y:-21.33, Z:-2.39 [[ 9.90277357e-01 1.38891619e-01 7.73789841e-03 1.66516648e+02] [-1.38886795e-01 9.90307585e-01 -1.15993311e-03 -2.13307656e+01] [-7.82400447e-03 7.39635836e-05 9.99969389e-01 -2.38815382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.075769231 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:166.55, Y:-21.34, Z:-2.39 [[ 9.90315478e-01 1.38620679e-01 7.71757238e-03 1.66545923e+02] [-1.38615872e-01 9.90345547e-01 -1.15685330e-03 -2.13371505e+01] [-7.80342722e-03 7.58717065e-05 9.99969550e-01 -2.38917307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.105769231 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:166.57, Y:-21.34, Z:-2.39 [[ 9.90420773e-01 1.37807329e-01 8.70812615e-03 1.66574740e+02] [-1.37801180e-01 9.90459051e-01 -1.30508939e-03 -2.13437166e+01] [-8.80489324e-03 9.25975843e-05 9.99961232e-01 -2.38962595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.135769231 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:166.60, Y:-21.35, Z:-2.39 [[ 9.90658412e-01 1.35816716e-01 1.22364639e-02 1.66603980e+02] [-1.35804428e-01 9.90733968e-01 -1.83345626e-03 -2.13523087e+01] [-1.23720944e-02 1.54562888e-04 9.99923451e-01 -2.38859833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.165769231 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:166.63, Y:-21.36, Z:-2.39 [[ 9.90832873e-01 1.34492651e-01 1.27257417e-02 1.66634276e+02] [-1.34479251e-01 9.90914575e-01 -1.90676730e-03 -2.13595298e+01] [-1.28665692e-02 1.77939505e-04 9.99917206e-01 -2.38871179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.195769231 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:166.67, Y:-21.37, Z:-2.39 [[ 9.91292846e-01 1.31253110e-01 1.05411215e-02 1.66665106e+02] [-1.31243735e-01 9.91348873e-01 -1.57932176e-03 -2.13710990e+01] [-1.06572198e-02 1.82114215e-04 9.99943194e-01 -2.38978534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22576923100002 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:166.70, Y:-21.38, Z:-2.39 [[ 9.91565554e-01 1.29246322e-01 9.65094220e-03 1.66695963e+02] [-1.29238350e-01 9.91612501e-01 -1.44779220e-03 -2.13785556e+01] [-9.75711676e-03 1.88309031e-04 9.99952380e-01 -2.39052287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25576923100002 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:166.73, Y:-21.39, Z:-2.39 [[ 9.91981586e-01 1.25944174e-01 1.05165750e-02 1.66726127e+02] [-1.25934521e-01 9.92037301e-01 -1.57777279e-03 -2.13893754e+01] [-1.06315460e-02 2.40721718e-04 9.99943455e-01 -2.39120742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28576923100002 meters Centerline goodness : 0.995209 Centerline is valid? [True, True] Translation: X:166.76, Y:-21.40, Z:-2.39 [[ 9.92099901e-01 1.24927698e-01 1.14392257e-02 1.66756890e+02] [-1.24916197e-01 9.92165810e-01 -1.71724707e-03 -2.13983538e+01] [-1.15641404e-02 2.74736071e-04 9.99933095e-01 -2.39143279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31576923100002 meters Centerline goodness : 0.995209 Centerline is valid? [True, True] Translation: X:166.79, Y:-21.40, Z:-2.39 [[ 9.92092852e-01 1.24983696e-01 1.14389352e-02 1.66789178e+02] [-1.24972177e-01 9.92158757e-01 -1.71918005e-03 -2.14033060e+01] [-1.15641092e-02 2.76037606e-04 9.99933095e-01 -2.39185347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34576923100002 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:166.82, Y:-21.41, Z:-2.39 [[ 9.92111229e-01 1.24762040e-01 1.22368971e-02 1.66820319e+02] [-1.24748832e-01 9.92186648e-01 -1.83980810e-03 -2.14131508e+01] [-1.23708242e-02 2.98755649e-04 9.99923434e-01 -2.39141362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37576923100002 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:166.85, Y:-21.43, Z:-2.39 [[ 9.91999924e-01 1.25730522e-01 1.13130883e-02 1.66852164e+02] [-1.25719275e-01 9.92064395e-01 -1.70265784e-03 -2.14259615e+01] [-1.14373881e-02 2.66763196e-04 9.99934555e-01 -2.39250804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40576923100002 meters Centerline goodness : 0.994982 Centerline is valid? [True, True] Translation: X:166.88, Y:-21.44, Z:-2.39 [[ 9.91864039e-01 1.27006023e-01 8.67164396e-03 1.66882702e+02] [-1.26999454e-01 9.91901927e-01 -1.30630216e-03 -2.14371872e+01] [-8.76732859e-03 1.94380086e-04 9.99961547e-01 -2.39481346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43576923100002 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:166.91, Y:-21.45, Z:-2.40 [[ 9.91709310e-01 1.28245273e-01 8.11135980e-03 1.66913330e+02] [-1.28239555e-01 9.91742467e-01 -1.22334341e-03 -2.14461282e+01] [-8.20126798e-03 1.73003885e-04 9.99966354e-01 -2.39563207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46576923100002 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:166.95, Y:-21.46, Z:-2.40 [[ 9.91606150e-01 1.29047905e-01 7.99253734e-03 1.66945300e+02] [-1.29042368e-01 9.91638347e-01 -1.20669739e-03 -2.14553534e+01] [-8.08142828e-03 1.65192609e-04 9.99967331e-01 -2.39588275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49576923100003 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:166.98, Y:-21.47, Z:-2.40 [[ 9.91445549e-01 1.30263558e-01 8.19325804e-03 1.66975233e+02] [-1.30257769e-01 9.91479389e-01 -1.23854723e-03 -2.14686951e+01] [-8.28478405e-03 1.60716628e-04 9.99965668e-01 -2.39547375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.525769231 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:167.01, Y:-21.48, Z:-2.40 [[ 9.91297762e-01 1.31371632e-01 8.38104233e-03 1.67006860e+02] [-1.31365602e-01 9.91333178e-01 -1.26840623e-03 -2.14774867e+01] [-8.47503793e-03 1.56387592e-04 9.99964074e-01 -2.39567123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.555769231 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:167.04, Y:-21.49, Z:-2.40 [[ 9.90690804e-01 1.35792588e-01 9.59705987e-03 1.67037511e+02] [-1.35784866e-01 9.90737278e-01 -1.45476205e-03 -2.14893205e+01] [-9.70571088e-03 1.38083895e-04 9.99952889e-01 -2.39626353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.585769231 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:167.07, Y:-21.50, Z:-2.40 [[ 9.90267428e-01 1.38818030e-01 9.99880165e-03 1.67069374e+02] [-1.38809782e-01 9.90317899e-01 -1.51758555e-03 -2.14971050e+01] [-1.01126605e-02 1.14884061e-04 9.99948859e-01 -2.39646208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.615769231 meters Centerline goodness : 0.995296 Centerline is valid? [True, True] Translation: X:167.10, Y:-21.50, Z:-2.40 [[ 9.89352902e-01 1.45215563e-01 9.65788534e-03 1.67101071e+02] [-1.45208154e-01 9.89400039e-01 -1.46768372e-03 -2.15045167e+01] [-9.76864266e-03 4.96534475e-05 9.99952284e-01 -2.39625426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.645769231 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:167.13, Y:-21.51, Z:-2.40 [[ 9.88810492e-01 1.48915129e-01 8.83720944e-03 1.67133590e+02] [-1.48909061e-01 9.88849981e-01 -1.34434912e-03 -2.15100366e+01] [-8.93886831e-03 1.33659543e-05 9.99960047e-01 -2.39673901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.675769231 meters Centerline goodness : 0.995212 Centerline is valid? [True, True] Translation: X:167.17, Y:-21.52, Z:-2.40 [[ 9.88249398e-01 1.52670656e-01 7.40259097e-03 1.67166081e+02] [-1.52666496e-01 9.88277122e-01 -1.12711360e-03 -2.15157410e+01] [-7.48788847e-03 -1.62582930e-05 9.99971965e-01 -2.39704495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.705769231 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:167.20, Y:-21.52, Z:-2.40 [[ 9.87259775e-01 1.58977123e-01 6.66410033e-03 1.67198791e+02] [-1.58973889e-01 9.87282265e-01 -1.01572204e-03 -2.15216289e+01] [-6.74082463e-03 -5.66364297e-05 9.99977279e-01 -2.39837784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.735769231 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:167.23, Y:-21.53, Z:-2.40 [[ 9.86923082e-01 1.61022433e-01 7.38956196e-03 1.67230790e+02] [-1.61018500e-01 9.86950744e-01 -1.12806816e-03 -2.15258979e+01] [-7.47477795e-03 -7.65396757e-05 9.99972061e-01 -2.39917615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.765769231 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:167.26, Y:-21.53, Z:-2.40 [[ 9.86944296e-01 1.60822559e-01 8.77848854e-03 1.67263499e+02] [-1.60816983e-01 9.86983332e-01 -1.34206571e-03 -2.15288840e+01] [-8.88005631e-03 -8.71859445e-05 9.99960568e-01 -2.39935585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.795769231 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:167.29, Y:-21.53, Z:-2.40 [[ 9.87062258e-01 1.60099455e-01 8.73290912e-03 1.67294930e+02] [-1.60093893e-01 9.87100886e-01 -1.33677895e-03 -2.15331102e+01] [-8.83427990e-03 -7.86013689e-05 9.99960974e-01 -2.39959844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.825769231 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:167.33, Y:-21.54, Z:-2.40 [[ 9.87083356e-01 1.60016187e-01 7.82742513e-03 1.67327642e+02] [-1.60011708e-01 9.87114388e-01 -1.19922684e-03 -2.15362890e+01] [-7.91845967e-03 -6.87428086e-05 9.99968646e-01 -2.39933529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.855769231 meters Centerline goodness : 0.995414 Centerline is valid? [True, True] Translation: X:167.36, Y:-21.54, Z:-2.40 [[ 9.86803188e-01 1.61715444e-01 8.22094884e-03 1.67359333e+02] [-1.61710548e-01 9.86837427e-01 -1.26129869e-03 -2.15394899e+01] [-8.31671148e-03 -8.47605711e-05 9.99965412e-01 -2.39930449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.885769231 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:167.39, Y:-21.54, Z:-2.40 [[ 9.86070685e-01 1.66103309e-01 8.61948303e-03 1.67392042e+02] [-1.66098079e-01 9.86108348e-01 -1.32420046e-03 -2.15385406e+01] [-8.71969825e-03 -1.25924319e-04 9.99961975e-01 -2.39840323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.915769231 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:167.42, Y:-21.54, Z:-2.40 [[ 9.85615876e-01 1.68756598e-01 9.08596999e-03 1.67424631e+02] [-1.68750884e-01 9.85657743e-01 -1.39746831e-03 -2.15393570e+01] [-9.19148867e-03 -1.55898518e-04 9.99957745e-01 -2.39916881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.945769231 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:167.46, Y:-21.53, Z:-2.40 [[ 9.84883295e-01 1.72906268e-01 1.04075731e-02 1.67455079e+02] [-1.72898976e-01 9.84938259e-01 -1.60316503e-03 -2.15336307e+01] [-1.05280143e-02 -2.20528281e-04 9.99944555e-01 -2.39982096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97576923100002 meters Centerline goodness : 0.995602 Centerline is valid? [True, True] Translation: X:167.49, Y:-21.53, Z:-2.40 [[ 9.84828757e-01 1.73195476e-01 1.07538802e-02 1.67486377e+02] [-1.73187710e-01 9.84887442e-01 -1.65635573e-03 -2.15334144e+01] [-1.08782349e-02 -2.31213140e-04 9.99940804e-01 -2.40040002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00576923100002 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:167.52, Y:-21.53, Z:-2.40 [[ 9.85035322e-01 1.72035117e-01 1.04562724e-02 1.67517040e+02] [-1.72027709e-01 9.85090795e-01 -1.61051698e-03 -2.15336316e+01] [-1.05774432e-02 -2.12352478e-04 9.99944035e-01 -2.40087252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03576923100002 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:167.55, Y:-21.53, Z:-2.40 [[ 9.86017349e-01 1.66412011e-01 8.76528553e-03 1.67547883e+02] [-1.66406583e-01 9.86056300e-01 -1.35001783e-03 -2.15300913e+01] [-8.86772420e-03 -1.27460218e-04 9.99960673e-01 -2.40155294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06576923100002 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:167.58, Y:-21.53, Z:-2.40 [[ 9.87361372e-01 1.58268856e-01 8.27587212e-03 1.67578265e+02] [-1.58263729e-01 9.87396054e-01 -1.27488078e-03 -2.15278998e+01] [-8.37333740e-03 -5.10023534e-05 9.99964942e-01 -2.40182673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09576923100002 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:167.61, Y:-21.53, Z:-2.40 [[ 9.88071792e-01 1.53750287e-01 8.65931368e-03 1.67608504e+02] [-1.53744503e-01 9.88109735e-01 -1.33364859e-03 -2.15295864e+01] [-8.76140100e-03 -1.35813253e-05 9.99961618e-01 -2.40190274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12576923100002 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:167.64, Y:-21.53, Z:-2.40 [[ 9.88727093e-01 1.49454565e-01 9.05919409e-03 1.67638190e+02] [-1.49448055e-01 9.88768594e-01 -1.39519312e-03 -2.15321501e+01] [-9.16596459e-03 2.55863013e-05 9.99957991e-01 -2.40270407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15576923100002 meters Centerline goodness : 0.995774 Centerline is valid? [True, True] Translation: X:167.67, Y:-21.54, Z:-2.40 [[ 9.89877662e-01 1.41637374e-01 9.00380206e-03 1.67668095e+02] [-1.41630618e-01 9.89918605e-01 -1.38680839e-03 -2.15357347e+01] [-9.10945507e-03 9.75565974e-05 9.99958503e-01 -2.40308433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18576923100002 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:167.70, Y:-21.54, Z:-2.40 [[ 9.90595823e-01 1.36491123e-01 9.49153502e-03 1.67698095e+02] [-1.36483379e-01 9.90641282e-01 -1.46189453e-03 -2.15408806e+01] [-9.60224205e-03 1.52709836e-04 9.99953886e-01 -2.40402465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21576923100002 meters Centerline goodness : 0.996044 Centerline is valid? [True, True] Translation: X:167.73, Y:-21.55, Z:-2.40 [[ 9.90941194e-01 1.33932707e-01 9.87822763e-03 1.67728417e+02] [-1.33924192e-01 9.90990412e-01 -1.52154094e-03 -2.15466785e+01] [-9.99301296e-03 1.84823947e-04 9.99950052e-01 -2.40367826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24576923100003 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:167.76, Y:-21.55, Z:-2.40 [[ 9.91302534e-01 1.31220845e-01 1.00187273e-02 1.67758211e+02] [-1.31211945e-01 9.91353138e-01 -1.54343857e-03 -2.15538419e+01] [-1.01346281e-02 2.15437869e-04 9.99948620e-01 -2.40446224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.275769231 meters Centerline goodness : 0.996061 Centerline is valid? [True, True] Translation: X:167.79, Y:-21.57, Z:-2.41 [[ 9.92255797e-01 1.23913589e-01 8.59394482e-03 1.67789436e+02] [-1.23906772e-01 9.92292981e-01 -1.32327224e-03 -2.15672659e+01] [-8.69168254e-03 2.48176585e-04 9.99962196e-01 -2.40581529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.305769231 meters Centerline goodness : 0.996095 Centerline is valid? [True, True] Translation: X:167.82, Y:-21.58, Z:-2.41 [[ 9.92666046e-01 1.20644706e-01 7.67955824e-03 1.67820773e+02] [-1.20639154e-01 9.92695720e-01 -1.18375411e-03 -2.15771668e+01] [-7.76627827e-03 2.48617102e-04 9.99969811e-01 -2.40608812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.335769231 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:167.85, Y:-21.59, Z:-2.41 [[ 9.92999679e-01 1.17899545e-01 7.16485057e-03 1.67851842e+02] [-1.17894634e-01 9.93025495e-01 -1.10546643e-03 -2.15920065e+01] [-7.24521327e-03 2.53030369e-04 9.99973721e-01 -2.40613883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.365769231 meters Centerline goodness : 0.996261 Centerline is valid? [True, True] Translation: X:167.88, Y:-21.60, Z:-2.41 [[ 9.92841060e-01 1.19229822e-01 7.13290177e-03 1.67882692e+02] [-1.19224979e-01 9.92866653e-01 -1.10197421e-03 -2.16022554e+01] [-7.21340850e-03 2.43665179e-04 9.99973953e-01 -2.40628314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.395769231 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:167.91, Y:-21.62, Z:-2.41 [[ 9.92226339e-01 1.24175370e-01 8.20789424e-03 1.67913198e+02] [-1.24169111e-01 9.92260258e-01 -1.26983362e-03 -2.16180265e+01] [-8.30204932e-03 2.40795431e-04 9.99965508e-01 -2.40607147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.425769231 meters Centerline goodness : 0.996403 Centerline is valid? [True, True] Translation: X:167.94, Y:-21.63, Z:-2.41 [[ 9.91861218e-01 1.26998411e-01 9.09544950e-03 1.67943605e+02] [-1.26990822e-01 9.91902891e-01 -1.40940360e-03 -2.16275610e+01] [-9.20079467e-03 2.42894166e-04 9.99957642e-01 -2.40631279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.455769231 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:167.97, Y:-21.64, Z:-2.41 [[ 9.91288886e-01 1.31324778e-01 1.00073220e-02 1.67974090e+02] [-1.31315800e-01 9.91339373e-01 -1.55189821e-03 -2.16423165e+01] [-1.01244550e-02 2.24259959e-04 9.99948721e-01 -2.40765682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.485769231 meters Centerline goodness : 0.996588 Centerline is valid? [True, True] Translation: X:168.01, Y:-21.65, Z:-2.41 [[ 9.91148865e-01 1.32352876e-01 1.03268833e-02 1.68006024e+02] [-1.32343349e-01 9.91202636e-01 -1.60355109e-03 -2.16526595e+01] [-1.04482685e-02 2.22663520e-04 9.99945391e-01 -2.40795392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.515769231 meters Centerline goodness : 0.996565 Centerline is valid? [True, True] Translation: X:168.04, Y:-21.66, Z:-2.41 [[ 9.91067128e-01 1.32947357e-01 1.05331721e-02 1.68036370e+02] [-1.32937471e-01 9.91123076e-01 -1.63629938e-03 -2.16629298e+01] [-1.06572116e-02 2.21429266e-04 9.99943186e-01 -2.40832731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.545769231 meters Centerline goodness : 0.996789 Centerline is valid? [True, True] Translation: X:168.07, Y:-21.68, Z:-2.41 [[ 9.90934754e-01 1.33970853e-01 1.00062000e-02 1.68067402e+02] [-1.33961967e-01 9.90985252e-01 -1.55613749e-03 -2.16769108e+01] [-1.01244737e-02 2.01580481e-04 9.99948726e-01 -2.40916703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.575769231 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:168.10, Y:-21.69, Z:-2.41 [[ 9.90709235e-01 1.35635346e-01 9.91281482e-03 1.68098572e+02] [-1.35626689e-01 9.90758810e-01 -1.54355966e-03 -2.16855262e+01] [-1.00305699e-02 1.84776564e-04 9.99949675e-01 -2.40956484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.605769231 meters Centerline goodness : 0.997230 Centerline is valid? [True, True] Translation: X:168.13, Y:-21.70, Z:-2.41 [[ 9.89703437e-01 1.42759237e-01 1.03396067e-02 1.68130192e+02] [-1.42750186e-01 9.89757438e-01 -1.61198886e-03 -2.16958403e+01] [-1.04638290e-02 1.19410136e-04 9.99945246e-01 -2.40825000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.635769231 meters Centerline goodness : 0.996844 Centerline is valid? [True, True] Translation: X:168.16, Y:-21.70, Z:-2.41 [[ 9.88950380e-01 1.47870107e-01 1.05630492e-02 1.68162793e+02] [-1.47860930e-01 9.89006788e-01 -1.64883709e-03 -2.17032184e+01] [-1.06907410e-02 6.87557971e-05 9.99942850e-01 -2.40828188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.665769231 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:168.19, Y:-21.71, Z:-2.41 [[ 9.87396003e-01 1.57916006e-01 1.05672787e-02 1.68193683e+02] [-1.57907373e-01 9.87452548e-01 -1.65169349e-03 -2.17102976e+01] [-1.06955151e-02 -3.77756603e-05 9.99942801e-01 -2.40913974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.695769231 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:168.23, Y:-21.72, Z:-2.41 [[ 9.86629716e-01 1.62618028e-01 1.08249497e-02 1.68225465e+02] [-1.62609237e-01 9.86689094e-01 -1.69330578e-03 -2.17153813e+01] [-1.09562219e-02 -8.95710029e-05 9.99939975e-01 -2.40984030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72576923100002 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:168.26, Y:-21.72, Z:-2.41 [[ 9.85940166e-01 1.66770281e-01 1.04719521e-02 1.68258317e+02] [-1.66762276e-01 9.85995769e-01 -1.63912242e-03 -2.17194937e+01] [-1.05986573e-02 -1.30249934e-04 9.99943824e-01 -2.41066422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75576923100002 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:168.29, Y:-21.72, Z:-2.41 [[ 9.84753686e-01 1.73756865e-01 8.29034635e-03 1.68290930e+02] [-1.73752084e-01 9.84788569e-01 -1.29902155e-03 -2.17206233e+01] [-8.38995223e-03 -1.61248698e-04 9.99964791e-01 -2.41213433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78576923100002 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:168.32, Y:-21.72, Z:-2.41 [[ 9.84043979e-01 1.77800637e-01 6.66184089e-03 1.68324489e+02] [-1.77797641e-01 9.84066517e-01 -1.04392305e-03 -2.17226826e+01] [-6.74130474e-03 -1.57193409e-04 9.99977265e-01 -2.41275895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81576923100002 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:168.36, Y:-21.73, Z:-2.41 [[ 9.83916558e-01 1.78513517e-01 6.41329486e-03 1.68357747e+02] [-1.78510749e-01 9.83937447e-01 -1.00604188e-03 -2.17256701e+01] [-6.48987305e-03 -1.54980805e-04 9.99978929e-01 -2.41335930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84576923100002 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:168.39, Y:-21.73, Z:-2.41 [[ 9.83741752e-01 1.79479473e-01 6.26769060e-03 1.68390602e+02] [-1.79476842e-01 9.83761706e-01 -9.84334054e-04 -2.17283722e+01] [-6.34258175e-03 -1.56574808e-04 9.99979873e-01 -2.41383977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87576923100002 meters Centerline goodness : 0.996986 Centerline is valid? [True, True] Translation: X:168.42, Y:-21.73, Z:-2.42 [[ 9.83524417e-01 1.80687456e-01 5.63590302e-03 1.68422954e+02] [-1.80685341e-01 9.83540554e-01 -8.86446883e-04 -2.17269557e+01] [-5.70330901e-03 -1.46482906e-04 9.99983725e-01 -2.41527526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90576923100002 meters Centerline goodness : 0.997174 Centerline is valid? [True, True] Translation: X:168.46, Y:-21.73, Z:-2.42 [[ 9.83691722e-01 1.79738450e-01 6.68472768e-03 1.68456024e+02] [-1.79735448e-01 9.83714421e-01 -1.05205361e-03 -2.17279472e+01] [-6.76495750e-03 -1.66586101e-04 9.99977104e-01 -2.41570853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93576923100002 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:168.49, Y:-21.73, Z:-2.42 [[ 9.83915677e-01 1.78438469e-01 8.34584307e-03 1.68489057e+02] [-1.78433725e-01 9.83951053e-01 -1.31565650e-03 -2.17313492e+01] [-8.44666481e-03 -1.94684813e-04 9.99964307e-01 -2.41536404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96576923100002 meters Centerline goodness : 0.997578 Centerline is valid? [True, True] Translation: X:168.52, Y:-21.73, Z:-2.41 [[ 9.84628992e-01 1.74368915e-01 1.00613204e-02 1.68521485e+02] [-1.74361781e-01 9.84680377e-01 -1.58866308e-03 -2.17327458e+01] [-1.01841982e-02 -1.90066028e-04 9.99948122e-01 -2.41465290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99576923100003 meters Centerline goodness : 0.997432 Centerline is valid? [True, True] Translation: X:168.55, Y:-21.74, Z:-2.41 [[ 9.84865981e-01 1.73042608e-01 9.75983628e-03 1.68553686e+02] [-1.73035821e-01 9.84914325e-01 -1.54198784e-03 -2.17352816e+01] [-9.87943215e-03 -1.70149916e-04 9.99951183e-01 -2.41490650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.025769231 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:168.59, Y:-21.74, Z:-2.42 [[ 9.84933964e-01 1.72663021e-01 9.62119537e-03 1.68587149e+02] [-1.72656392e-01 9.84980941e-01 -1.52169779e-03 -2.17379209e+01] [-9.73943501e-03 -1.62389037e-04 9.99952557e-01 -2.41542537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.055769231 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:168.62, Y:-21.74, Z:-2.42 [[ 9.84895080e-01 1.72837025e-01 1.04424284e-02 1.68618715e+02] [-1.72829202e-01 9.84950421e-01 -1.65380287e-03 -2.17368202e+01] [-1.05711126e-02 -1.75934263e-04 9.99944109e-01 -2.41515972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.085769231 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:168.65, Y:-21.73, Z:-2.42 [[ 9.84605843e-01 1.74380472e-01 1.19492757e-02 1.68649354e+02] [-1.74370316e-01 9.84678325e-01 -1.89462434e-03 -2.17346365e+01] [-1.20965783e-02 -2.18140795e-04 9.99926810e-01 -2.41533180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.115769231 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:168.68, Y:-21.74, Z:-2.42 [[ 9.84389075e-01 1.75618295e-01 1.16775017e-02 1.68680736e+02] [-1.75608681e-01 9.84458309e-01 -1.85165197e-03 -2.17354471e+01] [-1.18211975e-02 -2.27924700e-04 9.99930101e-01 -2.41545494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.145769231 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:168.71, Y:-21.74, Z:-2.42 [[ 9.84215376e-01 1.76617643e-01 1.12384286e-02 1.68711856e+02] [-1.76608801e-01 9.84279511e-01 -1.78230894e-03 -2.17361510e+01] [-1.13765422e-02 -2.30629538e-04 9.99935258e-01 -2.41683314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.175769231 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:168.74, Y:-21.73, Z:-2.42 [[ 9.84087090e-01 1.77416077e-01 9.80487706e-03 1.68743529e+02] [-1.77409386e-01 9.84135911e-01 -1.55496116e-03 -2.17343010e+01] [-9.92520673e-03 -2.09260009e-04 9.99950722e-01 -2.41751163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.205769231 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:168.77, Y:-21.74, Z:-2.42 [[ 9.84116456e-01 1.77211805e-01 1.05250669e-02 1.68773191e+02] [-1.77204083e-01 9.84172712e-01 -1.66922629e-03 -2.17362380e+01] [-1.06542902e-02 -2.22371757e-04 9.99943217e-01 -2.41743548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.235769231 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:168.80, Y:-21.74, Z:-2.42 [[ 9.84118417e-01 1.77200910e-01 1.05251078e-02 1.68802989e+02] [-1.77193190e-01 9.84174673e-01 -1.66896838e-03 -2.17409227e+01] [-1.06542872e-02 -2.22514900e-04 9.99943217e-01 -2.41782380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.265769231 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:168.83, Y:-21.74, Z:-2.42 [[ 9.84246326e-01 1.76389198e-01 1.20839090e-02 1.68831807e+02] [-1.76378962e-01 9.84320471e-01 -1.91600353e-03 -2.17394311e+01] [-1.22324013e-02 -2.45527891e-04 9.99925151e-01 -2.41820809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.295769231 meters Centerline goodness : 0.997564 Centerline is valid? [True, True] Translation: X:168.86, Y:-21.74, Z:-2.42 [[ 9.84320197e-01 1.75984972e-01 1.19598827e-02 1.68861965e+02] [-1.75974921e-01 9.84392824e-01 -1.89592941e-03 -2.17404762e+01] [-1.21068778e-02 -2.38437802e-04 9.99926681e-01 -2.41810566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.325769231 meters Centerline goodness : 0.997770 Centerline is valid? [True, True] Translation: X:168.89, Y:-21.74, Z:-2.42 [[ 9.84245146e-01 1.76503280e-01 1.03963517e-02 1.68892365e+02] [-1.76495716e-01 9.84300029e-01 -1.64786783e-03 -2.17397580e+01] [-1.05239833e-02 -2.13005625e-04 9.99944599e-01 -2.41898218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.355769231 meters Centerline goodness : 0.997478 Centerline is valid? [True, True] Translation: X:168.92, Y:-21.74, Z:-2.42 [[ 9.84188788e-01 1.76936072e-01 8.12749218e-03 1.68921561e+02] [-1.76904357e-01 9.84217879e-01 -4.47389265e-03 -2.17412546e+01] [-8.79081611e-03 2.96536621e-03 9.99956963e-01 -2.41939800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.385769231 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:168.95, Y:-21.74, Z:-2.42 [[ 9.84176801e-01 1.76915077e-01 9.85291787e-03 1.68950116e+02] [-1.76939773e-01 9.84220235e-01 1.68688427e-03 -2.17439003e+01] [-9.39900589e-03 -3.40356542e-03 9.99950036e-01 -2.42005962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.415769231 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:168.98, Y:-21.74, Z:-2.42 [[ 9.84226368e-01 1.76659330e-01 9.48354775e-03 1.68978572e+02] [-1.76653050e-01 9.84272037e-01 -1.50242202e-03 -2.17441563e+01] [-9.59980773e-03 -1.96574270e-04 9.99953901e-01 -2.42046668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.445769231 meters Centerline goodness : 0.997772 Centerline is valid? [True, True] Translation: X:169.01, Y:-21.74, Z:-2.42 [[ 9.84508767e-01 1.75109574e-01 8.89526003e-03 1.69007609e+02] [-1.75103991e-01 9.84548936e-01 -1.40865779e-03 -2.17439444e+01] [-9.00448827e-03 -1.70759589e-04 9.99959444e-01 -2.42122491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47576923100002 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:169.04, Y:-21.75, Z:-2.42 [[ 9.84697192e-01 1.74061709e-01 8.60010197e-03 1.69036510e+02] [-1.74056454e-01 9.84734734e-01 -1.36157337e-03 -2.17464208e+01] [-8.70581691e-03 -1.56165776e-04 9.99962091e-01 -2.42224757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50576923100002 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:169.06, Y:-21.75, Z:-2.42 [[ 9.84896952e-01 1.72938827e-01 8.37591374e-03 1.69064300e+02] [-1.72933804e-01 9.84932557e-01 -1.32575753e-03 -2.17483240e+01] [-8.47898508e-03 -1.42744078e-04 9.99964043e-01 -2.42243746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53576923100002 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:169.09, Y:-21.75, Z:-2.42 [[ 9.85193678e-01 1.71255645e-01 8.05736830e-03 1.69093598e+02] [-1.71250945e-01 9.85226618e-01 -1.27484620e-03 -2.17481819e+01] [-8.15665832e-03 -1.23861521e-04 9.99966726e-01 -2.42316937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56576923100002 meters Centerline goodness : 0.998055 Centerline is valid? [True, True] Translation: X:169.12, Y:-21.75, Z:-2.42 [[ 9.85418162e-01 1.69966965e-01 7.89155812e-03 1.69122651e+02] [-1.69962417e-01 9.85449754e-01 -1.24826267e-03 -2.17510874e+01] [-7.98889743e-03 -1.11207593e-04 9.99968082e-01 -2.42389994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59576923100002 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:169.15, Y:-21.75, Z:-2.42 [[ 9.86234089e-01 1.65179913e-01 7.61032639e-03 1.69150471e+02] [-1.65175544e-01 9.86263449e-01 -1.20350822e-03 -2.17545557e+01] [-7.70458214e-03 -7.00989631e-05 9.99970317e-01 -2.42461113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62576923100002 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:169.18, Y:-21.76, Z:-2.43 [[ 9.86783301e-01 1.61861748e-01 7.71308147e-03 1.69179040e+02] [-1.61857162e-01 9.86813444e-01 -1.21925022e-03 -2.17590027e+01] [-7.80872246e-03 -4.52817238e-05 9.99969510e-01 -2.42550810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65576923100002 meters Centerline goodness : 0.998054 Centerline is valid? [True, True] Translation: X:169.21, Y:-21.76, Z:-2.43 [[ 9.88040374e-01 1.53967976e-01 8.37142522e-03 1.69207980e+02] [-1.53962295e-01 9.88075838e-01 -1.32279788e-03 -2.17644666e+01] [-8.47527151e-03 1.80938673e-05 9.99964084e-01 -2.42572353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68576923100002 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:169.24, Y:-21.77, Z:-2.43 [[ 9.88675789e-01 1.49809176e-01 8.79739822e-03 1.69236388e+02] [-1.49802739e-01 9.88714927e-01 -1.38987211e-03 -2.17700808e+01] [-8.90633454e-03 5.62585593e-05 9.99960336e-01 -2.42540562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71576923100002 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:169.27, Y:-21.78, Z:-2.43 [[ 9.89767077e-01 1.42279029e-01 1.08540786e-02 1.69265081e+02] [-1.42268782e-01 9.89826578e-01 -1.71442866e-03 -2.17798236e+01] [-1.09875827e-02 1.52688502e-04 9.99939623e-01 -2.42518617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74576923100003 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:169.29, Y:-21.79, Z:-2.42 [[ 9.90314948e-01 1.38276936e-01 1.24816980e-02 1.69294548e+02] [-1.38263068e-01 9.90393577e-01 -1.97133964e-03 -2.17885927e+01] [-1.26343843e-02 2.26489252e-04 9.99920157e-01 -2.42408304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.775769231 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:169.32, Y:-21.79, Z:-2.42 [[ 9.90368078e-01 1.37855858e-01 1.29163476e-02 1.69324271e+02] [-1.37840972e-01 9.90452273e-01 -2.03998751e-03 -2.17945161e+01] [-1.30742500e-02 2.39936602e-04 9.99914500e-01 -2.42439083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.805769231 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:169.35, Y:-21.80, Z:-2.42 [[ 9.90273386e-01 1.38497780e-01 1.33036324e-02 1.69354784e+02] [-1.38482046e-01 9.90362715e-01 -2.10116681e-03 -2.18010065e+01] [-1.34664284e-02 2.38415339e-04 9.99909295e-01 -2.42499362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.835769231 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:169.39, Y:-21.81, Z:-2.43 [[ 9.89955840e-01 1.40722482e-01 1.35874235e-02 1.69385808e+02] [-1.40706272e-01 9.90049058e-01 -2.14643349e-03 -2.18094412e+01] [-1.37542673e-02 2.13038664e-04 9.99905383e-01 -2.42505752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.865769231 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:169.42, Y:-21.82, Z:-2.43 [[ 9.89747491e-01 1.42133502e-01 1.40702434e-02 1.69416629e+02] [-1.42116227e-01 9.89847476e-01 -2.22520541e-03 -2.18156531e+01] [-1.42436711e-02 2.02781569e-04 9.99898533e-01 -2.42557397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.895769231 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:169.45, Y:-21.82, Z:-2.42 [[ 9.89256958e-01 1.45461805e-01 1.45442039e-02 1.69447853e+02] [-1.45443671e-01 9.89363855e-01 -2.30254814e-03 -2.18209334e+01] [-1.47244424e-02 1.62449368e-04 9.99891576e-01 -2.42480193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.925769231 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:169.48, Y:-21.83, Z:-2.43 [[ 9.88916153e-01 1.47855672e-01 1.35478088e-02 1.69479037e+02] [-1.47840136e-01 9.89008941e-01 -2.14669389e-03 -2.18253157e+01] [-1.37163049e-02 1.19990371e-04 9.99905920e-01 -2.42531797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.955769231 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:169.51, Y:-21.83, Z:-2.43 [[ 9.88333290e-01 1.51977953e-01 1.00005219e-02 1.69508034e+02] [-1.51969696e-01 9.88383883e-01 -1.58487808e-03 -2.18282482e+01] [-1.01252212e-02 4.66114950e-05 9.99948738e-01 -2.42681953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.985769231 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:169.54, Y:-21.83, Z:-2.43 [[ 9.88126780e-01 1.53375785e-01 9.01862145e-03 1.69538193e+02] [-1.53369130e-01 9.88167935e-01 -1.42912716e-03 -2.18321779e+01] [-9.13110603e-03 2.89807008e-05 9.99958310e-01 -2.42723658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.015769231 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:169.57, Y:-21.84, Z:-2.43 [[ 9.87818526e-01 1.55189882e-01 1.14306785e-02 1.69567203e+02] [-1.55179311e-01 9.87884659e-01 -1.81140059e-03 -2.18352341e+01] [-1.15733030e-02 1.55302437e-05 9.99933027e-01 -2.42569767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.045769231 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:169.60, Y:-21.84, Z:-2.43 [[ 9.87685935e-01 1.55880676e-01 1.33307350e-02 1.69597634e+02] [-1.55866368e-01 9.87775893e-01 -2.11195820e-03 -2.18396926e+01] [-1.34969922e-02 8.13815863e-06 9.99908911e-01 -2.42559859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.075769231 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:169.63, Y:-21.84, Z:-2.43 [[ 9.87490370e-01 1.57199723e-01 1.22888922e-02 1.69626536e+02] [-1.57187667e-01 9.87566832e-01 -1.94690737e-03 -2.18445376e+01] [-1.24421557e-02 -9.11002467e-06 9.99922593e-01 -2.42671229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.105769231 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:169.66, Y:-21.85, Z:-2.43 [[ 9.87542935e-01 1.57004934e-01 1.04116376e-02 1.69657086e+02] [-1.56996270e-01 9.87597818e-01 -1.64936683e-03 -2.18492017e+01] [-1.05414693e-02 -5.76770875e-06 9.99944437e-01 -2.42842988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.135769231 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:169.69, Y:-21.85, Z:-2.43 [[ 9.87698492e-01 1.56170770e-01 7.89807264e-03 1.69685986e+02] [-1.56165758e-01 9.87730070e-01 -1.25123942e-03 -2.18546836e+01] [-7.99657086e-03 2.43879176e-06 9.99968027e-01 -2.43005843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.165769231 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:169.71, Y:-21.86, Z:-2.43 [[ 9.87697435e-01 1.56180592e-01 7.83578813e-03 1.69714740e+02] [-1.56175659e-01 9.87728517e-01 -1.24133239e-03 -2.18603653e+01] [-7.93350342e-03 2.30144477e-06 9.99968529e-01 -2.42964123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.195769231 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:169.74, Y:-21.87, Z:-2.43 [[ 9.87531853e-01 1.57139136e-01 9.38783397e-03 1.69744089e+02] [-1.57132101e-01 9.87576474e-01 -1.48692185e-03 -2.18670510e+01] [-9.50485758e-03 -6.74738810e-06 9.99954828e-01 -2.42891512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22576923100002 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:169.77, Y:-21.87, Z:-2.43 [[ 9.87411117e-01 1.57844439e-01 1.02185945e-02 1.69773738e+02] [-1.57836144e-01 9.87463991e-01 -1.61823013e-03 -2.18723273e+01] [-1.03459227e-02 -1.50051302e-05 9.99946479e-01 -2.42882872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25576923100002 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:169.80, Y:-21.88, Z:-2.43 [[ 9.87345955e-01 1.58214420e-01 1.07778555e-02 1.69802711e+02] [-1.58205218e-01 9.87404779e-01 -1.70649397e-03 -2.18774107e+01] [-1.09120980e-02 -2.02130527e-05 9.99940461e-01 -2.42973778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28576923100002 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:169.83, Y:-21.88, Z:-2.43 [[ 9.87453117e-01 1.57534354e-01 1.09210549e-02 1.69832817e+02] [-1.57524866e-01 9.87513507e-01 -1.72901105e-03 -2.18843222e+01] [-1.10570679e-02 -1.30203513e-05 9.99938869e-01 -2.43027703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31576923100002 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:169.86, Y:-21.89, Z:-2.43 [[ 9.87617366e-01 1.56504727e-01 1.08723738e-02 1.69862895e+02] [-1.56495261e-01 9.87677210e-01 -1.72130390e-03 -2.18901290e+01] [-1.10077880e-02 -1.48534562e-06 9.99939412e-01 -2.43096352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34576923100002 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:169.89, Y:-21.90, Z:-2.43 [[ 9.87865505e-01 1.54992158e-01 9.95869262e-03 1.69892596e+02] [-1.54984140e-01 9.87915700e-01 -1.57661698e-03 -2.18983433e+01] [-1.00827121e-02 1.40461236e-05 9.99949168e-01 -2.43163410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37576923100002 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:169.92, Y:-21.90, Z:-2.43 [[ 9.87963011e-01 1.54510348e-01 7.45934364e-03 1.69923075e+02] [-1.54468258e-01 9.87979979e-01 -5.92602440e-03 -2.19021956e+01] [-8.28531427e-03 4.70246109e-03 9.99954619e-01 -2.43161228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40576923100002 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:169.95, Y:-21.91, Z:-2.43 [[ 9.88027903e-01 1.53991244e-01 9.35727921e-03 1.69952797e+02] [-1.54026352e-01 9.88061717e-01 3.15053479e-03 -2.19115688e+01] [-8.76041459e-03 -4.55408386e-03 9.99951257e-01 -2.43212560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43576923100002 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:169.98, Y:-21.92, Z:-2.43 [[ 9.88111246e-01 1.53522536e-01 8.18514460e-03 1.69982487e+02] [-1.53517061e-01 9.88145146e-01 -1.29684867e-03 -2.19150334e+01] [-8.28720640e-03 2.48714185e-05 9.99965660e-01 -2.43265477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46576923100002 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:170.01, Y:-21.92, Z:-2.43 [[ 9.88376260e-01 1.51885337e-01 6.57369231e-03 1.70012621e+02] [-1.51876816e-01 9.88397828e-01 -1.77946254e-03 -2.19217793e+01] [-6.76769747e-03 7.60387070e-04 9.99976810e-01 -2.43294116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49576923100003 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:170.04, Y:-21.93, Z:-2.43 [[ 9.88442579e-01 1.51439184e-01 6.88772546e-03 1.70042204e+02] [-1.51440200e-01 9.88466349e-01 -3.76902471e-04 -2.19285244e+01] [-6.86536265e-03 -6.70532068e-04 9.99976208e-01 -2.43325491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.525769231 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:170.07, Y:-21.94, Z:-2.43 [[ 9.88702892e-01 1.49723691e-01 7.02899849e-03 1.70071529e+02] [-1.49719552e-01 9.88727877e-01 -1.11438082e-03 -2.19363058e+01] [-7.11661596e-03 4.94130312e-05 9.99974675e-01 -2.43350842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.555769231 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:170.10, Y:-21.94, Z:-2.43 [[ 9.88911574e-01 1.48315260e-01 7.51548328e-03 1.70102369e+02] [-1.48310490e-01 9.88940129e-01 -1.19118514e-03 -2.19435011e+01] [-7.60903394e-03 6.33517629e-05 9.99971049e-01 -2.43379126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.585769231 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:170.13, Y:-21.95, Z:-2.43 [[ 9.89165307e-01 1.46593976e-01 7.88676371e-03 1.70132702e+02] [-1.46588664e-01 9.89196745e-01 -1.25055656e-03 -2.19510920e+01] [-7.98488505e-03 8.08970119e-05 9.99968117e-01 -2.43427114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.615769231 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:170.16, Y:-21.96, Z:-2.43 [[ 9.89634515e-01 1.43292358e-01 9.53029337e-03 1.70164996e+02] [-1.43284431e-01 9.89680394e-01 -1.51294610e-03 -2.19608059e+01] [-9.64873811e-03 1.31721017e-04 9.99953441e-01 -2.43343966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.645769231 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:170.20, Y:-21.97, Z:-2.43 [[ 9.89821414e-01 1.41867389e-01 1.12788741e-02 1.70196082e+02] [-1.41856164e-01 9.89885657e-01 -1.79316385e-03 -2.19702763e+01] [-1.14191872e-02 1.74934155e-04 9.99934784e-01 -2.43362392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.675769231 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:170.23, Y:-21.98, Z:-2.43 [[ 9.89761536e-01 1.42308905e-01 1.09670940e-02 1.70228049e+02] [-1.42298298e-01 9.89822281e-01 -1.74548099e-03 -2.19781383e+01] [-1.11038715e-02 1.67011135e-04 9.99938336e-01 -2.43368203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.705769231 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:170.26, Y:-21.99, Z:-2.43 [[ 9.89598961e-01 1.43500719e-01 1.00717673e-02 1.70260383e+02] [-1.43491818e-01 9.89650202e-01 -1.60467224e-03 -2.19858052e+01] [-1.01977982e-02 1.42765779e-04 9.99947991e-01 -2.43414544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.735769231 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:170.29, Y:-21.99, Z:-2.43 [[ 9.89076782e-01 1.47184520e-01 7.98974080e-03 1.70291320e+02] [-1.47179030e-01 9.89109049e-01 -1.27408887e-03 -2.19929238e+01] [-8.09025108e-03 8.42494201e-05 9.99967270e-01 -2.43378884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.765769231 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:170.32, Y:-22.00, Z:-2.43 [[ 9.88698167e-01 1.49715511e-01 7.82312147e-03 1.70324148e+02] [-1.49710315e-01 9.88729115e-01 -1.24886946e-03 -2.19980742e+01] [-7.92192310e-03 6.35529660e-05 9.99968619e-01 -2.43399438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.795769231 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:170.36, Y:-22.00, Z:-2.43 [[ 9.87861728e-01 1.55106289e-01 8.44064945e-03 1.70355475e+02] [-1.55100421e-01 9.87897787e-01 -1.34948627e-03 -2.20016852e+01] [-8.54781272e-03 2.39575621e-05 9.99963466e-01 -2.43395423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.825769231 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:170.39, Y:-22.01, Z:-2.43 [[ 9.87455635e-01 1.57676417e-01 8.33769798e-03 1.70386891e+02] [-1.57670772e-01 9.87490834e-01 -1.33424347e-03 -2.20061057e+01] [-8.44377906e-03 2.89495321e-06 9.99964351e-01 -2.43476031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.855769231 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:170.42, Y:-22.01, Z:-2.44 [[ 9.87147099e-01 1.59630665e-01 7.65873065e-03 1.70418799e+02] [-1.59625951e-01 9.87176808e-01 -1.22685706e-03 -2.20099876e+01] [-7.75636528e-03 -1.14437776e-05 9.99969919e-01 -2.43606777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.885769231 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:170.45, Y:-22.01, Z:-2.44 [[ 9.87247441e-01 1.59016565e-01 7.49818453e-03 1.70450188e+02] [-1.59012019e-01 9.87275915e-01 -1.20237419e-03 -2.20149440e+01] [-7.59397441e-03 -5.26061807e-06 9.99971165e-01 -2.43624712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.915769231 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:170.48, Y:-22.02, Z:-2.44 [[ 9.87778217e-01 1.55679164e-01 7.62830124e-03 1.70482117e+02] [-1.55674349e-01 9.87807672e-01 -1.22456633e-03 -2.20208422e+01] [-7.72593396e-03 2.20691111e-05 9.99970154e-01 -2.43532746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.945769231 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:170.51, Y:-22.03, Z:-2.44 [[ 9.88117732e-01 1.53537148e-01 7.04923011e-03 1.70513591e+02] [-1.53532972e-01 9.88142876e-01 -1.13291474e-03 -2.20275062e+01] [-7.13959101e-03 3.71638914e-05 9.99974512e-01 -2.43603639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97576923100002 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:170.54, Y:-22.04, Z:-2.44 [[ 9.88774570e-01 1.49310848e-01 5.57849681e-03 1.70544570e+02] [-1.49308166e-01 9.88790305e-01 -8.96486765e-04 -2.20367258e+01] [-5.64981876e-03 5.35081869e-05 9.99984038e-01 -2.43754516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00576923100002 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:170.58, Y:-22.04, Z:-2.44 [[ 9.89033170e-01 1.47590096e-01 5.52738494e-03 1.70576780e+02] [-1.47587432e-01 9.89048613e-01 -8.89169759e-04 -2.20445961e+01] [-5.59808506e-03 6.36458391e-05 9.99984329e-01 -2.43815826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03576923100002 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:170.61, Y:-22.06, Z:-2.44 [[ 9.89425195e-01 1.44866337e-01 7.17831517e-03 1.70607360e+02] [-1.44861755e-01 9.89451228e-01 -1.15690785e-03 -2.20554239e+01] [-7.27018977e-03 1.04810439e-04 9.99973566e-01 -2.43711873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06576923100002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:170.64, Y:-22.06, Z:-2.44 [[ 9.89526391e-01 1.44138883e-01 7.84247958e-03 1.70639493e+02] [-1.44133379e-01 9.89557461e-01 -1.26549874e-03 -2.20646525e+01] [-7.94299175e-03 1.21881319e-04 9.99968447e-01 -2.43644978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09576923100002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:170.67, Y:-22.07, Z:-2.44 [[ 9.89672292e-01 1.43114907e-01 8.17794153e-03 1.70670996e+02] [-1.43108874e-01 9.89706070e-01 -1.32122124e-03 -2.20747491e+01] [-8.28284483e-03 1.37240055e-04 9.99965687e-01 -2.43633674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12576923100002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:170.70, Y:-22.08, Z:-2.44 [[ 9.89660078e-01 1.43199358e-01 8.17760512e-03 1.70704038e+02] [-1.43193311e-01 9.89693854e-01 -1.32329964e-03 -2.20802393e+01] [-8.28282119e-03 1.38638475e-04 9.99965687e-01 -2.43676587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15576923100002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:170.73, Y:-22.10, Z:-2.44 [[ 9.90000796e-01 1.40858391e-01 7.57216494e-03 1.70733779e+02] [-1.40853137e-01 9.90029743e-01 -1.22540861e-03 -2.20956608e+01] [-7.66927759e-03 1.46592317e-04 9.99970580e-01 -2.43584038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18576923100002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:170.77, Y:-22.11, Z:-2.44 [[ 9.90091719e-01 1.40249997e-01 6.95172715e-03 1.70765252e+02] [-1.40245547e-01 9.90116114e-01 -1.12607067e-03 -2.21055476e+01] [-7.04094848e-03 1.39964471e-04 9.99975202e-01 -2.43629321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21576923100002 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:170.80, Y:-22.12, Z:-2.44 [[ 9.90158289e-01 1.39773846e-01 7.05941140e-03 1.70796527e+02] [-1.39769234e-01 9.90183443e-01 -1.14491180e-03 -2.21201369e+01] [-7.15014101e-03 1.46955382e-04 9.99974427e-01 -2.43527897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24576923100003 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:170.83, Y:-22.13, Z:-2.43 [[ 9.90035366e-01 1.40565548e-01 8.44395113e-03 1.70827722e+02] [-1.40558960e-01 9.90071360e-01 -1.37160424e-03 -2.21304934e+01] [-8.55291448e-03 1.71063720e-04 9.99963409e-01 -2.43400476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.275769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:170.86, Y:-22.14, Z:-2.43 [[ 9.89843339e-01 1.41825559e-01 9.78134676e-03 1.70859526e+02] [-1.41816760e-01 9.89891648e-01 -1.59091894e-03 -2.21410594e+01] [-9.90810644e-03 1.87601611e-04 9.99950896e-01 -2.43312723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.305769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:170.89, Y:-22.16, Z:-2.43 [[ 9.89269862e-01 1.45688266e-01 1.09576114e-02 1.70889517e+02] [-1.45677434e-01 9.89330531e-01 -1.78463815e-03 -2.21557427e+01] [-1.11007003e-02 1.69212031e-04 9.99938371e-01 -2.43287481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.335769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:170.92, Y:-22.17, Z:-2.43 [[ 9.88545045e-01 1.50508975e-01 1.12135140e-02 1.70920353e+02] [-1.50497917e-01 9.88608636e-01 -1.82835194e-03 -2.21705793e+01] [-1.13609602e-02 1.19797749e-04 9.99935455e-01 -2.42996312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.365769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:170.95, Y:-22.18, Z:-2.43 [[ 9.88129215e-01 1.53143999e-01 1.21478322e-02 1.70951257e+02] [-1.53131190e-01 9.88203879e-01 -1.98319233e-03 -2.21796141e+01] [-1.23082489e-02 9.94382888e-05 9.99924246e-01 -2.43161126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.395769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:170.98, Y:-22.19, Z:-2.43 [[ 9.87621430e-01 1.56308925e-01 1.30931663e-02 1.70983146e+02] [-1.56294289e-01 9.87708214e-01 -2.14000035e-03 -2.21879072e+01] [-1.32667290e-02 6.71230943e-05 9.99911991e-01 -2.43069672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.425769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:171.01, Y:-22.19, Z:-2.43 [[ 9.86332387e-01 1.64321875e-01 1.21137669e-02 1.71014710e+02] [-1.64309925e-01 9.86406772e-01 -1.98204820e-03 -2.21946411e+01] [-1.22747956e-02 -3.54537894e-05 9.99924661e-01 -2.43062806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.455769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:171.05, Y:-22.20, Z:-2.43 [[ 9.85557509e-01 1.69035852e-01 1.01624946e-02 1.71047238e+02] [-1.69027677e-01 9.85609900e-01 -1.66420087e-03 -2.21986322e+01] [-1.02975649e-02 -7.75771960e-05 9.99946976e-01 -2.43178907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.485769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:171.08, Y:-22.20, Z:-2.43 [[ 9.83958208e-01 1.78225428e-01 7.87024477e-03 1.71080685e+02] [-1.78220812e-01 9.83989674e-01 -1.28972187e-03 -2.21987939e+01] [-7.97410082e-03 -1.33608990e-04 9.99968197e-01 -2.43225054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.515769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:171.11, Y:-22.20, Z:-2.43 [[ 9.83257188e-01 1.82040919e-01 8.14902319e-03 1.71112314e+02] [-1.82036086e-01 9.83290941e-01 -1.33707103e-03 -2.22006550e+01] [-8.25626233e-03 -1.68731589e-04 9.99965902e-01 -2.43159960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.545769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:171.15, Y:-22.20, Z:-2.43 [[ 9.82649208e-01 1.85186382e-01 1.03217589e-02 1.71145860e+02] [-1.85178778e-01 9.82703386e-01 -1.69593411e-03 -2.21986223e+01] [-1.04572914e-02 -2.44862397e-04 9.99945291e-01 -2.43067187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.575769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.18, Y:-22.20, Z:-2.43 [[ 9.82743264e-01 1.84642304e-01 1.10858555e-02 1.71178802e+02] [-1.84633474e-01 9.82805756e-01 -1.82363285e-03 -2.22005143e+01] [-1.12319623e-02 -2.54657104e-04 9.99936887e-01 -2.43100122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.605769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.21, Y:-22.20, Z:-2.43 [[ 9.83017265e-01 1.83172653e-01 1.11730351e-02 1.71211492e+02] [-1.83163565e-01 9.83080730e-01 -1.84005470e-03 -2.22033430e+01] [-1.13210432e-02 -2.37687410e-04 9.99935887e-01 -2.43153478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.635769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:171.24, Y:-22.21, Z:-2.43 [[ 9.84049972e-01 1.77649536e-01 9.28953916e-03 1.71243918e+02] [-1.77642994e-01 9.84093807e-01 -1.53129979e-03 -2.22054092e+01] [-9.41381266e-03 -1.43346038e-04 9.99955679e-01 -2.43282380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.665769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.28, Y:-22.21, Z:-2.43 [[ 9.84655237e-01 1.74342005e-01 7.67659873e-03 1.71276312e+02] [-1.74337429e-01 9.84685156e-01 -1.26638681e-03 -2.22094052e+01] [-7.77981724e-03 -9.13640846e-05 9.99969733e-01 -2.43399395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.695769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.31, Y:-22.21, Z:-2.43 [[ 9.85596443e-01 1.68997745e-01 6.27797901e-03 1.71308616e+02] [-1.68994571e-01 9.85616437e-01 -1.03647678e-03 -2.22129662e+01] [-6.36284154e-03 -3.93965367e-05 9.99979756e-01 -2.43441781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.34, Y:-22.22, Z:-2.43 [[ 9.85833515e-01 1.67624503e-01 5.85714025e-03 1.71340785e+02] [-1.67621712e-01 9.85850914e-01 -9.67759235e-04 -2.22186796e+01] [-5.93648723e-03 -2.77343878e-05 9.99982379e-01 -2.43432009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.37, Y:-22.22, Z:-2.43 [[ 9.85780330e-01 1.67936671e-01 5.86651506e-03 1.71372329e+02] [-1.67933869e-01 9.85797785e-01 -9.70525031e-04 -2.22239136e+01] [-5.94618430e-03 -2.84620865e-05 9.99982321e-01 -2.43412442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.40, Y:-22.23, Z:-2.43 [[ 9.85462707e-01 1.69786197e-01 5.99171650e-03 1.71404690e+02] [-1.69783302e-01 9.85480921e-01 -9.92280832e-04 -2.22283786e+01] [-6.07319789e-03 -3.94376561e-05 9.99981557e-01 -2.43448759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.44, Y:-22.23, Z:-2.44 [[ 9.84608878e-01 1.74718371e-01 4.34137255e-03 1.71436932e+02] [-1.74716897e-01 9.84618448e-01 -7.19243142e-04 -2.22323915e+01] [-4.40026049e-03 -5.03379581e-05 9.99990318e-01 -2.43649782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.47, Y:-22.24, Z:-2.44 [[ 9.84184643e-01 1.77113934e-01 3.35315578e-03 1.71468168e+02] [-1.77113068e-01 9.84190354e-01 -5.55694275e-04 -2.22373029e+01] [-3.39856477e-03 -4.69819365e-05 9.99994224e-01 -2.43796154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.50, Y:-22.24, Z:-2.44 [[ 9.83552076e-01 1.80559632e-01 4.85102441e-03 1.71500817e+02] [-1.80557855e-01 9.83564036e-01 -8.05565007e-04 -2.22404100e+01] [-4.91674567e-03 -8.35754255e-05 9.99987909e-01 -2.43826635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:171.53, Y:-22.24, Z:-2.44 [[ 9.83222219e-01 1.82271852e-01 7.14423080e-03 1.71532889e+02] [-1.82268024e-01 9.83248165e-01 -1.18888248e-03 -2.22435986e+01] [-7.24125163e-03 -1.33229156e-04 9.99973773e-01 -2.43758327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.57, Y:-22.24, Z:-2.44 [[ 9.82472989e-01 1.86151074e-01 9.72647272e-03 1.71566696e+02] [-1.86144143e-01 9.82521109e-01 -1.62105835e-03 -2.22438761e+01] [-9.85822652e-03 -2.17879891e-04 9.99951383e-01 -2.43764601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.60, Y:-22.25, Z:-2.44 [[ 9.82037114e-01 1.88459184e-01 9.28665937e-03 1.71599547e+02] [-1.88452954e-01 9.82080996e-01 -1.54936382e-03 -2.22458717e+01] [-9.41224353e-03 -2.28565615e-04 9.99955678e-01 -2.43857516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.63, Y:-22.25, Z:-2.44 [[ 9.81653326e-01 1.90498834e-01 8.18184351e-03 1.71632425e+02] [-1.90494058e-01 9.81687398e-01 -1.36636443e-03 -2.22470050e+01] [-8.29230349e-03 -2.17296380e-04 9.99965595e-01 -2.44004184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.66, Y:-22.24, Z:-2.44 [[ 9.81349700e-01 1.92103884e-01 6.99025741e-03 1.71663977e+02] [-1.92100426e-01 9.81374577e-01 -1.16903221e-03 -2.22431101e+01] [-7.08463654e-03 -1.95602020e-04 9.99974885e-01 -2.44217480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:-22.24, Z:-2.44 [[ 9.81455526e-01 1.91541513e-01 7.54322832e-03 1.71694101e+02] [-1.91537468e-01 9.81484491e-01 -1.26172146e-03 -2.22446128e+01] [-7.64523365e-03 -2.06487359e-04 9.99970753e-01 -2.44263136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.72, Y:-22.24, Z:-2.44 [[ 9.82177998e-01 1.87768792e-01 8.32232008e-03 1.71724709e+02] [-1.87763734e-01 9.82213237e-01 -1.39192755e-03 -2.22423764e+01] [-8.43565350e-03 -1.95509281e-04 9.99964400e-01 -2.44299174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.115769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.75, Y:-22.24, Z:-2.44 [[ 9.82652050e-01 1.85259783e-01 8.58841173e-03 1.71754572e+02] [-1.85254303e-01 9.82689565e-01 -1.43623553e-03 -2.22433929e+01] [-8.70581927e-03 -1.79720433e-04 9.99962087e-01 -2.44419432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:-22.24, Z:-2.45 [[ 9.83417343e-01 1.81154594e-01 8.56402917e-03 1.71785297e+02] [-1.81148987e-01 9.83454622e-01 -1.43236032e-03 -2.22397684e+01] [-8.68181272e-03 -1.42757229e-04 9.99962302e-01 -2.44560813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.175769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.82, Y:-22.24, Z:-2.45 [[ 9.83591545e-01 1.80188039e-01 8.94105911e-03 1.71815034e+02] [-1.80181888e-01 9.83632173e-01 -1.49535519e-03 -2.22411497e+01] [-9.06415851e-03 -1.40198189e-04 9.99958910e-01 -2.44684370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:-22.24, Z:-2.45 [[ 9.83640259e-01 1.79913392e-01 9.11111634e-03 1.71844465e+02] [-1.79906996e-01 9.83682444e-01 -1.52358735e-03 -2.22429137e+01] [-9.23655896e-03 -1.40491718e-04 9.99957332e-01 -2.44739348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.87, Y:-22.24, Z:-2.45 [[ 9.83892337e-01 1.78554706e-01 8.60736224e-03 1.71874402e+02] [-1.78548947e-01 9.83929978e-01 -1.43917246e-03 -2.22424105e+01] [-8.72601276e-03 -1.20844706e-04 9.99961920e-01 -2.44917101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.90, Y:-22.24, Z:-2.45 [[ 9.84483724e-01 1.75332403e-01 7.09547497e-03 1.71903617e+02] [-1.75328406e-01 9.84509290e-01 -1.18633348e-03 -2.22416319e+01] [-7.19356372e-03 -7.61123120e-05 9.99974123e-01 -2.45065085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:-22.24, Z:-2.45 [[ 9.84878826e-01 1.73121007e-01 6.54330574e-03 1.71932499e+02] [-1.73117560e-01 9.84900560e-01 -1.09389312e-03 -2.22445134e+01] [-6.63388137e-03 -5.54089557e-05 9.99977994e-01 -2.45177499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:-22.25, Z:-2.45 [[ 9.85292159e-01 1.70748730e-01 6.65075834e-03 1.71961672e+02] [-1.70745117e-01 9.85314604e-01 -1.11155700e-03 -2.22476668e+01] [-6.74288626e-03 -4.03761134e-05 9.99977266e-01 -2.45231077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:-22.25, Z:-2.45 [[ 9.86013700e-01 1.66465756e-01 8.13236606e-03 1.71991966e+02] [-1.66460214e-01 9.86047236e-01 -1.35850673e-03 -2.22507566e+01] [-8.24504193e-03 -1.42091409e-05 9.99966009e-01 -2.45222305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:-22.26, Z:-2.45 [[ 9.86280231e-01 1.64866693e-01 8.38330619e-03 1.72020659e+02] [-1.64860744e-01 9.86315859e-01 -1.40047814e-03 -2.22554937e+01] [-8.49948005e-03 -8.14199212e-07 9.99963879e-01 -2.45215658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.05, Y:-22.26, Z:-2.45 [[ 9.86840359e-01 1.61513124e-01 7.72113520e-03 1.72048185e+02] [-1.61507975e-01 9.86870564e-01 -1.28987536e-03 -2.22628473e+01] [-7.82809285e-03 2.58761548e-05 9.99969360e-01 -2.45351689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:-22.27, Z:-2.45 [[ 9.87265927e-01 1.58905300e-01 7.42263788e-03 1.72078374e+02] [-1.58900471e-01 9.87293828e-01 -1.23961541e-03 -2.22693850e+01] [-7.52530602e-03 4.43694008e-05 9.99971683e-01 -2.45473924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.11, Y:-22.28, Z:-2.46 [[ 9.87960017e-01 1.54515059e-01 7.75248880e-03 1.72107847e+02] [-1.54509657e-01 9.87990430e-01 -1.29464326e-03 -2.22773374e+01] [-7.85942662e-03 8.12213953e-05 9.99969111e-01 -2.45603336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.14, Y:-22.28, Z:-2.46 [[ 9.88160312e-01 1.53238287e-01 7.56470993e-03 1.72138223e+02] [-1.53233106e-01 9.88189263e-01 -1.26331253e-03 -2.22844312e+01] [-7.66895298e-03 8.91913118e-05 9.99970589e-01 -2.45617179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.17, Y:-22.29, Z:-2.46 [[ 9.88218818e-01 1.52872374e-01 7.32150589e-03 1.72167499e+02] [-1.52867511e-01 9.88245936e-01 -1.22269563e-03 -2.22921655e+01] [-7.42236482e-03 8.90704522e-05 9.99972450e-01 -2.45575286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:-22.30, Z:-2.45 [[ 9.88145891e-01 1.53250319e-01 9.05742835e-03 1.72197174e+02] [-1.53242884e-01 9.88187395e-01 -1.51337504e-03 -2.23028491e+01] [-9.18236174e-03 1.07448887e-04 9.99957835e-01 -2.45472835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:-22.31, Z:-2.45 [[ 9.87975636e-01 1.54251204e-01 1.05218327e-02 1.72227139e+02] [-1.54241224e-01 9.88031656e-01 -1.75835352e-03 -2.23106901e+01] [-1.06671319e-02 1.14310086e-04 9.99943098e-01 -2.45453347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:-22.32, Z:-2.46 [[ 9.87504523e-01 1.57216315e-01 1.08557731e-02 1.72256545e+02] [-1.57205870e-01 9.87564187e-01 -1.81419634e-03 -2.23208111e+01] [-1.10059940e-02 8.49358429e-05 9.99939429e-01 -2.45560238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:-22.33, Z:-2.46 [[ 9.87163072e-01 1.59435135e-01 9.46077140e-03 1.72288327e+02] [-1.59427293e-01 9.87208405e-01 -1.58222608e-03 -2.23284304e+01] [-9.59201547e-03 5.36099793e-05 9.99953994e-01 -2.45646072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.32, Y:-22.34, Z:-2.46 [[ 9.86238522e-01 1.65211565e-01 6.22227665e-03 1.72318115e+02] [-1.65208279e-01 9.86258150e-01 -1.04190267e-03 -2.23364704e+01] [-6.30890543e-03 -4.07066814e-07 9.99980099e-01 -2.45589854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:-22.34, Z:-2.46 [[ 9.85810852e-01 1.67755224e-01 5.92857555e-03 1.72347399e+02] [-1.67752286e-01 9.85828679e-01 -9.92940240e-04 -2.23416650e+01] [-6.01113072e-03 -1.56808400e-05 9.99981933e-01 -2.45564876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:-22.35, Z:-2.45 [[ 9.85096997e-01 1.71788648e-01 8.51862996e-03 1.72376713e+02] [-1.71782734e-01 9.85133827e-01 -1.42661144e-03 -2.23457298e+01] [-8.63706618e-03 -5.80029014e-05 9.99962698e-01 -2.45388990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.775769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.41, Y:-22.35, Z:-2.45 [[ 9.84913017e-01 1.72734091e-01 1.04538197e-02 1.72406294e+02] [-1.72725241e-01 9.84968490e-01 -1.75041100e-03 -2.23505097e+01] [-1.05990386e-02 -8.16359436e-05 9.99943825e-01 -2.45399812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.44, Y:-22.36, Z:-2.45 [[ 9.85000065e-01 1.72139981e-01 1.19456255e-02 1.72437819e+02] [-1.72128386e-01 9.85072495e-01 -1.99978218e-03 -2.23572297e+01] [-1.21115496e-02 -8.63956682e-05 9.99926649e-01 -2.45382593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.47, Y:-22.36, Z:-2.45 [[ 9.85153847e-01 1.71263987e-01 1.18551095e-02 1.72469575e+02] [-1.71252481e-01 9.85225173e-01 -1.98654387e-03 -2.23637221e+01] [-1.20201758e-02 -7.31655869e-05 9.99927752e-01 -2.45431986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.50, Y:-22.37, Z:-2.45 [[ 9.85361090e-01 1.70074413e-01 1.17565561e-02 1.72500750e+02] [-1.70062986e-01 9.85431221e-01 -1.97219907e-03 -2.23700303e+01] [-1.19206980e-02 -5.60268149e-05 9.99928944e-01 -2.45476362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:-22.38, Z:-2.45 [[ 9.85557382e-01 1.68977424e-01 1.11030004e-02 1.72531652e+02] [-1.68967161e-01 9.85619921e-01 -1.86278491e-03 -2.23758592e+01] [-1.12581070e-02 -4.01610317e-05 9.99936625e-01 -2.45381216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:-22.38, Z:-2.45 [[ 9.85460633e-01 1.69563600e-01 1.07483218e-02 1.72561617e+02] [-1.69554015e-01 9.85519246e-01 -1.80354040e-03 -2.23802978e+01] [-1.08984928e-02 -4.51030398e-05 9.99940609e-01 -2.45402650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.59, Y:-22.39, Z:-2.45 [[ 9.85096703e-01 1.71707133e-01 1.00571888e-02 1.72592003e+02] [-1.71698852e-01 9.85148038e-01 -1.68757008e-03 -2.23853555e+01] [-1.01975876e-02 -6.43880363e-05 9.99948001e-01 -2.45431039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:-22.39, Z:-2.45 [[ 9.84973389e-01 1.72417039e-01 9.98938139e-03 1.72622270e+02] [-1.72408906e-01 9.85024040e-01 -1.67619218e-03 -2.23914405e+01] [-1.01287849e-02 -7.12536252e-05 9.99948700e-01 -2.45421040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.65, Y:-22.40, Z:-2.45 [[ 9.85068989e-01 1.71901173e-01 9.43788627e-03 1.72653095e+02] [-1.71893890e-01 9.85114198e-01 -1.58358123e-03 -2.23988589e+01] [-9.56961524e-03 -6.23782207e-05 9.99954208e-01 -2.45434828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.68, Y:-22.40, Z:-2.45 [[ 9.85063358e-01 1.71933440e-01 9.43785757e-03 1.72684477e+02] [-1.71926157e-01 9.85108567e-01 -1.58375225e-03 -2.24041804e+01] [-9.56961432e-03 -6.25182706e-05 9.99954208e-01 -2.45475584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:-22.41, Z:-2.45 [[ 9.85068497e-01 1.71904738e-01 9.42425555e-03 1.72716484e+02] [-1.71897475e-01 9.85113576e-01 -1.58135855e-03 -2.24104289e+01] [-9.55580511e-03 -6.22592440e-05 9.99954340e-01 -2.45492420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:-22.42, Z:-2.46 [[ 9.85077076e-01 1.71924177e-01 8.07663476e-03 1.72748843e+02] [-1.71918836e-01 9.85110184e-01 -1.35615497e-03 -2.24165781e+01] [-8.18953099e-03 -5.26084733e-05 9.99966464e-01 -2.45606354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:-22.42, Z:-2.46 [[ 9.85010411e-01 1.72355434e-01 6.93503441e-03 1.72779722e+02] [-1.72351498e-01 9.85034823e-01 -1.16568808e-03 -2.24205253e+01] [-7.03216307e-03 -4.70486746e-05 9.99975273e-01 -2.45640839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:-22.42, Z:-2.46 [[ 9.84916935e-01 1.72912694e-01 6.31116195e-03 1.72809850e+02] [-1.72909435e-01 9.84937154e-01 -1.06263344e-03 -2.24237261e+01] [-6.39984070e-03 -4.46537775e-05 9.99979520e-01 -2.45705006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:-22.43, Z:-2.46 [[ 9.84822970e-01 1.73437463e-01 6.57001217e-03 1.72839274e+02] [-1.73433943e-01 9.84844883e-01 -1.10614199e-03 -2.24252802e+01] [-6.66228933e-03 -5.01090764e-05 9.99977805e-01 -2.45738718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:-22.43, Z:-2.46 [[ 9.84877423e-01 1.73092760e-01 7.44031038e-03 1.72868343e+02] [-1.73088234e-01 9.84905525e-01 -1.25290163e-03 -2.24297724e+01] [-7.54487101e-03 -5.38756544e-05 9.99971536e-01 -2.45727133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:-22.43, Z:-2.46 [[ 9.85354269e-01 1.70268993e-01 9.24308605e-03 1.72898893e+02] [-1.70261885e-01 9.85397619e-01 -1.55630481e-03 -2.24337619e+01] [-9.37310544e-03 -4.02336685e-05 9.99956071e-01 -2.45738057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.93, Y:-22.44, Z:-2.46 [[ 9.85658512e-01 1.68480851e-01 9.56561024e-03 1.72931057e+02] [-1.68473159e-01 9.85704927e-01 -1.61009204e-03 -2.24390882e+01] [-9.70013881e-03 -2.45476455e-05 9.99952952e-01 -2.45847935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:-22.45, Z:-2.46 [[ 9.86235423e-01 1.65098456e-01 9.06589820e-03 1.72961840e+02] [-1.65091391e-01 9.86277091e-01 -1.52736083e-03 -2.24465654e+01] [-9.19365262e-03 9.63561132e-06 9.99957737e-01 -2.45955605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.99, Y:-22.45, Z:-2.46 [[ 9.86319930e-01 1.64599360e-01 8.94683720e-03 1.72994118e+02] [-1.64592445e-01 9.86360507e-01 -1.50882018e-03 -2.24533361e+01] [-9.07315772e-03 1.55976036e-05 9.99958838e-01 -2.45992760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:-22.46, Z:-2.46 [[ 9.86142881e-01 1.65641904e-01 9.21835979e-03 1.73026492e+02] [-1.65634591e-01 9.86185966e-01 -1.55653275e-03 -2.24595922e+01] [-9.34884410e-03 8.08444526e-06 9.99956299e-01 -2.46001228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.06, Y:-22.46, Z:-2.46 [[ 9.85876774e-01 1.67243078e-01 8.76004831e-03 1.73057598e+02] [-1.67236522e-01 9.85915693e-01 -1.48084511e-03 -2.24646520e+01] [-8.88433019e-03 -5.06920835e-06 9.99960534e-01 -2.46105827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.09, Y:-22.47, Z:-2.46 [[ 9.85090646e-01 1.71850274e-01 7.99396828e-03 1.73087937e+02] [-1.71844949e-01 9.85123080e-01 -1.35346859e-03 -2.24689713e+01] [-8.10763660e-03 -4.04338224e-05 9.99967132e-01 -2.46270749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.12, Y:-22.47, Z:-2.46 [[ 9.84672703e-01 1.74228486e-01 8.00645970e-03 1.73118009e+02] [-1.74223222e-01 9.84705251e-01 -1.35568136e-03 -2.24734170e+01] [-8.12020122e-03 -6.00087775e-05 9.99967029e-01 -2.46358688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:-22.48, Z:-2.47 [[ 9.83965310e-01 1.78196265e-01 7.63940931e-03 1.73149688e+02] [-1.78191592e-01 9.83994961e-01 -1.29355108e-03 -2.24765521e+01] [-7.74764624e-03 -8.84691211e-05 9.99969983e-01 -2.46575597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:-22.48, Z:-2.47 [[ 9.83758340e-01 1.79344898e-01 7.41185784e-03 1.73180126e+02] [-1.79340530e-01 9.83786257e-01 -1.25525807e-03 -2.24800675e+01] [-7.51680801e-03 -9.43759104e-05 9.99971744e-01 -2.46632334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:-22.48, Z:-2.47 [[ 9.83628797e-01 1.79965322e-01 9.32052076e-03 1.73209777e+02] [-1.79958440e-01 9.83672947e-01 -1.57877516e-03 -2.24808692e+01] [-9.45246891e-03 -1.24377660e-04 9.99955317e-01 -2.46686117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.585769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.24, Y:-22.48, Z:-2.47 [[ 9.83843487e-01 1.78713434e-01 1.06537143e-02 1.73240148e+02] [-1.78704372e-01 9.83901160e-01 -1.80424295e-03 -2.24839810e+01] [-1.08046443e-02 -1.28772650e-04 9.99941620e-01 -2.46794679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.615769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:173.27, Y:-22.49, Z:-2.47 [[ 9.84294208e-01 1.76163128e-01 1.14657450e-02 1.73270370e+02] [-1.76152458e-01 9.84360981e-01 -1.94190804e-03 -2.24880763e+01] [-1.16285246e-02 -1.08310337e-04 9.99932381e-01 -2.46883082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.30, Y:-22.49, Z:-2.47 [[ 9.85675380e-01 1.68321860e-01 1.05733950e-02 1.73302545e+02] [-1.68312334e-01 9.85732089e-01 -1.79078779e-03 -2.24932490e+01] [-1.07239635e-02 -1.44973648e-05 9.99942497e-01 -2.47089884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.675769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.33, Y:-22.50, Z:-2.47 [[ 9.86370067e-01 1.64274590e-01 9.37811499e-03 1.73333545e+02] [-1.64266912e-01 9.86414648e-01 -1.58851147e-03 -2.24989383e+01] [-9.51166207e-03 2.63461766e-05 9.99954763e-01 -2.47174387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.705769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:173.37, Y:-22.51, Z:-2.47 [[ 9.87526102e-01 1.57253533e-01 7.97018337e-03 1.73365905e+02] [-1.57247752e-01 9.87558262e-01 -1.35080065e-03 -2.25068040e+01] [-8.08343860e-03 8.06574811e-05 9.99967325e-01 -2.47323680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.735769231 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:173.40, Y:-22.51, Z:-2.47 [[ 9.87934755e-01 1.54666760e-01 7.94440585e-03 1.73396629e+02] [-1.54660919e-01 9.87966691e-01 -1.34811828e-03 -2.25139520e+01] [-8.05731745e-03 1.03163787e-04 9.99967534e-01 -2.47371626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.765769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:173.43, Y:-22.52, Z:-2.48 [[ 9.88531569e-01 1.50780242e-01 8.40565136e-03 1.73427654e+02] [-1.50773549e-01 9.88567296e-01 -1.42795573e-03 -2.25229610e+01] [-8.52485955e-03 1.44229429e-04 9.99963652e-01 -2.47514293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.795769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:173.46, Y:-22.53, Z:-2.48 [[ 9.88699612e-01 1.49626403e-01 9.22046353e-03 1.73460076e+02] [-1.49618290e-01 9.88742591e-01 -1.56737467e-03 -2.25306626e+01] [-9.35118564e-03 1.70112738e-04 9.99956262e-01 -2.47515539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.825769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:173.49, Y:-22.54, Z:-2.48 [[ 9.88738005e-01 1.49310995e-01 1.01678143e-02 1.73491766e+02] [-1.49301091e-01 9.88790266e-01 -1.73056530e-03 -2.25390071e+01] [-1.03122282e-02 1.93009919e-04 9.99946809e-01 -2.47580020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.855769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:173.52, Y:-22.55, Z:-2.48 [[ 9.88489180e-01 1.50929444e-01 1.04615210e-02 1.73522102e+02] [-1.50919028e-01 9.88544521e-01 -1.78260671e-03 -2.25519033e+01] [-1.06107271e-02 1.83244869e-04 9.99943688e-01 -2.47615901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.885769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:173.55, Y:-22.56, Z:-2.48 [[ 9.88172035e-01 1.52994020e-01 1.04335788e-02 1.73553855e+02] [-1.52983755e-01 9.88227101e-01 -1.77963349e-03 -2.25611798e+01] [-1.05830186e-02 1.62415979e-04 9.99943985e-01 -2.47684334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.915769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.58, Y:-22.57, Z:-2.48 [[ 9.87247571e-01 1.58794138e-01 1.12541217e-02 1.73584274e+02] [-1.58782546e-01 9.87311708e-01 -1.92187012e-03 -2.25728044e+01] [-1.14165078e-02 1.10403519e-04 9.99934823e-01 -2.47658987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.945769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:173.62, Y:-22.58, Z:-2.48 [[ 9.86566253e-01 1.62890513e-01 1.23979597e-02 1.73616819e+02] [-1.62876738e-01 9.86644148e-01 -2.11956428e-03 -2.25804624e+01] [-1.25776313e-02 7.17513562e-05 9.99920896e-01 -2.47581732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.65, Y:-22.59, Z:-2.47 [[ 9.84864477e-01 1.72804417e-01 1.34385791e-02 1.73647502e+02] [-1.72789118e-01 9.84956156e-01 -2.30012644e-03 -2.25883843e+01] [-1.36338832e-02 -5.67274054e-05 9.99907053e-01 -2.47469586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.68, Y:-22.60, Z:-2.48 [[ 9.83999782e-01 1.77685228e-01 1.31297009e-02 1.73680300e+02] [-1.77671029e-01 9.84087367e-01 -2.24946337e-03 -2.25951772e+01] [-1.33204692e-02 -1.19295989e-04 9.99911271e-01 -2.47524015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:173.71, Y:-22.60, Z:-2.48 [[ 9.82779129e-01 1.84407814e-01 1.17873145e-02 1.73712186e+02] [-1.84396830e-01 9.82849797e-01 -2.02139042e-03 -2.26010262e+01] [-1.19579198e-02 -1.86963109e-04 9.99928484e-01 -2.47598558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.74, Y:-22.61, Z:-2.48 [[ 9.82361016e-01 1.86659963e-01 1.11755454e-02 1.73743101e+02] [-1.86650212e-01 9.82424561e-01 -1.91846528e-03 -2.26057371e+01] [-1.13372309e-02 -2.01292416e-04 9.99935711e-01 -2.47665748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:173.78, Y:-22.61, Z:-2.48 [[ 9.81981180e-01 1.88675362e-01 1.07037375e-02 1.73775429e+02] [-1.88666538e-01 9.82039491e-01 -1.83738543e-03 -2.26100726e+01] [-1.08581623e-02 -2.15159197e-04 9.99941025e-01 -2.47673725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.81, Y:-22.61, Z:-2.48 [[ 9.81338247e-01 1.91971432e-01 1.10550590e-02 1.73806190e+02] [-1.91962203e-01 9.81400480e-01 -1.89988476e-03 -2.26133897e+01] [-1.12141638e-02 -2.57723904e-04 9.99937086e-01 -2.47692245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.84, Y:-22.62, Z:-2.48 [[ 9.81208605e-01 1.92627666e-01 1.11470244e-02 1.73836220e+02] [-1.92618304e-01 9.81271885e-01 -1.91758621e-03 -2.26176659e+01] [-1.13076418e-02 -2.65568854e-04 9.99936031e-01 -2.47680532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:173.87, Y:-22.62, Z:-2.48 [[ 9.81048183e-01 1.93482993e-01 1.04304176e-02 1.73866530e+02] [-1.93474843e-01 9.81103595e-01 -1.79443975e-03 -2.26201694e+01] [-1.05805138e-02 -2.57591562e-04 9.99943992e-01 -2.47687905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.90, Y:-22.62, Z:-2.48 [[ 9.80949905e-01 1.94012457e-01 9.82096798e-03 1.73896885e+02] [-1.94005258e-01 9.80999034e-01 -1.68959057e-03 -2.26233629e+01] [-9.96216172e-03 -2.47915718e-04 9.99950346e-01 -2.47767473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.93, Y:-22.62, Z:-2.48 [[ 9.80788065e-01 1.94829907e-01 9.80202102e-03 1.73925598e+02] [-1.94822776e-01 9.80837011e-01 -1.68639794e-03 -2.26245102e+01] [-9.94274575e-03 -2.55657976e-04 9.99950537e-01 -2.47780664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:-22.63, Z:-2.48 [[ 9.80761449e-01 1.94961198e-01 9.85453253e-03 1.73957165e+02] [-1.94954000e-01 9.80810922e-01 -1.69506452e-03 -2.26286065e+01] [-9.99590494e-03 -2.58726602e-04 9.99950006e-01 -2.47754798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.305769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.99, Y:-22.63, Z:-2.48 [[ 9.80966187e-01 1.93946176e-01 9.49849255e-03 1.73988420e+02] [-1.93939439e-01 9.81012143e-01 -1.63403839e-03 -2.26299756e+01] [-9.63505203e-03 -2.39195915e-04 9.99953553e-01 -2.47748462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.02, Y:-22.63, Z:-2.48 [[ 9.81081724e-01 1.93356899e-01 9.57916489e-03 1.74018811e+02] [-1.93350017e-01 9.81128460e-01 -1.64818485e-03 -2.26329550e+01] [-9.71707921e-03 -2.35127660e-04 9.99952760e-01 -2.47776218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.365769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.05, Y:-22.64, Z:-2.48 [[ 9.81125637e-01 1.93119771e-01 9.86097690e-03 1.74049096e+02] [-1.93112465e-01 9.81175161e-01 -1.69682771e-03 -2.26364561e+01] [-1.00030366e-02 -2.39476388e-04 9.99949940e-01 -2.47741765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.395769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.08, Y:-22.64, Z:-2.48 [[ 9.81489712e-01 1.91227168e-01 1.04935887e-02 1.74080378e+02] [-1.91218787e-01 9.81545778e-01 -1.80563334e-03 -2.26389464e+01] [-1.06452238e-02 -2.34360753e-04 9.99943311e-01 -2.47763657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.425769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:174.11, Y:-22.64, Z:-2.48 [[ 9.81966696e-01 1.88778974e-01 1.01934482e-02 1.74110709e+02] [-1.88770931e-01 9.82019581e-01 -1.75425375e-03 -2.26431063e+01] [-1.03413320e-02 -2.01607945e-04 9.99946507e-01 -2.47737853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.14, Y:-22.65, Z:-2.48 [[ 9.82885993e-01 1.83919127e-01 1.04345689e-02 1.74140658e+02] [-1.83910423e-01 9.82941367e-01 -1.79587866e-03 -2.26473904e+01] [-1.05868658e-02 -1.53882007e-04 9.99943946e-01 -2.47692336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:-22.65, Z:-2.48 [[ 9.83018191e-01 1.83213139e-01 1.04010489e-02 1.74172657e+02] [-1.83204454e-01 9.83073204e-01 -1.78987503e-03 -2.26528179e+01] [-1.05529211e-02 -1.46038774e-04 9.99944306e-01 -2.47655872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:-22.66, Z:-2.48 [[ 9.82848916e-01 1.84190770e-01 9.04264710e-03 1.74202357e+02] [-1.84184229e-01 9.82890504e-01 -1.55797128e-03 -2.26568452e+01] [-9.17489589e-03 -1.34262601e-04 9.99957901e-01 -2.47676653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.545769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.23, Y:-22.66, Z:-2.48 [[ 9.82702047e-01 1.84989405e-01 8.69520833e-03 1.74231521e+02] [-1.84983387e-01 9.82740506e-01 -1.49830609e-03 -2.26604233e+01] [-8.82230418e-03 -1.36080630e-04 9.99961073e-01 -2.47739924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.575769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.26, Y:-22.66, Z:-2.48 [[ 9.82467756e-01 1.86181910e-01 9.66459421e-03 1.74261654e+02] [-1.86174534e-01 9.82515277e-01 -1.66524966e-03 -2.26624488e+01] [-9.80565082e-03 -1.63247226e-04 9.99951910e-01 -2.47786817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:-22.67, Z:-2.48 [[ 9.82415439e-01 1.86406211e-01 1.06127484e-02 1.74290255e+02] [-1.86397333e-01 9.82472743e-01 -1.82836396e-03 -2.26664836e+01] [-1.07675544e-02 -1.81975012e-04 9.99942012e-01 -2.47780551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:-22.67, Z:-2.48 [[ 9.82362901e-01 1.86657205e-01 1.10552768e-02 1.74318958e+02] [-1.86647591e-01 9.82425087e-01 -1.90418221e-03 -2.26703453e+01] [-1.12164106e-02 -1.92842824e-04 9.99937075e-01 -2.47822343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:-22.67, Z:-2.48 [[ 9.82361416e-01 1.86685964e-01 1.06957250e-02 1.74348677e+02] [-1.86676970e-01 9.82419623e-01 -1.84195904e-03 -2.26735465e+01] [-1.08515581e-02 -1.87176056e-04 9.99941103e-01 -2.47896753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.38, Y:-22.68, Z:-2.48 [[ 9.82483100e-01 1.86067095e-01 1.02953843e-02 1.74378996e+02] [-1.86058731e-01 9.82537025e-01 -1.77273431e-03 -2.26780809e+01] [-1.04454438e-02 -1.73864642e-04 9.99945430e-01 -2.48014275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.41, Y:-22.68, Z:-2.48 [[ 9.82818538e-01 1.84225207e-01 1.13487796e-02 1.74407705e+02] [-1.84214922e-01 9.82884044e-01 -1.95409962e-03 -2.26827865e+01] [-1.15145288e-02 -1.70089216e-04 9.99933691e-01 -2.48153166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:-22.69, Z:-2.48 [[ 9.83026062e-01 1.83042517e-01 1.24578378e-02 1.74437425e+02] [-1.83030026e-01 9.83104983e-01 -2.14523823e-03 -2.26875117e+01] [-1.26400323e-02 -1.71333296e-04 9.99920097e-01 -2.48142661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:-22.69, Z:-2.48 [[ 9.83148816e-01 1.82303234e-01 1.35623000e-02 1.74466968e+02] [-1.82288359e-01 9.83242340e-01 -2.33543842e-03 -2.26917931e+01] [-1.37607856e-02 -1.76165889e-04 9.99905300e-01 -2.48169498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:174.50, Y:-22.70, Z:-2.48 [[ 9.83150942e-01 1.82353946e-01 1.26989202e-02 1.74497015e+02] [-1.82340908e-01 9.83232938e-01 -2.18691299e-03 -2.26959368e+01] [-1.28847888e-02 -1.65467058e-04 9.99916974e-01 -2.48337724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.53, Y:-22.70, Z:-2.49 [[ 9.82952538e-01 1.83492079e-01 1.16174493e-02 1.74525633e+02] [-1.83481246e-01 9.83021175e-01 -2.00069297e-03 -2.27002951e+01] [-1.17873099e-02 -1.64997836e-04 9.99930514e-01 -2.48516335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:174.55, Y:-22.70, Z:-2.49 [[ 9.82769346e-01 1.84463915e-01 1.17250350e-02 1.74553926e+02] [-1.84452952e-01 9.82839271e-01 -2.01896102e-03 -2.27043769e+01] [-1.18962503e-02 -1.78544319e-04 9.99929221e-01 -2.48569251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.58, Y:-22.71, Z:-2.49 [[ 9.82653447e-01 1.85054822e-01 1.21208748e-02 1.74582370e+02] [-1.85043157e-01 9.82728180e-01 -2.08669388e-03 -2.27087280e+01] [-1.22976780e-02 -1.92388001e-04 9.99924362e-01 -2.48643683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.61, Y:-22.71, Z:-2.49 [[ 9.82666791e-01 1.84983946e-01 1.21209616e-02 1.74611294e+02] [-1.84972282e-01 9.82741524e-01 -2.08618923e-03 -2.27135888e+01] [-1.22976838e-02 -1.92013057e-04 9.99924362e-01 -2.48681231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.64, Y:-22.72, Z:-2.49 [[ 9.82640423e-01 1.85141945e-01 1.18431520e-02 1.74641630e+02] [-1.85130832e-01 9.82711771e-01 -2.03745878e-03 -2.27194166e+01] [-1.20156239e-02 -1.90443221e-04 9.99927792e-01 -2.48771837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:174.67, Y:-22.73, Z:-2.49 [[ 9.83020163e-01 1.83239958e-01 9.71989130e-03 1.74670466e+02] [-1.83232379e-01 9.83068207e-01 -1.67221432e-03 -2.27274195e+01] [-9.86173259e-03 -1.37178410e-04 9.99951363e-01 -2.48983022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.70, Y:-22.74, Z:-2.49 [[ 9.83632864e-01 1.79966563e-01 8.85581182e-03 1.74700165e+02] [-1.79960141e-01 9.83672724e-01 -1.52333003e-03 -2.27368699e+01] [-8.98536900e-03 -9.52956611e-05 9.99959626e-01 -2.49227498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.055769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:174.73, Y:-22.75, Z:-2.49 [[ 9.84105445e-01 1.77377519e-01 8.58419526e-03 1.74730786e+02] [-1.77371384e-01 9.84142881e-01 -1.47680389e-03 -2.27450300e+01] [-8.71002647e-03 -6.92598510e-05 9.99962065e-01 -2.49346642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.085769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.76, Y:-22.75, Z:-2.49 [[ 9.84565719e-01 1.74815789e-01 8.35367975e-03 1.74761624e+02] [-1.74809891e-01 9.84601157e-01 -1.43668900e-03 -2.27539694e+01] [-8.47619866e-03 -4.57911059e-05 9.99964075e-01 -2.49391171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.79, Y:-22.77, Z:-2.49 [[ 9.85208255e-01 1.71159078e-01 8.32253449e-03 1.74791521e+02] [-1.71153082e-01 9.85243406e-01 -1.43274218e-03 -2.27670453e+01] [-8.44494906e-03 -1.28780062e-05 9.99964341e-01 -2.49386120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.145769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.82, Y:-22.78, Z:-2.49 [[ 9.85277969e-01 1.70777268e-01 7.90248649e-03 1.74822039e+02] [-1.70771838e-01 9.85309659e-01 -1.36181148e-03 -2.27756933e+01] [-8.01896271e-03 -7.75929769e-06 9.99967848e-01 -2.49371230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.175769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.85, Y:-22.79, Z:-2.49 [[ 9.84721972e-01 1.73972699e-01 7.49252397e-03 1.74854042e+02] [-1.73967901e-01 9.84750476e-01 -1.29238632e-03 -2.27855753e+01] [-7.60310647e-03 -3.08174669e-05 9.99971095e-01 -2.49468823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.205769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:174.88, Y:-22.79, Z:-2.50 [[ 9.84155978e-01 1.77122703e-01 8.03484536e-03 1.74884859e+02] [-1.77117275e-01 9.84188775e-01 -1.38777855e-03 -2.27925664e+01] [-8.15361170e-03 -5.73193607e-05 9.99966757e-01 -2.49538626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.92, Y:-22.80, Z:-2.50 [[ 9.83530566e-01 1.80522283e-01 8.90675081e-03 1.74915882e+02] [-1.80515735e-01 9.83570891e-01 -1.54032657e-03 -2.27992586e+01] [-9.03848409e-03 -9.28504099e-05 9.99959148e-01 -2.49508956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.95, Y:-22.81, Z:-2.49 [[ 9.82532965e-01 1.85830514e-01 9.79756010e-03 1.74945786e+02] [-1.85822835e-01 9.82581801e-01 -1.69632547e-03 -2.28066367e+01] [-9.94213329e-03 -1.53914704e-04 9.99950564e-01 -2.49458944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.295769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.98, Y:-22.81, Z:-2.49 [[ 9.82264472e-01 1.87252405e-01 9.64587262e-03 1.74977612e+02] [-1.87245017e-01 9.82311819e-01 -1.67152675e-03 -2.28126060e+01] [-9.78825209e-03 -1.64260233e-04 9.99952080e-01 -2.49477633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.325769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:175.01, Y:-22.82, Z:-2.50 [[ 9.82345274e-01 1.86769394e-01 1.07217497e-02 1.75010376e+02] [-1.86760215e-01 9.82403768e-01 -1.85996942e-03 -2.28194471e+01] [-1.08804727e-02 -1.75264106e-04 9.99940791e-01 -2.49549553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.355769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:175.04, Y:-22.83, Z:-2.50 [[ 9.82505551e-01 1.85908108e-01 1.10007853e-02 1.75042179e+02] [-1.85898366e-01 9.82567121e-01 -1.91057367e-03 -2.28261659e+01] [-1.11642011e-02 -1.67878777e-04 9.99937664e-01 -2.49603425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.385769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.07, Y:-22.83, Z:-2.50 [[ 9.82923077e-01 1.83745103e-01 9.99811249e-03 1.75072841e+02] [-1.83736928e-01 9.82973916e-01 -1.73802308e-03 -2.28342898e+01] [-1.01472370e-02 -1.28679482e-04 9.99948507e-01 -2.49524621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.415769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:175.10, Y:-22.84, Z:-2.50 [[ 9.83069087e-01 1.82989370e-01 9.48998465e-03 1.75104848e+02] [-1.82981955e-01 9.83114885e-01 -1.65123284e-03 -2.28415205e+01] [-9.63190323e-03 -1.13219982e-04 9.99953606e-01 -2.49541625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:175.14, Y:-22.85, Z:-2.50 [[ 9.83143231e-01 1.82599897e-01 9.30941681e-03 1.75137354e+02] [-1.82592728e-01 9.83187300e-01 -1.62153136e-03 -2.28490206e+01] [-9.44899184e-03 -1.05634226e-04 9.99955352e-01 -2.49584063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.17, Y:-22.86, Z:-2.50 [[ 9.82911916e-01 1.83808615e-01 9.92768323e-03 1.75168645e+02] [-1.83800503e-01 9.82962043e-01 -1.73128988e-03 -2.28583166e+01] [-1.00767618e-02 -1.23007722e-04 9.99949221e-01 -2.49576824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.20, Y:-22.87, Z:-2.49 [[ 9.82512954e-01 1.85880128e-01 1.08107526e-02 1.75200451e+02] [-1.85870611e-01 9.82572417e-01 -1.88737260e-03 -2.28654655e+01] [-1.09731723e-02 -1.55033152e-04 9.99939781e-01 -2.49464571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.23, Y:-22.87, Z:-2.49 [[ 9.81608793e-01 1.90521801e-01 1.20673460e-02 1.75232020e+02] [-1.90510262e-01 9.81682938e-01 -2.10928201e-03 -2.28717517e+01] [-1.22481719e-02 -2.28463482e-04 9.99924962e-01 -2.49306317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.26, Y:-22.88, Z:-2.49 [[ 9.81146564e-01 1.92950324e-01 1.10269052e-02 1.75264823e+02] [-1.92940823e-01 9.81208498e-01 -1.92913365e-03 -2.28775284e+01] [-1.11919201e-02 -2.34777316e-04 9.99937341e-01 -2.49333250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.30, Y:-22.88, Z:-2.49 [[ 9.80695959e-01 1.95287009e-01 9.92064550e-03 1.75296669e+02] [-1.95279422e-01 9.80746109e-01 -1.73722143e-03 -2.28837516e+01] [-1.00688912e-02 -2.33611887e-04 9.99949280e-01 -2.49379805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.33, Y:-22.89, Z:-2.49 [[ 9.80143515e-01 1.98025161e-01 1.02335469e-02 1.75326263e+02] [-1.98017214e-01 9.80196901e-01 -1.79421763e-03 -2.28896331e+01] [-1.03861912e-02 -2.67827681e-04 9.99946026e-01 -2.49496465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.36, Y:-22.89, Z:-2.49 [[ 9.79828762e-01 1.99445276e-01 1.25370995e-02 1.75356953e+02] [-1.99433462e-01 9.79908905e-01 -2.19826606e-03 -2.28942696e+01] [-1.27236493e-02 -3.46392854e-04 9.99918991e-01 -2.49467312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.39, Y:-22.90, Z:-2.49 [[ 9.79662810e-01 2.00254592e-01 1.26046792e-02 1.75389063e+02] [-2.00242713e-01 9.79743829e-01 -2.21040106e-03 -2.28991748e+01] [-1.27919997e-02 -3.58547451e-04 9.99918115e-01 -2.49493161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.42, Y:-22.90, Z:-2.50 [[ 9.79544438e-01 2.00897167e-01 1.15335361e-02 1.75420329e+02] [-2.00887247e-01 9.79612279e-01 -2.02421647e-03 -2.29034563e+01] [-1.17050530e-02 -3.34130335e-04 9.99931438e-01 -2.49538453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.45, Y:-22.91, Z:-2.50 [[ 9.79730424e-01 2.00142032e-01 8.45354519e-03 1.75453245e+02] [-2.00136670e-01 9.79766865e-01 -1.48420593e-03 -2.29061387e+01] [-8.57955546e-03 -2.37742679e-04 9.99963167e-01 -2.49625005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.48, Y:-22.91, Z:-2.50 [[ 9.79913663e-01 1.99275818e-01 7.63949582e-03 1.75484366e+02] [-1.99271402e-01 9.79943420e-01 -1.34268601e-03 -2.29101870e+01] [-7.75383851e-03 -2.06616680e-04 9.99969917e-01 -2.49700477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.805769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.52, Y:-22.91, Z:-2.50 [[ 9.80254462e-01 1.97582241e-01 7.90239182e-03 1.75515443e+02] [-1.97577445e-01 9.80286294e-01 -1.39078598e-03 -2.29138253e+01] [-8.02140100e-03 -1.98010220e-04 9.99967808e-01 -2.49740864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.55, Y:-22.92, Z:-2.50 [[ 9.80397045e-01 1.96853166e-01 8.39433672e-03 1.75547549e+02] [-1.96847731e-01 9.80432960e-01 -1.47697937e-03 -2.29192073e+01] [-8.52083246e-03 -2.04379925e-04 9.99963676e-01 -2.49757445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.58, Y:-22.92, Z:-2.50 [[ 9.80532611e-01 1.96160099e-01 8.77576463e-03 1.75578192e+02] [-1.96154117e-01 9.80571860e-01 -1.54570210e-03 -2.29230620e+01] [-8.90847292e-03 -2.05791048e-04 9.99960298e-01 -2.49752166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.61, Y:-22.92, Z:-2.50 [[ 9.80378107e-01 1.96938956e-01 8.59160942e-03 1.75609255e+02] [-1.96933236e-01 9.80415731e-01 -1.51513166e-03 -2.29205516e+01] [-8.72173748e-03 -2.06571537e-04 9.99961944e-01 -2.49780477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.925769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:175.64, Y:-22.92, Z:-2.50 [[ 9.80111652e-01 1.98267175e-01 8.44252214e-03 1.75639021e+02] [-1.98261699e-01 9.80147990e-01 -1.48907714e-03 -2.29215147e+01] [-8.57015622e-03 -2.14366921e-04 9.99963253e-01 -2.49813545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.955769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:175.67, Y:-22.92, Z:-2.50 [[ 9.79754900e-01 1.99990827e-01 9.16547265e-03 1.75667559e+02] [-1.99984449e-01 9.79797738e-01 -1.61647738e-03 -2.29209082e+01] [-9.30359001e-03 -2.49200366e-04 9.99956690e-01 -2.49963315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.985769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:175.70, Y:-22.92, Z:-2.50 [[ 9.79756464e-01 2.00017951e-01 8.37200687e-03 1.75697041e+02] [-2.00012636e-01 9.79792206e-01 -1.47600872e-03 -2.29236409e+01] [-8.49805532e-03 -2.28378076e-04 9.99963865e-01 -2.50061353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.73, Y:-22.93, Z:-2.50 [[ 9.80082391e-01 1.98466290e-01 7.04553456e-03 1.75726239e+02] [-1.98462485e-01 9.80107698e-01 -1.24209293e-03 -2.29254794e+01] [-7.15189624e-03 -1.80920892e-04 9.99974408e-01 -2.50199836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.045769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.76, Y:-22.92, Z:-2.50 [[ 9.80962675e-01 1.94092270e-01 6.35777934e-03 1.75756108e+02] [-1.94089082e-01 9.80983268e-01 -1.12059054e-03 -2.29246064e+01] [-6.45437311e-03 -1.34718060e-04 9.99979161e-01 -2.50327754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.075769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:175.78, Y:-22.93, Z:-2.50 [[ 9.81550386e-01 1.91069788e-01 7.15369762e-03 1.75784824e+02] [-1.91065673e-01 9.81576446e-01 -1.26073040e-03 -2.29278634e+01] [-7.26278858e-03 -1.29355642e-04 9.99973617e-01 -2.50356971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.81, Y:-22.93, Z:-2.50 [[ 9.82516690e-01 1.85933677e-01 9.46689162e-03 1.75814011e+02] [-1.85926236e-01 9.82562290e-01 -1.66787205e-03 -2.29315486e+01] [-9.61192429e-03 -1.21431400e-04 9.99953797e-01 -2.50250739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.84, Y:-22.94, Z:-2.50 [[ 9.82819082e-01 1.84261025e-01 1.07016890e-02 1.75843563e+02] [-1.84251420e-01 9.82877337e-01 -1.88513641e-03 -2.29355424e+01] [-1.08658048e-02 -1.19053360e-04 9.99940958e-01 -2.50239221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.87, Y:-22.94, Z:-2.50 [[ 9.83128698e-01 1.82552208e-01 1.15175272e-02 1.75874137e+02] [-1.82540969e-01 9.83196155e-01 -2.02853613e-03 -2.29377868e+01] [-1.16943022e-02 -1.08108494e-04 9.99931613e-01 -2.50350840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.90, Y:-22.94, Z:-2.50 [[ 9.83154036e-01 1.82392084e-01 1.18856554e-02 1.75903096e+02] [-1.82380103e-01 9.83225872e-01 -2.09338170e-03 -2.29411668e+01] [-1.20681002e-02 -1.09590392e-04 9.99927172e-01 -2.50463933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.93, Y:-22.94, Z:-2.51 [[ 9.83143222e-01 1.82435403e-01 1.21132057e-02 1.75931630e+02] [-1.82422964e-01 9.83217835e-01 -2.13332739e-03 -2.29440852e+01] [-1.22991143e-02 -1.12360519e-04 9.99924357e-01 -2.50547187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.96, Y:-22.95, Z:-2.51 [[ 9.83337491e-01 1.81426334e-01 1.14831717e-02 1.75961007e+02] [-1.81415093e-01 9.83404533e-01 -2.02188282e-03 -2.29457784e+01] [-1.16594259e-02 -9.50274762e-05 9.99932022e-01 -2.50560066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.99, Y:-22.95, Z:-2.51 [[ 9.83524722e-01 1.80467035e-01 1.05247263e-02 1.75989192e+02] [-1.80457539e-01 9.83581030e-01 -1.85293060e-03 -2.29502859e+01] [-1.06863140e-02 -7.68631426e-05 9.99942897e-01 -2.50638650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.02, Y:-22.96, Z:-2.51 [[ 9.83939696e-01 1.78235926e-01 9.72776580e-03 1.76018549e+02] [-1.78227708e-01 9.83987781e-01 -1.71228525e-03 -2.29561721e+01] [-9.87719343e-03 -4.89719777e-05 9.99951218e-01 -2.50728210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:176.05, Y:-22.96, Z:-2.51 [[ 9.84114735e-01 1.77227554e-01 1.04202662e-02 1.76046731e+02] [-1.77218070e-01 9.84169900e-01 -1.83391071e-03 -2.29619439e+01] [-1.05803318e-02 -4.18809116e-05 9.99944026e-01 -2.50719290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.08, Y:-22.97, Z:-2.51 [[ 9.84723916e-01 1.73769516e-01 1.10889329e-02 1.76076118e+02] [-1.73758560e-01 9.84786350e-01 -1.95130853e-03 -2.29678768e+01] [-1.12593077e-02 -5.29684010e-06 9.99936612e-01 -2.50724728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:176.11, Y:-22.97, Z:-2.51 [[ 9.84975629e-01 1.72400093e-01 1.00607473e-02 1.76105338e+02] [-1.72391005e-01 9.85027009e-01 -1.77018319e-03 -2.29734917e+01] [-1.02152876e-02 9.20495050e-06 9.99947823e-01 -2.50791937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.14, Y:-22.98, Z:-2.51 [[ 9.84976203e-01 1.72493712e-01 8.23399965e-03 1.76135247e+02] [-1.72487630e-01 9.85010619e-01 -1.44852912e-03 -2.29804763e+01] [-8.36043926e-03 6.50362854e-06 9.99965051e-01 -2.50838113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.16, Y:-22.99, Z:-2.51 [[ 9.84803105e-01 1.73472954e-01 8.36534063e-03 1.76163862e+02] [-1.73466712e-01 9.84838634e-01 -1.47168736e-03 -2.29866478e+01] [-8.49380859e-03 -1.78584650e-06 9.99963927e-01 -2.50820287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.19, Y:-22.99, Z:-2.51 [[ 9.84539156e-01 1.74927787e-01 9.10597177e-03 1.76192499e+02] [-1.74920453e-01 9.84581266e-01 -1.60185654e-03 -2.29927671e+01] [-9.24577843e-03 -1.57302257e-05 9.99957257e-01 -2.50833057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52576923100003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:176.22, Y:-23.00, Z:-2.51 [[ 9.84094660e-01 1.77415309e-01 9.02822388e-03 1.76222425e+02] [-1.77408206e-01 9.84136071e-01 -1.58802725e-03 -2.29987707e+01] [-9.16674112e-03 -3.89118596e-05 9.99957984e-01 -2.50797850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:-23.00, Z:-2.51 [[ 9.84008713e-01 1.77922842e-01 8.38545784e-03 1.76251611e+02] [-1.77916732e-01 9.84044440e-01 -1.47502053e-03 -2.30046995e+01] [-8.51410301e-03 -4.04802066e-05 9.99963754e-01 -2.50838912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:-23.01, Z:-2.51 [[ 9.84176446e-01 1.76989357e-01 8.45522702e-03 1.76281465e+02] [-1.76983112e-01 9.84212765e-01 -1.48713305e-03 -2.30116834e+01] [-8.58494908e-03 -3.28310756e-05 9.99963148e-01 -2.50742324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.31, Y:-23.02, Z:-2.51 [[ 9.84352846e-01 1.75976235e-01 9.04652220e-03 1.76310106e+02] [-1.75969043e-01 9.84394415e-01 -1.59117485e-03 -2.30172231e+01] [-9.18535489e-03 -2.56303624e-05 9.99957813e-01 -2.50671051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:-23.02, Z:-2.51 [[ 9.84503619e-01 1.75075020e-01 1.00678912e-02 1.76339763e+02] [-1.75066067e-01 9.84555096e-01 -1.77065256e-03 -2.30228468e+01] [-1.02223906e-02 -1.93322700e-05 9.99947750e-01 -2.50646177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.37, Y:-23.03, Z:-2.51 [[ 9.84966539e-01 1.72417259e-01 1.06397809e-02 1.76370596e+02] [-1.72407105e-01 9.85024004e-01 -1.87118306e-03 -2.30289553e+01] [-1.08030638e-02 8.67887470e-06 9.99941645e-01 -2.50641617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.40, Y:-23.04, Z:-2.51 [[ 9.85403952e-01 1.69949819e-01 9.80359969e-03 1.76401713e+02] [-1.69941075e-01 9.85452717e-01 -1.72434362e-03 -2.30352684e+01] [-9.95403584e-03 3.31407477e-05 9.99950457e-01 -2.50599538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.735769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.43, Y:-23.04, Z:-2.51 [[ 9.85392524e-01 1.70010655e-01 9.89703430e-03 1.76431363e+02] [-1.70001743e-01 9.85442224e-01 -1.74105700e-03 -2.30405621e+01] [-1.00489537e-02 3.31114760e-05 9.99949507e-01 -2.50555679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.46, Y:-23.05, Z:-2.51 [[ 9.85221456e-01 1.71004936e-01 9.79771741e-03 1.76461564e+02] [-1.70996250e-01 9.85270172e-01 -1.72373803e-03 -2.30457354e+01] [-9.94816643e-03 2.28907571e-05 9.99950516e-01 -2.50534085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.49, Y:-23.05, Z:-2.51 [[ 9.84829225e-01 1.73197902e-01 1.06716295e-02 1.76491022e+02] [-1.73187726e-01 9.84887043e-01 -1.87746411e-03 -2.30512973e+01] [-1.08355224e-02 7.86275439e-07 9.99941294e-01 -2.50555757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.825769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:176.52, Y:-23.06, Z:-2.51 [[ 9.84802604e-01 1.73300883e-01 1.14295657e-02 1.76520259e+02] [-1.73289215e-01 9.84868927e-01 -2.01098651e-03 -2.30569262e+01] [-1.16051299e-02 -1.95720032e-07 9.99932658e-01 -2.50606882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.855769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:176.55, Y:-23.06, Z:-2.51 [[ 9.84803047e-01 1.73298367e-01 1.14295910e-02 1.76550787e+02] [-1.73286700e-01 9.84869370e-01 -2.01084277e-03 -2.30622957e+01] [-1.16051299e-02 -3.12018268e-07 9.99932658e-01 -2.50646568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:-23.07, Z:-2.51 [[ 9.85274554e-01 1.70692572e-01 9.90454115e-03 1.76581036e+02] [-1.70683681e-01 9.85324335e-01 -1.74244240e-03 -2.30701455e+01] [-1.00566074e-02 2.62406236e-05 9.99949431e-01 -2.50725967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.915769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.61, Y:-23.08, Z:-2.51 [[ 9.85726875e-01 1.68137331e-01 8.50685722e-03 1.76611895e+02] [-1.68130675e-01 9.85763580e-01 -1.49671824e-03 -2.30778954e+01] [-8.63740424e-03 4.50917433e-05 9.99962696e-01 -2.50825707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.64, Y:-23.09, Z:-2.51 [[ 9.86213658e-01 1.65275833e-01 8.15595889e-03 1.76643161e+02] [-1.65269621e-01 9.86247380e-01 -1.43452523e-03 -2.30854441e+01] [-8.28088544e-03 6.68161382e-05 9.99965711e-01 -2.50924350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.67, Y:-23.10, Z:-2.51 [[ 9.87071978e-01 1.59995052e-01 9.51285240e-03 1.76673690e+02] [-1.59986335e-01 9.87117808e-01 -1.67527845e-03 -2.30958053e+01] [-9.65834227e-03 1.31694019e-04 9.99953348e-01 -2.51003684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.71, Y:-23.11, Z:-2.51 [[ 9.87397627e-01 1.57980411e-01 9.38703682e-03 1.76705747e+02] [-1.57971824e-01 9.87442235e-01 -1.65397120e-03 -2.31052494e+01] [-9.53045167e-03 1.50239900e-04 9.99954573e-01 -2.51063567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.74, Y:-23.12, Z:-2.51 [[ 9.87796314e-01 1.55528264e-01 8.33073072e-03 1.76735609e+02] [-1.55521402e-01 9.87831430e-01 -1.46927487e-03 -2.31174047e+01] [-8.45787142e-03 1.55737387e-04 9.99964219e-01 -2.51145287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.77, Y:-23.13, Z:-2.51 [[ 9.87820011e-01 1.55381949e-01 8.25083100e-03 1.76767604e+02] [-1.55375200e-01 9.87854456e-01 -1.45661885e-03 -2.31251509e+01] [-8.37695244e-03 1.56902726e-04 9.99964900e-01 -2.51222936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09576923100002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:176.80, Y:-23.13, Z:-2.51 [[ 9.87642668e-01 1.56527581e-01 7.81521239e-03 1.76799509e+02] [-1.56521551e-01 9.87673578e-01 -1.38111943e-03 -2.31329689e+01] [-7.93506206e-03 1.40803307e-04 9.99968507e-01 -2.50811609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.83, Y:-23.14, Z:-2.51 [[ 9.87096942e-01 1.59960150e-01 7.23718765e-03 1.76830415e+02] [-1.59955061e-01 9.87123467e-01 -1.28028223e-03 -2.31401173e+01] [-7.34879191e-03 1.06137879e-04 9.99972992e-01 -2.51467485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.86, Y:-23.15, Z:-2.52 [[ 9.86600265e-01 1.63015472e-01 6.77294002e-03 1.76861586e+02] [-1.63011078e-01 9.86623509e-01 -1.19961338e-03 -2.31478342e+01] [-6.87789740e-03 7.94746259e-05 9.99976344e-01 -2.51588565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.89, Y:-23.15, Z:-2.52 [[ 9.86308282e-01 1.64772059e-01 6.79281153e-03 1.76893920e+02] [-1.64767677e-01 9.86331670e-01 -1.20353201e-03 -2.31534058e+01] [-6.89827359e-03 6.78178160e-05 9.99976204e-01 -2.51673896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.93, Y:-23.16, Z:-2.52 [[ 9.86042847e-01 1.66321068e-01 7.53697084e-03 1.76926633e+02] [-1.66315706e-01 9.86071650e-01 -1.33710062e-03 -2.31585187e+01] [-7.65438127e-03 6.49218732e-05 9.99970703e-01 -2.51792062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.96, Y:-23.16, Z:-2.52 [[ 9.85880793e-01 1.67153399e-01 9.94001813e-03 1.76957889e+02] [-1.67144087e-01 9.85930898e-01 -1.76614185e-03 -2.31643001e+01] [-1.00953876e-02 7.97900666e-05 9.99949037e-01 -2.51791128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.99, Y:-23.17, Z:-2.52 [[ 9.86063278e-01 1.66027860e-01 1.06752469e-02 1.76989529e+02] [-1.66017031e-01 9.86121057e-01 -1.89887287e-03 -2.31703166e+01] [-1.08423516e-02 1.00136012e-04 9.99941215e-01 -2.51823565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.02, Y:-23.18, Z:-2.52 [[ 9.86890537e-01 1.61001898e-01 1.12007421e-02 1.77021774e+02] [-1.60989629e-01 9.86954083e-01 -1.99443828e-03 -2.31750243e+01] [-1.13757265e-02 1.65088966e-04 9.99935281e-01 -2.51976557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.335769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:177.05, Y:-23.18, Z:-2.52 [[ 9.87324031e-01 1.58355665e-01 1.07117278e-02 1.77054545e+02] [-1.58344268e-01 9.87382118e-01 -1.90924578e-03 -2.31816608e+01] [-1.08789083e-02 1.88903554e-04 9.99940805e-01 -2.52110562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.09, Y:-23.19, Z:-2.52 [[ 9.87690503e-01 1.56131002e-01 9.51740661e-03 1.77086352e+02] [-1.56121887e-01 9.87736338e-01 -1.69790688e-03 -2.31901198e+01] [-9.66578426e-03 1.91131025e-04 9.99953267e-01 -2.52232089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.12, Y:-23.20, Z:-2.52 [[ 9.88296122e-01 1.52278271e-01 9.06106171e-03 1.77116253e+02] [-1.52269831e-01 9.88337635e-01 -1.61812290e-03 -2.32026911e+01] [-9.20179325e-03 2.19458253e-04 9.99957639e-01 -2.52157296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.15, Y:-23.21, Z:-2.52 [[ 9.88446313e-01 1.51243598e-01 9.96296017e-03 1.77147145e+02] [-1.51233323e-01 9.88496489e-01 -1.78115285e-03 -2.32129858e+01] [-1.01177391e-02 2.53842398e-04 9.99948782e-01 -2.52122757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.18, Y:-23.22, Z:-2.52 [[ 9.88337009e-01 1.51920564e-01 1.04927831e-02 1.77179571e+02] [-1.51909184e-01 9.88392672e-01 -1.87780119e-03 -2.32207840e+01] [-1.06562665e-02 2.61950303e-04 9.99943186e-01 -2.52114674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.21, Y:-23.23, Z:-2.52 [[ 9.88118027e-01 1.53327968e-01 1.06441966e-02 1.77211860e+02] [-1.53316316e-01 9.88175324e-01 -1.90709127e-03 -2.32290145e+01] [-1.08107429e-02 2.52502259e-04 9.99941530e-01 -2.52199095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.24, Y:-23.24, Z:-2.52 [[ 9.87433098e-01 1.57775619e-01 9.09562127e-03 1.77242687e+02] [-1.57767296e-01 9.87474974e-01 -1.62991851e-03 -2.32379819e+01] [-9.23885977e-03 1.74443918e-04 9.99957306e-01 -2.52298131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.27, Y:-23.25, Z:-2.52 [[ 9.87020922e-01 1.60372230e-01 8.39326140e-03 1.77274079e+02] [-1.60365225e-01 9.87056598e-01 -1.50544473e-03 -2.32455275e+01] [-8.52605558e-03 1.39918191e-04 9.99963643e-01 -2.52321276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.31, Y:-23.26, Z:-2.52 [[ 9.86499259e-01 1.63521546e-01 8.93957590e-03 1.77305474e+02] [-1.63513713e-01 9.86539755e-01 -1.60512776e-03 -2.32570595e+01] [-9.08172000e-03 1.21714097e-04 9.99958753e-01 -2.52200542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.34, Y:-23.27, Z:-2.52 [[ 9.86341483e-01 1.64394195e-01 1.02482943e-02 1.77336992e+02] [-1.64383924e-01 9.86394714e-01 -1.84244003e-03 -2.32655783e+01] [-1.04117498e-02 1.32620198e-04 9.99945787e-01 -2.52127478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.37, Y:-23.27, Z:-2.52 [[ 9.86016152e-01 1.66165575e-01 1.26944444e-02 1.77368468e+02] [-1.66149923e-01 9.86097856e-01 -2.28523042e-03 -2.32742948e+01] [-1.28976910e-02 1.44093143e-04 9.99916811e-01 -2.52053981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.40, Y:-23.28, Z:-2.52 [[ 9.85815215e-01 1.67328756e-01 1.30172740e-02 1.77400177e+02] [-1.67312365e-01 9.85901146e-01 -2.34590529e-03 -2.32810775e+01] [-1.32262827e-02 1.34678239e-04 9.99912520e-01 -2.52135001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.43, Y:-23.29, Z:-2.52 [[ 9.85711068e-01 1.67938529e-01 1.30514381e-02 1.77430948e+02] [-1.67922074e-01 9.85797461e-01 -2.35438236e-03 -2.32885651e+01] [-1.32614661e-02 1.29116188e-04 9.99912055e-01 -2.52199282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.46, Y:-23.30, Z:-2.52 [[ 9.85894982e-01 1.66862656e-01 1.29590957e-02 1.77462961e+02] [-1.66846321e-01 9.85980138e-01 -2.33919885e-03 -2.32984006e+01] [-1.31677359e-02 1.44026968e-04 9.99913291e-01 -2.52083039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.49, Y:-23.31, Z:-2.52 [[ 9.86181502e-01 1.65372984e-01 9.89048931e-03 1.77493507e+02] [-1.65363381e-01 9.86231089e-01 -1.78668860e-03 -2.33091332e+01] [-1.00497781e-02 1.26474499e-04 9.99949492e-01 -2.52182614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.53, Y:-23.32, Z:-2.52 [[ 9.86309127e-01 1.64697895e-01 8.30118496e-03 1.77525372e+02] [-1.64691097e-01 9.86344053e-01 -1.50072796e-03 -2.33187712e+01] [-8.43499116e-03 1.13050434e-04 9.99964418e-01 -2.52393000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.56, Y:-23.33, Z:-2.52 [[ 9.86374843e-01 1.64373021e-01 6.79554292e-03 1.77557378e+02] [-1.64368452e-01 9.86398247e-01 -1.22932875e-03 -2.33289483e+01] [-6.90518010e-03 9.56060876e-05 9.99976154e-01 -2.52415606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.59, Y:-23.34, Z:-2.52 [[ 9.86220136e-01 1.65301215e-01 6.73440322e-03 1.77587494e+02] [-1.65296740e-01 9.86243124e-01 -1.21961991e-03 -2.33411108e+01] [-6.84336353e-03 8.96388191e-05 9.99976580e-01 -2.52331226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.62, Y:-23.35, Z:-2.52 [[ 9.85938340e-01 1.66963401e-01 6.98655267e-03 1.77618118e+02] [-1.66958615e-01 9.85963090e-01 -1.26699652e-03 -2.33488540e+01] [-7.10002511e-03 8.27152966e-05 9.99974791e-01 -2.52287941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.65, Y:-23.36, Z:-2.52 [[ 9.84978431e-01 1.72539562e-01 6.89853631e-03 1.77649852e+02] [-1.72535029e-01 9.85002588e-01 -1.25137548e-03 -2.33584515e+01] [-7.01098789e-03 4.23386988e-05 9.99975422e-01 -2.52283702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.68, Y:-23.37, Z:-2.52 [[ 9.84357672e-01 1.76070538e-01 6.25606821e-03 1.77680797e+02] [-1.76066875e-01 9.84377552e-01 -1.13588144e-03 -2.33659836e+01] [-6.35832837e-03 1.66272326e-05 9.99979785e-01 -2.52358125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.71, Y:-23.37, Z:-2.52 [[ 9.83779837e-01 1.79300205e-01 5.35431245e-03 1.77713039e+02] [-1.79297566e-01 9.83794408e-01 -9.72758540e-04 -2.33729597e+01] [-5.44195845e-03 -3.03495514e-06 9.99985192e-01 -2.52429378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.74, Y:-23.38, Z:-2.52 [[ 9.82838935e-01 1.84381672e-01 5.57023047e-03 1.77744818e+02] [-1.84378891e-01 9.82854719e-01 -1.01316693e-03 -2.33783670e+01] [-5.66153671e-03 -3.12530061e-05 9.99983973e-01 -2.52486402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.78, Y:-23.38, Z:-2.52 [[ 9.82419899e-01 1.86557016e-01 6.90087059e-03 1.77777256e+02] [-1.86552790e-01 9.82444134e-01 -1.25683970e-03 -2.33836506e+01] [-7.01419209e-03 -5.26323287e-05 9.99975399e-01 -2.52475388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.81, Y:-23.39, Z:-2.52 [[ 9.81486578e-01 1.91310464e-01 9.18714728e-03 1.77809930e+02] [-1.91303160e-01 9.81529568e-01 -1.67549386e-03 -2.33864999e+01] [-9.33799622e-03 -1.13055571e-04 9.99956394e-01 -2.52436005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.84, Y:-23.39, Z:-2.53 [[ 9.80879646e-01 1.94398716e-01 9.17928875e-03 1.77843371e+02] [-1.94391545e-01 9.80922586e-01 -1.67573469e-03 -2.33895159e+01] [-9.32993233e-03 -1.40682073e-04 9.99956465e-01 -2.52534808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.88, Y:-23.39, Z:-2.53 [[ 9.79417721e-01 2.01674749e-01 8.25975383e-03 1.77876942e+02] [-2.01669190e-01 9.79452531e-01 -1.50914075e-03 -2.33880919e+01] [-8.39439237e-03 -1.87658666e-04 9.99964749e-01 -2.52787554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.91, Y:-23.39, Z:-2.53 [[ 9.78782878e-01 2.04743679e-01 8.00644195e-03 1.77908768e+02] [-2.04738544e-01 9.78815602e-01 -1.46455450e-03 -2.33904776e+01] [-8.13668858e-03 -2.05746396e-04 9.99966875e-01 -2.52901397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.94, Y:-23.39, Z:-2.53 [[ 9.78338520e-01 2.06856440e-01 8.00953433e-03 1.77941446e+02] [-2.06851367e-01 9.78371281e-01 -1.46572017e-03 -2.33931591e+01] [-8.13949202e-03 -2.22812627e-04 9.99966849e-01 -2.52953483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.98, Y:-23.39, Z:-2.53 [[ 9.78164535e-01 2.07681142e-01 7.91737797e-03 1.77975381e+02] [-2.07676201e-01 9.78196551e-01 -1.45020505e-03 -2.33917664e+01] [-8.04593206e-03 -2.25711834e-04 9.99967605e-01 -2.53166188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.01, Y:-23.39, Z:-2.53 [[ 9.78291662e-01 2.07101116e-01 7.38587707e-03 1.78007964e+02] [-2.07096791e-01 9.78319521e-01 -1.35414842e-03 -2.33939388e+01] [-7.50619337e-03 -2.04839323e-04 9.99971807e-01 -2.53239544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.04, Y:-23.39, Z:-2.53 [[ 9.78702426e-01 2.05191277e-01 6.17267406e-03 1.78038748e+02] [-2.05188207e-01 9.78721878e-01 -1.13349109e-03 -2.33918209e+01] [-6.27391363e-03 -1.57209443e-04 9.99980306e-01 -2.53395742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.07, Y:-23.39, Z:-2.53 [[ 9.78871613e-01 2.04385054e-01 6.09225030e-03 1.78068837e+02] [-2.04382046e-01 9.78890559e-01 -1.11893188e-03 -2.33926836e+01] [-6.19233926e-03 -1.49855928e-04 9.99980816e-01 -2.53396502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.10, Y:-23.39, Z:-2.53 [[ 9.78941442e-01 2.04023540e-01 6.93164799e-03 1.78100587e+02] [-2.04019639e-01 9.78965968e-01 -1.27281020e-03 -2.33934136e+01] [-7.04553073e-03 -1.68185663e-04 9.99975166e-01 -2.53403549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.13, Y:-23.39, Z:-2.53 [[ 9.79237862e-01 2.02499015e-01 9.34655753e-03 1.78132239e+02] [-2.02491851e-01 9.79282444e-01 -1.71646338e-03 -2.33894835e+01] [-9.50050184e-03 -2.11775796e-04 9.99954847e-01 -2.53488597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.16, Y:-23.39, Z:-2.54 [[ 9.79822570e-01 1.99727265e-01 7.53338849e-03 1.78162881e+02] [-1.99722526e-01 9.79851518e-01 -1.38375662e-03 -2.33889799e+01] [-7.65797607e-03 -1.48751419e-04 9.99970666e-01 -2.53634483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.19, Y:-23.39, Z:-2.54 [[ 9.80332776e-01 1.97242463e-01 6.56200338e-03 1.78192714e+02] [-1.97238807e-01 9.80354731e-01 -1.20604947e-03 -2.33927497e+01] [-6.67097522e-03 -1.11951895e-04 9.99977743e-01 -2.53679898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.22, Y:-23.40, Z:-2.54 [[ 9.80888238e-01 1.94464571e-01 6.46490869e-03 1.78222940e+02] [-1.94460964e-01 9.80909538e-01 -1.18786558e-03 -2.33966348e+01] [-6.57248837e-03 -9.20090009e-05 9.99978397e-01 -2.53709346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.25, Y:-23.40, Z:-2.54 [[ 9.81899270e-01 1.89255799e-01 7.48776272e-03 1.78252630e+02] [-1.89250808e-01 9.81927817e-01 -1.37602988e-03 -2.33967187e+01] [-7.61286414e-03 -6.59424101e-05 9.99971020e-01 -2.53577801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.28, Y:-23.40, Z:-2.54 [[ 9.82227380e-01 1.87514744e-01 8.22156713e-03 1.78281833e+02] [-1.87508667e-01 9.82261787e-01 -1.51082297e-03 -2.33994597e+01] [-8.35903280e-03 -5.76434058e-05 9.99965061e-01 -2.53602639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.31, Y:-23.40, Z:-2.53 [[ 9.82804370e-01 1.84403693e-01 9.53147947e-03 1.78311465e+02] [-1.84395381e-01 9.82850587e-01 -1.75123985e-03 -2.34022357e+01] [-9.69095529e-03 -3.64346090e-05 9.99953041e-01 -2.53491393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.34, Y:-23.41, Z:-2.53 [[ 9.83056148e-01 1.83032775e-01 9.98062662e-03 1.78342080e+02] [-1.83023592e-01 9.83106811e-01 -1.83361369e-03 -2.34065395e+01] [-1.01476334e-02 -2.41449182e-05 9.99948511e-01 -2.53459241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.37, Y:-23.41, Z:-2.53 [[ 9.83311670e-01 1.81691627e-01 9.29045953e-03 1.78372129e+02] [-1.81683610e-01 9.83355558e-01 -1.70685497e-03 -2.34079208e+01] [-9.44594627e-03 -9.55381760e-06 9.99955386e-01 -2.53457370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.40, Y:-23.41, Z:-2.53 [[ 9.83357459e-01 1.81476333e-01 8.62831912e-03 1.78401657e+02] [-1.81469410e-01 9.83395313e-01 -1.58516335e-03 -2.34114652e+01] [-8.77271820e-03 -6.99377143e-06 9.99961519e-01 -2.53475593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.43, Y:-23.42, Z:-2.53 [[ 9.83312947e-01 1.81721855e-01 8.53320230e-03 1.78431080e+02] [-1.81715094e-01 9.83349972e-01 -1.56750135e-03 -2.34152324e+01] [-8.67597350e-03 -9.26729078e-06 9.99962363e-01 -2.53486608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.46, Y:-23.42, Z:-2.53 [[ 9.83076600e-01 1.82975073e-01 8.97330959e-03 1.78460213e+02] [-1.82967651e-01 9.83117553e-01 -1.64817202e-03 -2.34180440e+01] [-9.12339256e-03 -2.15460276e-05 9.99958381e-01 -2.53327301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.49, Y:-23.42, Z:-2.53 [[ 9.82858545e-01 1.84128461e-01 9.26229669e-03 1.78487857e+02] [-1.84120606e-01 9.82902187e-01 -1.70100383e-03 -2.34215264e+01] [-9.41713489e-03 -3.35335353e-05 9.99955657e-01 -2.53279924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.52, Y:-23.43, Z:-2.53 [[ 9.82864389e-01 1.84097257e-01 9.26239999e-03 1.78516722e+02] [-1.84089407e-01 9.82908032e-01 -1.70044115e-03 -2.34267343e+01] [-9.41713389e-03 -3.38066723e-05 9.99955657e-01 -2.53317472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.55, Y:-23.43, Z:-2.53 [[ 9.82341877e-01 1.86850495e-01 9.55658103e-03 1.78546648e+02] [-1.86842272e-01 9.82388359e-01 -1.75409461e-03 -2.34274088e+01] [-9.71602740e-03 -6.24527231e-05 9.99952796e-01 -2.53293639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.58, Y:-23.43, Z:-2.53 [[ 9.82079861e-01 1.88216574e-01 9.67821169e-03 1.78575350e+02] [-1.88208208e-01 9.82127545e-01 -1.77621955e-03 -2.34303919e+01] [-9.83955225e-03 -7.71294314e-05 9.99951587e-01 -2.53400168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.60, Y:-23.43, Z:-2.53 [[ 9.81587537e-01 1.90829252e-01 8.37283253e-03 1.78604198e+02] [-1.90823088e-01 9.81623242e-01 -1.53645711e-03 -2.34335245e+01] [-8.51216797e-03 -8.95626054e-05 9.99963767e-01 -2.53419674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.63, Y:-23.44, Z:-2.53 [[ 9.81318632e-01 1.92245115e-01 7.45376034e-03 1.78632183e+02] [-1.92240272e-01 9.81346935e-01 -1.36757531e-03 -2.34375121e+01] [-7.57763454e-03 -9.08857851e-05 9.99971285e-01 -2.53333479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.66, Y:-23.44, Z:-2.53 [[ 9.80931606e-01 1.94231072e-01 6.89025274e-03 1.78661586e+02] [-1.94226986e-01 9.80955800e-01 -1.26376434e-03 -2.34397153e+01] [-7.00449569e-03 -9.86066373e-05 9.99975463e-01 -2.53281880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.69, Y:-23.44, Z:-2.53 [[ 9.80751249e-01 1.95104293e-01 7.82962060e-03 1.78690141e+02] [-1.95099048e-01 9.80782494e-01 -1.43562076e-03 -2.34429582e+01] [-7.95925059e-03 -1.19564672e-04 9.99968318e-01 -2.53349447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.72, Y:-23.45, Z:-2.53 [[ 9.80559713e-01 1.95978328e-01 9.75416087e-03 1.78718134e+02] [-1.95970236e-01 9.80608214e-01 -1.78791255e-03 -2.34462608e+01] [-9.91540238e-03 -1.58370188e-04 9.99950829e-01 -2.53429898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.75, Y:-23.45, Z:-2.53 [[ 9.80177414e-01 1.97691153e-01 1.30554655e-02 1.78746914e+02] [-1.97676823e-01 9.80264328e-01 -2.39200026e-03 -2.34472108e+01] [-1.32706844e-02 -2.36178318e-04 9.99911913e-01 -2.53390077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.78, Y:-23.45, Z:-2.53 [[ 9.79979558e-01 1.98639846e-01 1.35010274e-02 1.78775500e+02] [-1.98624619e-01 9.80072520e-01 -2.47299646e-03 -2.34493391e+01] [-1.37232216e-02 -2.58150457e-04 9.99905799e-01 -2.53411386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.80, Y:-23.45, Z:-2.54 [[ 9.79595218e-01 2.00627371e-01 1.19107561e-02 1.78804058e+02] [-2.00615672e-01 9.79667594e-01 -2.18123799e-03 -2.34468573e+01] [-1.21061978e-02 -2.52754032e-04 9.99926685e-01 -2.53601712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.83, Y:-23.45, Z:-2.54 [[ 9.79679829e-01 2.00245460e-01 1.13661131e-02 1.78831958e+02] [-2.00234788e-01 9.79745732e-01 -2.08089720e-03 -2.34482549e+01] [-1.15525910e-02 -2.37278240e-04 9.99933238e-01 -2.53718049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.86, Y:-23.45, Z:-2.54 [[ 9.80349957e-01 1.96933139e-01 1.14586364e-02 1.78860529e+02] [-1.96922075e-01 9.80416900e-01 -2.09704344e-03 -2.34472825e+01] [-1.16472182e-02 -2.00622016e-04 9.99932149e-01 -2.53802108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:-23.45, Z:-2.54 [[ 9.80765638e-01 1.94851233e-01 1.14786441e-02 1.78888186e+02] [-1.94839996e-01 9.80832792e-01 -2.10005882e-03 -2.34491845e+01] [-1.16678296e-02 -1.76833453e-04 9.99931913e-01 -2.53884514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:-23.45, Z:-2.54 [[ 9.81122202e-01 1.93047893e-01 1.14776426e-02 1.78916314e+02] [-1.93036542e-01 9.81189323e-01 -2.09924649e-03 -2.34512815e+01] [-1.16669954e-02 -1.55987085e-04 9.99931926e-01 -2.53934094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.95, Y:-23.45, Z:-2.54 [[ 9.81526997e-01 1.91018007e-01 1.08108955e-02 1.78945104e+02] [-1.91007821e-01 9.81586525e-01 -1.97662677e-03 -2.34507862e+01] [-1.09894006e-02 -1.24853056e-04 9.99939607e-01 -2.54089758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.97, Y:-23.45, Z:-2.54 [[ 9.82114557e-01 1.88006120e-01 1.02320770e-02 1.78973827e+02] [-1.87996839e-01 9.82167853e-01 -1.87011993e-03 -2.34515409e+01] [-1.04012111e-02 -8.69261157e-05 9.99945902e-01 -2.54306418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.00, Y:-23.45, Z:-2.54 [[ 9.82489709e-01 1.86003837e-01 1.07955539e-02 1.79003008e+02] [-1.85993390e-01 9.82549016e-01 -1.97254213e-03 -2.34542711e+01] [-1.09740613e-02 -6.98993339e-05 9.99939781e-01 -2.54293694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.03, Y:-23.46, Z:-2.54 [[ 9.82791745e-01 1.84359254e-01 1.14913391e-02 1.79031161e+02] [-1.84347312e-01 9.82858923e-01 -2.09906497e-03 -2.34572966e+01] [-1.16813472e-02 -5.54537379e-05 9.99931769e-01 -2.54354501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.06, Y:-23.46, Z:-2.54 [[ 9.83016504e-01 1.83130530e-01 1.19063528e-02 1.79058730e+02] [-1.83117630e-01 9.83088606e-01 -2.17410114e-03 -2.34604586e+01] [-1.21031440e-02 -4.30857923e-05 9.99926753e-01 -2.54336079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.09, Y:-23.46, Z:-2.54 [[ 9.83248937e-01 1.81915964e-01 1.13185396e-02 1.79086699e+02] [-1.81904234e-01 9.83314081e-01 -2.06595527e-03 -2.34649608e+01] [-1.15055096e-02 -2.75419648e-05 9.99933809e-01 -2.54427527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.11, Y:-23.47, Z:-2.55 [[ 9.83619898e-01 1.79869572e-01 1.17827871e-02 1.79114049e+02] [-1.79856720e-01 9.83690468e-01 -2.15011754e-03 -2.34685111e+01] [-1.19773561e-02 -4.31505056e-06 9.99928269e-01 -2.54518011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.14, Y:-23.47, Z:-2.55 [[ 9.83725697e-01 1.79287494e-01 1.18214524e-02 1.79142702e+02] [-1.79274527e-01 9.83796724e-01 -2.15629473e-03 -2.34730807e+01] [-1.20165028e-02 1.91726238e-06 9.99927799e-01 -2.54621832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.17, Y:-23.48, Z:-2.55 [[ 9.83804142e-01 1.78891296e-01 1.12833833e-02 1.79170524e+02] [-1.78879462e-01 9.83868845e-01 -2.05763033e-03 -2.34775073e+01] [-1.14694614e-02 5.93969898e-06 9.99934224e-01 -2.54683464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.20, Y:-23.48, Z:-2.55 [[ 9.83755674e-01 1.79182420e-01 1.08827545e-02 1.79199135e+02] [-1.79171438e-01 9.83815867e-01 -1.98383276e-03 -2.34830617e+01] [-1.10620945e-02 1.72795822e-06 9.99938813e-01 -2.54694283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.23, Y:-23.49, Z:-2.55 [[ 9.83643960e-01 1.79773843e-01 1.12216161e-02 1.79227165e+02] [-1.79762211e-01 9.83707968e-01 -2.04503960e-03 -2.34869731e+01] [-1.14064378e-02 -5.63166112e-06 9.99934944e-01 -2.54639877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.25, Y:-23.49, Z:-2.54 [[ 9.83139455e-01 1.82437299e-01 1.23872702e-02 1.79254778e+02] [-1.82423346e-01 9.83217489e-01 -2.25662087e-03 -2.34876629e+01] [-1.25910725e-02 -4.11542679e-05 9.99920728e-01 -2.54467144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.28, Y:-23.49, Z:-2.54 [[ 9.82845481e-01 1.84029691e-01 1.21586919e-02 1.79282804e+02] [-1.84016383e-01 9.82920683e-01 -2.21394363e-03 -2.34909726e+01] [-1.23584611e-02 -6.14340190e-05 9.99923629e-01 -2.54466191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.31, Y:-23.49, Z:-2.55 [[ 9.82669722e-01 1.85012504e-01 1.14276257e-02 1.79310122e+02] [-1.85000824e-01 9.82736164e-01 -2.08003059e-03 -2.34947409e+01] [-1.16151727e-02 -7.01370776e-05 9.99932539e-01 -2.54534465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.34, Y:-23.50, Z:-2.55 [[ 9.82730972e-01 1.84696883e-01 1.12649237e-02 1.79338429e+02] [-1.84685520e-01 9.82795532e-01 -2.04975864e-03 -2.34955466e+01] [-1.14497007e-02 -6.61069896e-05 9.99934448e-01 -2.54501114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.37, Y:-23.50, Z:-2.54 [[ 9.82840191e-01 1.84021181e-01 1.27029396e-02 1.79365925e+02] [-1.84006689e-01 9.82922276e-01 -2.31036805e-03 -2.34957510e+01] [-1.29111589e-02 -6.67032721e-05 9.99916645e-01 -2.54326262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:-23.50, Z:-2.54 [[ 9.82893857e-01 1.83699225e-01 1.32007552e-02 1.79392366e+02] [-1.83683561e-01 9.82982498e-01 -2.39974799e-03 -2.34986952e+01] [-1.34169432e-02 -6.60641676e-05 9.99909987e-01 -2.54320750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.42, Y:-23.50, Z:-2.54 [[ 9.82977356e-01 1.83289332e-01 1.26703369e-02 1.79419867e+02] [-1.83274881e-01 9.83059010e-01 -2.30230143e-03 -2.35014954e+01] [-1.28776762e-02 -5.90443207e-05 9.99917078e-01 -2.54331961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.45, Y:-23.50, Z:-2.54 [[ 9.82957162e-01 1.83517742e-01 1.07914786e-02 1.79447934e+02] [-1.83507280e-01 9.83016396e-01 -1.96027951e-03 -2.35000076e+01] [-1.09679465e-02 -5.34441021e-05 9.99939849e-01 -2.54423280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.48, Y:-23.50, Z:-2.54 [[ 9.82852314e-01 1.84122042e-01 1.00200960e-02 1.79475595e+02] [-1.84113062e-01 9.82903388e-01 -1.81936507e-03 -2.35020127e+01] [-1.01837715e-02 -5.66633828e-05 9.99948142e-01 -2.54446631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.50, Y:-23.50, Z:-2.54 [[ 9.82843148e-01 1.84173269e-01 9.97760055e-03 1.79503189e+02] [-1.84164374e-01 9.82893791e-01 -1.81094892e-03 -2.35048391e+01] [-1.01404500e-02 -5.76398238e-05 9.99948583e-01 -2.54412826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.53, Y:-23.51, Z:-2.54 [[ 9.83054270e-01 1.83062053e-01 9.62219199e-03 1.79530162e+02] [-1.83053734e-01 9.83101359e-01 -1.74582599e-03 -2.35080166e+01] [-9.77918452e-03 -4.51364767e-05 9.99952182e-01 -2.54487628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.56, Y:-23.51, Z:-2.55 [[ 9.83651029e-01 1.79863316e-01 8.93531275e-03 1.79556691e+02] [-1.79856016e-01 9.83691612e-01 -1.62053473e-03 -2.35108647e+01] [-9.08106696e-03 -1.30291001e-05 9.99958766e-01 -2.54521569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.58, Y:-23.51, Z:-2.55 [[ 9.83874244e-01 1.78629748e-01 9.10412204e-03 1.79583269e+02] [-1.78622123e-01 9.83916365e-01 -1.65038233e-03 -2.35149673e+01] [-9.25250204e-03 -2.42894292e-06 9.99957195e-01 -2.54578213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.61, Y:-23.52, Z:-2.55 [[ 9.83940798e-01 1.78233303e-01 9.66416299e-03 1.79610761e+02] [-1.78224701e-01 9.83988257e-01 -1.75103781e-03 -2.35201712e+01] [-9.82151615e-03 5.24982642e-07 9.99951768e-01 -2.54588760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.64, Y:-23.52, Z:-2.55 [[ 9.83786467e-01 1.79048931e-01 1.02794618e-02 1.79638195e+02] [-1.79039252e-01 9.83840170e-01 -1.86172506e-03 -2.35244693e+01] [-1.04466874e-02 -8.88724145e-06 9.99945432e-01 -2.54625231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.67, Y:-23.53, Z:-2.55 [[ 9.83525502e-01 1.80485106e-01 1.01347370e-02 1.79665306e+02] [-1.80475780e-01 9.83577717e-01 -1.83490621e-03 -2.35274946e+01] [-1.02994748e-02 -2.43975128e-05 9.99946959e-01 -2.54672786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.69, Y:-23.53, Z:-2.55 [[ 9.82801030e-01 1.84430745e-01 9.35065879e-03 1.79693560e+02] [-1.84422996e-01 9.82845510e-01 -1.69176854e-03 -2.35288711e+01] [-9.50226714e-03 -6.18046489e-05 9.99954851e-01 -2.54841866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.72, Y:-23.53, Z:-2.55 [[ 9.82537724e-01 1.85854183e-01 8.82288196e-03 1.79720614e+02] [-1.85847346e-01 9.82577334e-01 -1.59572365e-03 -2.35332039e+01] [-8.96573576e-03 -7.18505116e-05 9.99959804e-01 -2.54928364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.75, Y:-23.54, Z:-2.55 [[ 9.82418681e-01 1.86533547e-01 7.66618080e-03 1.79748504e+02] [-1.86528411e-01 9.82448590e-01 -1.38592981e-03 -2.35365575e+01] [-7.79015092e-03 -6.83971819e-05 9.99969654e-01 -2.55123287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.78, Y:-23.54, Z:-2.55 [[ 9.82550408e-01 1.85859629e-01 7.13398017e-03 1.79776660e+02] [-1.85855167e-01 9.82576305e-01 -1.28926315e-03 -2.35394573e+01] [-7.24930184e-03 -5.91210355e-05 9.99973722e-01 -2.55193977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.80, Y:-23.54, Z:-2.55 [[ 9.82725100e-01 1.84958431e-01 6.46197319e-03 1.79803631e+02] [-1.84954753e-01 9.82746344e-01 -1.16750183e-03 -2.35402719e+01] [-6.56641983e-03 -4.78392987e-05 9.99978440e-01 -2.55349364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:-23.54, Z:-2.55 [[ 9.82675107e-01 1.85219885e-01 6.57477411e-03 1.79831171e+02] [-1.85216087e-01 9.82697101e-01 -1.18722646e-03 -2.35431043e+01] [-6.68090940e-03 -5.10960444e-05 9.99977681e-01 -2.55392076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.86, Y:-23.55, Z:-2.55 [[ 9.82584592e-01 1.85666328e-01 7.45214608e-03 1.79859014e+02] [-1.85661467e-01 9.82612849e-01 -1.34501344e-03 -2.35451844e+01] [-7.57229819e-03 -6.19868878e-05 9.99971328e-01 -2.55393122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.89, Y:-23.54, Z:-2.55 [[ 9.82379115e-01 1.86605593e-01 1.04703248e-02 1.79887081e+02] [-1.86596061e-01 9.82434905e-01 -1.88858949e-03 -2.35441144e+01] [-1.06388339e-02 -9.84104989e-05 9.99943401e-01 -2.55374602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.92, Y:-23.55, Z:-2.55 [[ 9.82450312e-01 1.86187347e-01 1.12096376e-02 1.79915218e+02] [-1.86176408e-01 9.82514255e-01 -2.02084778e-03 -2.35464473e+01] [-1.13898851e-02 -1.01587535e-04 9.99935128e-01 -2.55450307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.94, Y:-23.55, Z:-2.56 [[ 9.83064433e-01 1.83047554e-01 8.82686659e-03 1.79941793e+02] [-1.83040648e-01 9.83104059e-01 -1.59088119e-03 -2.35485150e+01] [-8.96893528e-03 -5.17366706e-05 9.99959777e-01 -2.55692428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.97, Y:-23.55, Z:-2.56 [[ 9.83574872e-01 1.80354632e-01 7.25800623e-03 1.79969736e+02] [-1.80349893e-01 9.83601650e-01 -1.30762941e-03 -2.35524379e+01] [-7.37482393e-03 -2.28292158e-05 9.99972805e-01 -2.55796107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.00, Y:-23.56, Z:-2.56 [[ 9.84600103e-01 1.74694665e-01 6.66419111e-03 1.79996585e+02] [-1.74690542e-01 9.84622656e-01 -1.20030147e-03 -2.35552420e+01] [-6.77139981e-03 1.76457932e-05 9.99977074e-01 -2.55880108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.02, Y:-23.56, Z:-2.56 [[ 9.85125303e-01 1.71669028e-01 7.60802981e-03 1.80022893e+02] [-1.71663571e-01 9.85154680e-01 -1.36950357e-03 -2.35599156e+01] [-7.73018751e-03 4.31110495e-05 9.99970121e-01 -2.55874766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.05, Y:-23.56, Z:-2.56 [[ 9.85837055e-01 1.67527520e-01 7.73510461e-03 1.80051029e+02] [-1.67521757e-01 9.85867397e-01 -1.39165128e-03 -2.35641498e+01] [-7.85892733e-03 7.61430777e-05 9.99969115e-01 -2.55677437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.08, Y:-23.57, Z:-2.56 [[ 9.85921919e-01 1.67067509e-01 6.81298291e-03 1.80079097e+02] [-1.67063029e-01 9.85945456e-01 -1.22537460e-03 -2.35678639e+01] [-6.92194982e-03 6.99261099e-05 9.99976041e-01 -2.55643417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.11, Y:-23.57, Z:-2.56 [[ 9.85638724e-01 1.68784643e-01 5.29620811e-03 1.80105519e+02] [-1.68781962e-01 9.85652952e-01 -9.52474754e-04 -2.35713720e+01] [-5.38098627e-03 4.48916045e-05 9.99985521e-01 -2.55678267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.13, Y:-23.58, Z:-2.56 [[ 9.85421715e-01 1.70018061e-01 6.15647034e-03 1.80132172e+02] [-1.70014466e-01 9.85440945e-01 -1.10648600e-03 -2.35766744e+01] [-6.25496056e-03 4.36663179e-05 9.99980437e-01 -2.55689912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.16, Y:-23.58, Z:-2.56 [[ 9.85333663e-01 1.70458570e-01 7.83890448e-03 1.80159740e+02] [-1.70452763e-01 9.85364843e-01 -1.40786150e-03 -2.35820749e+01] [-7.96416294e-03 5.10503983e-05 9.99968284e-01 -2.55599564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.19, Y:-23.59, Z:-2.55 [[ 9.85239690e-01 1.70929997e-01 9.25682794e-03 1.80185642e+02] [-1.70921929e-01 9.85283174e-01 -1.66172315e-03 -2.35878391e+01] [-9.40463515e-03 5.50007124e-05 9.99955774e-01 -2.55449037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.21, Y:-23.59, Z:-2.56 [[ 9.85281103e-01 1.70750944e-01 8.07852031e-03 1.80212496e+02] [-1.70744797e-01 9.85314220e-01 -1.44965630e-03 -2.35929742e+01] [-8.20741113e-03 4.89536447e-05 9.99966317e-01 -2.55504945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:-23.60, Z:-2.56 [[ 9.85403927e-01 1.70115968e-01 6.29749699e-03 1.80239417e+02] [-1.70112222e-01 9.85424049e-01 -1.12969738e-03 -2.35990304e+01] [-6.39788454e-03 4.19270255e-05 9.99979532e-01 -2.55530762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.27, Y:-23.60, Z:-2.56 [[ 9.85505180e-01 1.69505227e-01 6.89340617e-03 1.80265770e+02] [-1.69500728e-01 9.85529287e-01 -1.23607453e-03 -2.36044047e+01] [-7.00317476e-03 4.97204852e-05 9.99975476e-01 -2.55529349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.29, Y:-23.61, Z:-2.56 [[ 9.85514898e-01 1.69448711e-01 6.89353088e-03 1.80293837e+02] [-1.69444215e-01 9.85539006e-01 -1.23537849e-03 -2.36093005e+01] [-7.00317686e-03 4.94149795e-05 9.99975476e-01 -2.55565831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.32, Y:-23.61, Z:-2.56 [[ 9.85595689e-01 1.68957430e-01 7.38404014e-03 1.80320146e+02] [-1.68952260e-01 9.85623348e-01 -1.32291321e-03 -2.36148461e+01] [-7.50139838e-03 5.63072909e-05 9.99971863e-01 -2.55509158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.35, Y:-23.62, Z:-2.55 [[ 9.85340543e-01 1.70452421e-01 7.07015015e-03 1.80347419e+02] [-1.70447724e-01 9.85365907e-01 -1.26608578e-03 -2.36222204e+01] [-7.18249230e-03 4.24346494e-05 9.99974205e-01 -2.55484403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.37, Y:-23.63, Z:-2.56 [[ 9.85122653e-01 1.71714192e-01 6.89888532e-03 1.80373538e+02] [-1.71709752e-01 9.85146809e-01 -1.23527132e-03 -2.36276868e+01] [-7.00852848e-03 3.22878749e-05 9.99975439e-01 -2.55510798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.40, Y:-23.63, Z:-2.55 [[ 9.84608358e-01 1.74637588e-01 6.93503926e-03 1.80399877e+02] [-1.74633182e-01 9.84632781e-01 -1.24053858e-03 -2.36329276e+01] [-7.04511165e-03 1.03566765e-05 9.99975183e-01 -2.55477933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.43, Y:-23.64, Z:-2.55 [[ 9.84449397e-01 1.75496949e-01 7.75919990e-03 1.80427258e+02] [-1.75491467e-01 9.84479975e-01 -1.38714949e-03 -2.36373686e+01] [-7.88221743e-03 3.90510455e-06 9.99968935e-01 -2.55418354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.45, Y:-23.64, Z:-2.55 [[ 9.84459146e-01 1.75389447e-01 8.87310058e-03 1.80454764e+02] [-1.75382280e-01 9.84499132e-01 -1.58555611e-03 -2.36406502e+01] [-9.01364964e-03 4.73060497e-06 9.99959376e-01 -2.55458480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.48, Y:-23.65, Z:-2.56 [[ 9.84556032e-01 1.74867828e-01 8.40613267e-03 1.80481677e+02] [-1.74861381e-01 9.84591917e-01 -1.50159048e-03 -2.36454989e+01] [-8.53919014e-03 8.49199747e-06 9.99963540e-01 -2.55574528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.51, Y:-23.65, Z:-2.56 [[ 9.84736431e-01 1.73879223e-01 7.75741070e-03 1.80508264e+02] [-1.73873705e-01 9.84766985e-01 -1.38535411e-03 -2.36502083e+01] [-7.88012625e-03 1.53989227e-05 9.99968951e-01 -2.55699054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.54, Y:-23.65, Z:-2.56 [[ 9.84986565e-01 1.72450459e-01 7.89346743e-03 1.80536217e+02] [-1.72444710e-01 9.85018192e-01 -1.40831101e-03 -2.36534977e+01] [-8.01807290e-03 2.59807177e-05 9.99967854e-01 -2.55736447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.56, Y:-23.66, Z:-2.56 [[ 9.84984496e-01 1.72422698e-01 8.71532411e-03 1.80564686e+02] [-1.72415695e-01 9.85023052e-01 -1.55421526e-03 -2.36560800e+01] [-8.85277714e-03 2.82192686e-05 9.99960813e-01 -2.55684817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.59, Y:-23.66, Z:-2.56 [[ 9.84749837e-01 1.73649430e-01 1.06599054e-02 1.80592581e+02] [-1.73639036e-01 9.84807532e-01 -1.90002497e-03 -2.36563202e+01] [-1.08278934e-02 2.00735667e-05 9.99941376e-01 -2.55609728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.62, Y:-23.66, Z:-2.56 [[ 9.84660438e-01 1.74121454e-01 1.12045157e-02 1.80619967e+02] [-1.74110011e-01 9.84724184e-01 -1.99623690e-03 -2.36598396e+01] [-1.13809452e-02 1.47971521e-05 9.99935235e-01 -2.55733399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.65, Y:-23.66, Z:-2.56 [[ 9.84789290e-01 1.73426686e-01 1.06413417e-02 1.80647418e+02] [-1.73416330e-01 9.84846782e-01 -1.89527744e-03 -2.36618195e+01] [-1.08087828e-02 2.10665037e-05 9.99941583e-01 -2.55990059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.68, Y:-23.66, Z:-2.56 [[ 9.84972041e-01 1.72406560e-01 1.02983391e-02 1.80675566e+02] [-1.72396821e-01 9.85025876e-01 -1.83273434e-03 -2.36644861e+01] [-1.04601060e-02 2.97911517e-05 9.99945291e-01 -2.56117100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.70, Y:-23.67, Z:-2.56 [[ 9.85267154e-01 1.70737761e-01 9.86162599e-03 1.80703778e+02] [-1.70728754e-01 9.85316505e-01 -1.75434243e-03 -2.36673492e+01] [-1.00163554e-02 4.48328593e-05 9.99949834e-01 -2.56208628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.73, Y:-23.67, Z:-2.56 [[ 9.85938771e-01 1.66834415e-01 9.54032324e-03 1.80731588e+02] [-1.66825809e-01 9.85984924e-01 -1.69652666e-03 -2.36704127e+01] [-9.68965392e-03 8.10992657e-05 9.99953051e-01 -2.56225076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.76, Y:-23.67, Z:-2.56 [[ 9.86256136e-01 1.64956707e-01 9.38713470e-03 1.80758616e+02] [-1.64948296e-01 9.86300804e-01 -1.66865918e-03 -2.36743139e+01] [-9.53379502e-03 9.73334835e-05 9.99954548e-01 -2.56285410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.79, Y:-23.68, Z:-2.56 [[ 9.86933244e-01 1.60803236e-01 1.02514046e-02 1.80785763e+02] [-1.60792991e-01 9.86986473e-01 -1.82133553e-03 -2.36770765e+01] [-1.04108743e-02 1.49182592e-04 9.99945794e-01 -2.56320853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.81, Y:-23.68, Z:-2.56 [[ 9.87259192e-01 1.58743573e-01 1.09437121e-02 1.80812246e+02] [-1.58731781e-01 9.87319829e-01 -1.94335162e-03 -2.36812060e+01] [-1.11134386e-02 1.81476829e-04 9.99938227e-01 -2.56368509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.84, Y:-23.69, Z:-2.56 [[ 9.87528406e-01 1.57022257e-01 1.14742122e-02 1.80838431e+02] [-1.57009190e-01 9.87595042e-01 -2.03656021e-03 -2.36860783e+01] [-1.16516604e-02 2.09604292e-04 9.99932095e-01 -2.56323325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.87, Y:-23.69, Z:-2.56 [[ 9.88089517e-01 1.53456527e-01 1.14105259e-02 1.80865523e+02] [-1.53443377e-01 9.88155368e-01 -2.02431285e-03 -2.36918927e+01] [-1.15860164e-02 2.49332687e-04 9.99932849e-01 -2.56341015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.89, Y:-23.70, Z:-2.56 [[ 9.88360492e-01 1.51785036e-01 1.02391955e-02 1.80892945e+02] [-1.51774364e-01 9.88413499e-01 -1.81588108e-03 -2.36965036e+01] [-1.03961827e-02 2.40697724e-04 9.99945929e-01 -2.56376603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.92, Y:-23.70, Z:-2.56 [[ 9.88710301e-01 1.49544662e-01 9.39865619e-03 1.80919571e+02] [-1.49535573e-01 9.88754942e-01 -1.66638595e-03 -2.37005483e+01] [-9.54216688e-03 2.42139518e-04 9.99954443e-01 -2.56415729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.95, Y:-23.71, Z:-2.56 [[ 9.88836393e-01 1.48730957e-01 9.03823057e-03 1.80947359e+02] [-1.48722529e-01 9.88877669e-01 -1.60129890e-03 -2.37058822e+01] [-9.17586710e-03 2.39234119e-04 9.99957872e-01 -2.56413511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.97, Y:-23.71, Z:-2.56 [[ 9.88926102e-01 1.48141322e-01 8.90580829e-03 1.80974603e+02] [-1.48133121e-01 9.88966173e-01 -1.57723612e-03 -2.37113781e+01] [-9.04119698e-03 2.40524794e-04 9.99959099e-01 -2.56442028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.00, Y:-23.71, Z:-2.56 [[ 9.88984580e-01 1.47751257e-01 8.89194844e-03 1.81001166e+02] [-1.47743071e-01 9.89024523e-01 -1.57421425e-03 -2.37146066e+01] [-9.02694719e-03 2.43149848e-04 9.99959227e-01 -2.56284872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.03, Y:-23.72, Z:-2.56 [[ 9.88895280e-01 1.48358770e-01 8.70631824e-03 1.81028718e+02] [-1.48350951e-01 9.88933578e-01 -1.54064945e-03 -2.37182578e+01] [-8.83853930e-03 2.31950381e-04 9.99960912e-01 -2.56207750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.06, Y:-23.72, Z:-2.56 [[ 9.88619066e-01 1.50163191e-01 9.13012611e-03 1.81055058e+02] [-1.50154676e-01 9.88661198e-01 -1.61498227e-03 -2.37228161e+01] [-9.26911231e-03 2.25671132e-04 9.99957015e-01 -2.56115068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.08, Y:-23.73, Z:-2.56 [[ 9.88465724e-01 1.51139541e-01 9.61003137e-03 1.81082340e+02] [-1.51130162e-01 9.88512412e-01 -1.69897913e-03 -2.37277123e+01] [-9.75641821e-03 2.27017043e-04 9.99952379e-01 -2.56065885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.11, Y:-23.73, Z:-2.56 [[ 9.88304053e-01 1.52165688e-01 1.00350325e-02 1.81109236e+02] [-1.52155522e-01 9.88354973e-01 -1.77336988e-03 -2.37324227e+01] [-1.01880203e-02 2.25743031e-04 9.99948075e-01 -2.56140853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.14, Y:-23.74, Z:-2.56 [[ 9.87985868e-01 1.54303939e-01 8.61505840e-03 1.81137099e+02] [-1.54296533e-01 9.88023413e-01 -1.52180108e-03 -2.37381142e+01] [-8.74669931e-03 1.74244316e-04 9.99961732e-01 -2.56211987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.16, Y:-23.74, Z:-2.56 [[ 9.87914966e-01 1.54807033e-01 7.66821647e-03 1.81163449e+02] [-1.54801183e-01 9.87944715e-01 -1.35434978e-03 -2.37434932e+01] [-7.78543680e-03 1.50933440e-04 9.99969682e-01 -2.56243730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.19, Y:-23.75, Z:-2.56 [[ 9.87769883e-01 1.55690753e-01 8.42899171e-03 1.81190278e+02] [-1.55683728e-01 9.87805834e-01 -1.48729239e-03 -2.37501155e+01] [-8.55776485e-03 1.56845776e-04 9.99963369e-01 -2.56138845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:-23.76, Z:-2.56 [[ 9.87732123e-01 1.55926527e-01 8.49539216e-03 1.81217440e+02] [-1.55919405e-01 9.87768644e-01 -1.49839159e-03 -2.37553712e+01] [-8.62512099e-03 1.55413013e-04 9.99962791e-01 -2.56135520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.25, Y:-23.76, Z:-2.56 [[ 9.87677722e-01 1.56300501e-01 7.92913750e-03 1.81245103e+02] [-1.56294313e-01 9.87709539e-01 -1.39800836e-03 -2.37609511e+01] [-8.05019416e-03 1.41502614e-04 9.99967587e-01 -2.56211944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.27, Y:-23.77, Z:-2.56 [[ 9.87410849e-01 1.58052712e-01 6.25739890e-03 1.81272160e+02] [-1.58048894e-01 9.87430671e-01 -1.10307290e-03 -2.37651877e+01] [-6.35309126e-03 1.00211175e-04 9.99979814e-01 -2.56311608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.30, Y:-23.77, Z:-2.56 [[ 9.87193553e-01 1.59420361e-01 5.83414888e-03 1.81298804e+02] [-1.59417069e-01 9.87210789e-01 -1.02800483e-03 -2.37682202e+01] [-5.92341962e-03 8.47768304e-05 9.99982453e-01 -2.56339206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.805769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:181.33, Y:-23.77, Z:-2.56 [[ 9.86848141e-01 1.61510461e-01 6.71702100e-03 1.81326439e+02] [-1.61506151e-01 9.86870997e-01 -1.18287335e-03 -2.37706172e+01] [-6.81987963e-03 8.24761556e-05 9.99976741e-01 -2.55907100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.35, Y:-23.77, Z:-2.57 [[ 9.86937835e-01 1.60914922e-01 7.75232664e-03 1.81352753e+02] [-1.60909167e-01 9.86968276e-01 -1.36456455e-03 -2.37740033e+01] [-7.87087926e-03 9.93199564e-05 9.99969019e-01 -2.56575520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.38, Y:-23.78, Z:-2.57 [[ 9.87196920e-01 1.59285162e-01 8.39517352e-03 1.81380589e+02] [-1.59278362e-01 9.87232608e-01 -1.47684364e-03 -2.37789715e+01] [-8.52322833e-03 1.20766008e-04 9.99963669e-01 -2.56646407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.41, Y:-23.79, Z:-2.57 [[ 9.88170494e-01 1.53159128e-01 7.83301386e-03 1.81407406e+02] [-1.53153018e-01 9.88201526e-01 -1.37760193e-03 -2.37868143e+01] [-7.95158855e-03 1.61655863e-04 9.99968373e-01 -2.56876998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.43, Y:-23.79, Z:-2.57 [[ 9.88885009e-01 1.48512710e-01 7.10031648e-03 1.81433099e+02] [-1.48507572e-01 9.88910483e-01 -1.24838683e-03 -2.37938862e+01] [-7.20697871e-03 1.80060265e-04 9.99974013e-01 -2.57021357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.46, Y:-23.80, Z:-2.57 [[ 9.90184687e-01 1.39593721e-01 6.91942732e-03 1.81459893e+02] [-1.39588628e-01 9.90208835e-01 -1.21598336e-03 -2.38038101e+01] [-7.02142170e-03 2.38174744e-04 9.99975321e-01 -2.57024725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.49, Y:-23.81, Z:-2.57 [[ 9.90645228e-01 1.36255650e-01 7.51201163e-03 1.81485565e+02] [-1.36249555e-01 9.90673669e-01 -1.31958561e-03 -2.38115310e+01] [-7.62175311e-03 2.83732944e-04 9.99970914e-01 -2.57033150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.51, Y:-23.83, Z:-2.57 [[ 9.91033650e-01 1.33370771e-01 8.03380482e-03 1.81511468e+02] [-1.33363712e-01 9.91066159e-01 -1.41048146e-03 -2.38250217e+01] [-8.15014909e-03 3.26416564e-04 9.99966734e-01 -2.57084775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.54, Y:-23.83, Z:-2.57 [[ 9.90966112e-01 1.33886734e-01 7.77871053e-03 1.81537702e+02] [-1.33880136e-01 9.90996592e-01 -1.36519668e-03 -2.38346101e+01] [-7.89145735e-03 3.11448822e-04 9.99968813e-01 -2.57161568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.56, Y:-23.85, Z:-2.57 [[ 9.90394599e-01 1.38091121e-01 7.02717247e-03 1.81563532e+02] [-1.38085845e-01 9.90419497e-01 -1.23284494e-03 -2.38484947e+01] [-7.13009356e-03 2.50649921e-04 9.99974549e-01 -2.57215511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.59, Y:-23.86, Z:-2.57 [[ 9.89983448e-01 1.41005330e-01 7.09009367e-03 1.81590086e+02] [-1.41000036e-01 9.90008810e-01 -1.24354555e-03 -2.38577371e+01] [-7.19460175e-03 2.31386048e-04 9.99974092e-01 -2.57226652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.62, Y:-23.87, Z:-2.57 [[ 9.89583488e-01 1.43770820e-01 7.38045446e-03 1.81615805e+02] [-1.43765164e-01 9.89610986e-01 -1.29399828e-03 -2.38669420e+01] [-7.48981801e-03 2.19467084e-04 9.99971927e-01 -2.57312018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.64, Y:-23.88, Z:-2.57 [[ 9.89091089e-01 1.47106323e-01 7.65168230e-03 1.81643074e+02] [-1.47100349e-01 9.89120665e-01 -1.34075742e-03 -2.38796415e+01] [-7.76567098e-03 2.00566080e-04 9.99969827e-01 -2.57371329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.67, Y:-23.89, Z:-2.57 [[ 9.88877769e-01 1.48517124e-01 7.96378709e-03 1.81670091e+02] [-1.48510702e-01 9.88909816e-01 -1.39510676e-03 -2.38875288e+01] [-8.08266447e-03 1.96882445e-04 9.99967315e-01 -2.57360362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.70, Y:-23.90, Z:-2.57 [[ 9.88168001e-01 1.53076479e-01 9.57049015e-03 1.81697661e+02] [-1.53067424e-01 9.88214327e-01 -1.67583793e-03 -2.38981446e+01] [-9.71422684e-03 1.91079140e-04 9.99952798e-01 -2.57205497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.73, Y:-23.91, Z:-2.57 [[ 9.87628592e-01 1.56488678e-01 1.00527184e-02 1.81725214e+02] [-1.56478870e-01 9.87679739e-01 -1.75978840e-03 -2.39054901e+01] [-1.02042533e-02 1.64979320e-04 9.99947922e-01 -2.57167436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.75, Y:-23.91, Z:-2.57 [[ 9.87043560e-01 1.60129610e-01 1.01743706e-02 1.81753183e+02] [-1.60119762e-01 9.87095989e-01 -1.78060266e-03 -2.39121252e+01] [-1.03282077e-02 1.28414590e-04 9.99946654e-01 -2.57171524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.78, Y:-23.92, Z:-2.57 [[ 9.86121238e-01 1.65747958e-01 9.61869348e-03 1.81780238e+02] [-1.65739426e-01 9.86168145e-01 -1.68297428e-03 -2.39173297e+01] [-9.76459865e-03 6.54199409e-05 9.99952323e-01 -2.57223458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.81, Y:-23.92, Z:-2.57 [[ 9.85853258e-01 1.67340030e-01 9.52200322e-03 1.81808367e+02] [-1.67331749e-01 9.85899240e-01 -1.66549173e-03 -2.39212243e+01] [-9.66643917e-03 4.85970017e-05 9.99953278e-01 -2.57222860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.84, Y:-23.92, Z:-2.57 [[ 9.85701776e-01 1.68221259e-01 9.67559955e-03 1.81836158e+02] [-1.68212756e-01 9.85749261e-01 -1.69190624e-03 -2.39247653e+01] [-9.82232971e-03 4.01557186e-05 9.99951759e-01 -2.57236457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.86, Y:-23.93, Z:-2.57 [[ 9.85646187e-01 1.68506633e-01 1.03493740e-02 1.81863330e+02] [-1.68496927e-01 9.85700519e-01 -1.80899027e-03 -2.39279229e+01] [-1.05062102e-02 3.91866497e-05 9.99944807e-01 -2.57205064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.89, Y:-23.93, Z:-2.57 [[ 9.85929155e-01 1.66800829e-01 1.10084411e-02 1.81892244e+02] [-1.66789753e-01 9.85990608e-01 -1.92313979e-03 -2.39308124e+01] [-1.11750009e-02 5.99844081e-05 9.99937556e-01 -2.57103103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.92, Y:-23.93, Z:-2.57 [[ 9.86243008e-01 1.64998225e-01 1.00157562e-02 1.81919883e+02] [-1.64988968e-01 9.86293861e-01 -1.74931049e-03 -2.39342522e+01] [-1.01671119e-02 7.27559723e-05 9.99948311e-01 -2.57171904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.95, Y:-23.94, Z:-2.57 [[ 9.86583374e-01 1.63021640e-01 8.78583782e-03 1.81947644e+02] [-1.63014443e-01 9.86622490e-01 -1.53404583e-03 -2.39387695e+01] [-8.91838785e-03 8.12456520e-05 9.99960227e-01 -2.57258730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.98, Y:-23.94, Z:-2.57 [[ 9.86987987e-01 1.60572703e-01 8.43327880e-03 1.81975615e+02] [-1.60565987e-01 9.87024011e-01 -1.47196171e-03 -2.39434429e+01] [-8.56020553e-03 9.87108004e-05 9.99963356e-01 -2.57316421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.555769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.00, Y:-23.95, Z:-2.57 [[ 9.86997379e-01 1.60514963e-01 8.43333901e-03 1.82003706e+02] [-1.60508247e-01 9.87033402e-01 -1.47161662e-03 -2.39482118e+01] [-8.56020378e-03 9.88612843e-05 9.99963356e-01 -2.57352902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.03, Y:-23.95, Z:-2.57 [[ 9.87599180e-01 1.56611998e-01 1.09791801e-02 1.82031071e+02] [-1.56600385e-01 9.87660191e-01 -1.91497376e-03 -2.39529731e+01] [-1.11436070e-02 1.71882683e-04 9.99937893e-01 -2.57300950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.06, Y:-23.96, Z:-2.57 [[ 9.87744646e-01 1.55583307e-01 1.24237199e-02 1.82059614e+02] [-1.55568366e-01 9.87822753e-01 -2.16608146e-03 -2.39574808e+01] [-1.26094393e-02 2.06797564e-04 9.99920476e-01 -2.57277259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.09, Y:-23.96, Z:-2.57 [[ 9.87970786e-01 1.54215761e-01 1.14553675e-02 1.82087584e+02] [-1.54202971e-01 9.88037174e-01 -1.99674714e-03 -2.39632288e+01] [-1.16262588e-02 2.06276140e-04 9.99932391e-01 -2.57381082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.12, Y:-23.97, Z:-2.58 [[ 9.88183581e-01 1.52930508e-01 1.02698564e-02 1.82115526e+02] [-1.52920165e-01 9.88236925e-01 -1.78967528e-03 -2.39696417e+01] [-1.04227473e-02 1.98059599e-04 9.99945662e-01 -2.57531466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.14, Y:-23.98, Z:-2.58 [[ 9.88484558e-01 1.51029059e-01 9.40752018e-03 1.82142602e+02] [-1.51020297e-01 9.88529303e-01 -1.63903790e-03 -2.39757746e+01] [-9.54715172e-03 1.99437170e-04 9.99954405e-01 -2.57629307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.17, Y:-23.98, Z:-2.58 [[ 9.89097155e-01 1.46943030e-01 9.72440899e-03 1.82170169e+02] [-1.46933476e-01 9.89144926e-01 -1.69361199e-03 -2.39843428e+01] [-9.86771429e-03 2.46305578e-04 9.99951283e-01 -2.57694861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.20, Y:-23.99, Z:-2.58 [[ 9.89453760e-01 1.44537771e-01 9.49151537e-03 1.82196725e+02] [-1.44528563e-01 9.89499249e-01 -1.65264102e-03 -2.39918793e+01] [-9.63071638e-03 2.63416791e-04 9.99953589e-01 -2.57805329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.22, Y:-24.01, Z:-2.58 [[ 9.90308452e-01 1.38712115e-01 6.93683636e-03 1.82224264e+02] [-1.38707057e-01 9.90332719e-01 -1.20740508e-03 -2.40052919e+01] [-7.03725773e-03 2.33515297e-04 9.99975211e-01 -2.58132343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.25, Y:-24.01, Z:-2.58 [[ 9.90744214e-01 1.35638658e-01 5.29693992e-03 1.82251305e+02] [-1.35635665e-01 9.90758354e-01 -9.21925162e-04 -2.40147203e+01] [-5.37303617e-03 1.94938050e-04 9.99985546e-01 -2.58294237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.28, Y:-24.02, Z:-2.58 [[ 9.91117075e-01 1.32910674e-01 4.65793667e-03 1.82279113e+02] [-1.32908329e-01 9.91128003e-01 -8.10797971e-04 -2.40239125e+01] [-4.72437517e-03 1.84517132e-04 9.99988823e-01 -2.58372855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.31, Y:-24.03, Z:-2.58 [[ 9.91316848e-01 1.31416525e-01 4.53919040e-03 1.82306891e+02] [-1.31414284e-01 9.91327223e-01 -7.89942924e-04 -2.40327536e+01] [-4.60363457e-03 1.86569275e-04 9.99989386e-01 -2.58375405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.33, Y:-24.05, Z:-2.58 [[ 9.91253882e-01 1.31842386e-01 5.77285530e-03 1.82334381e+02] [-1.31838771e-01 9.91270665e-01 -1.00395049e-03 -2.40462826e+01] [-5.85482534e-03 2.34083674e-04 9.99982833e-01 -2.58335182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.36, Y:-24.06, Z:-2.58 [[ 9.90779402e-01 1.35311785e-01 6.84821356e-03 1.82362342e+02] [-1.35306781e-01 9.90803036e-01 -1.19092101e-03 -2.40586537e+01] [-6.94637643e-03 2.53330276e-04 9.99975842e-01 -2.58318756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.39, Y:-24.07, Z:-2.58 [[ 9.90513994e-01 1.37214491e-01 7.36279891e-03 1.82391932e+02] [-1.37208762e-01 9.90541325e-01 -1.28009588e-03 -2.40675228e+01] [-7.46880429e-03 2.57712367e-04 9.99972075e-01 -2.58458029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.42, Y:-24.08, Z:-2.59 [[ 9.90336172e-01 1.38500762e-01 7.19756670e-03 1.82420903e+02] [-1.38495321e-01 9.90362297e-01 -1.25136862e-03 -2.40765321e+01] [-7.30151420e-03 2.42446299e-04 9.99973314e-01 -2.58552540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.45, Y:-24.09, Z:-2.59 [[ 9.90086821e-01 1.40262459e-01 7.38434940e-03 1.82449422e+02] [-1.40256781e-01 9.90114330e-01 -1.28378042e-03 -2.40902104e+01] [-7.49141636e-03 2.35349000e-04 9.99971911e-01 -2.58578572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.48, Y:-24.10, Z:-2.59 [[ 9.90007106e-01 1.40764064e-01 8.45034377e-03 1.82479646e+02] [-1.40756646e-01 9.90043135e-01 -1.46918094e-03 -2.40985391e+01] [-8.57301271e-03 2.65057523e-04 9.99963216e-01 -2.58525795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:-24.11, Z:-2.58 [[ 9.89903384e-01 1.41375937e-01 1.02046472e-02 1.82509912e+02] [-1.41365149e-01 9.89955931e-01 -1.77448052e-03 -2.41065671e+01] [-1.03530199e-02 3.13982800e-04 9.99946357e-01 -2.58416549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.54, Y:-24.12, Z:-2.58 [[ 9.89603002e-01 1.43265308e-01 1.26865750e-02 1.82540992e+02] [-1.43248784e-01 9.89684251e-01 -2.20643700e-03 -2.41174336e+01] [-1.28718093e-02 3.66160238e-04 9.99917088e-01 -2.58389967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.57, Y:-24.13, Z:-2.58 [[ 9.89323224e-01 1.45190441e-01 1.26212062e-02 1.82572000e+02] [-1.45174217e-01 9.89403668e-01 -2.19713229e-03 -2.41261286e+01] [-1.28064703e-02 3.41400268e-04 9.99917936e-01 -2.58422501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:-24.14, Z:-2.58 [[ 9.88521423e-01 1.50584943e-01 1.22299383e-02 1.82602683e+02] [-1.50570096e-01 9.88597039e-01 -2.13110432e-03 -2.41359064e+01] [-1.24113930e-02 2.65179295e-04 9.99922941e-01 -2.58366616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.63, Y:-24.14, Z:-2.58 [[ 9.87978451e-01 1.54094682e-01 1.23858839e-02 1.82634314e+02] [-1.54079702e-01 9.88056060e-01 -2.16039119e-03 -2.41422612e+01] [-1.25708525e-02 2.26006626e-04 9.99920958e-01 -2.58373735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.66, Y:-24.15, Z:-2.58 [[ 9.87406610e-01 1.57692446e-01 1.26995315e-02 1.82664750e+02] [-1.57676966e-01 9.87488257e-01 -2.21743484e-03 -2.41473676e+01] [-1.28903110e-02 1.87086227e-04 9.99916899e-01 -2.58389940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.70, Y:-24.15, Z:-2.58 [[ 9.86457392e-01 1.63491926e-01 1.31226289e-02 1.82695756e+02] [-1.63475906e-01 9.86544665e-01 -2.29162525e-03 -2.41519252e+01] [-1.33207218e-02 1.15357021e-04 9.99911269e-01 -2.58363969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.305769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.73, Y:-24.16, Z:-2.58 [[ 9.86167992e-01 1.65241980e-01 1.29529480e-02 1.82725796e+02] [-1.65226518e-01 9.86253051e-01 -2.26231563e-03 -2.41569278e+01] [-1.31487140e-02 9.08527740e-05 9.99913548e-01 -2.58339071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.335769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.76, Y:-24.16, Z:-2.58 [[ 9.86071927e-01 1.65853894e-01 1.24354632e-02 1.82756190e+02] [-1.65839682e-01 9.86150333e-01 -2.17261624e-03 -2.41614032e+01] [-1.26235730e-02 8.00626193e-05 9.99920316e-01 -2.58380474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.79, Y:-24.17, Z:-2.58 [[ 9.86205062e-01 1.65130002e-01 1.14742666e-02 1.82786765e+02] [-1.65117852e-01 9.86271806e-01 -2.00479608e-03 -2.41658265e+01] [-1.16477976e-02 8.25337839e-05 9.99932159e-01 -2.58459272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.395769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.82, Y:-24.17, Z:-2.59 [[ 9.86832629e-01 1.61458162e-01 9.62412503e-03 1.82817564e+02] [-1.61449442e-01 9.86879552e-01 -1.68133038e-03 -2.41711341e+01] [-9.76931671e-03 1.05382068e-04 9.99952274e-01 -2.58585236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.85, Y:-24.18, Z:-2.59 [[ 9.87282118e-01 1.58717436e-01 9.09916201e-03 1.82848246e+02] [-1.58709508e-01 9.87324040e-01 -1.59136639e-03 -2.41766265e+01] [-9.23639899e-03 1.27004050e-04 9.99957335e-01 -2.58638550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.455769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.88, Y:-24.18, Z:-2.59 [[ 9.88007557e-01 1.54211615e-01 7.73591892e-03 1.82878664e+02] [-1.54205751e-01 9.88037832e-01 -1.35244962e-03 -2.41813654e+01] [-7.85194400e-03 1.43307265e-04 9.99969163e-01 -2.58724894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.485769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.91, Y:-24.19, Z:-2.59 [[ 9.88195082e-01 1.53034211e-01 7.14215027e-03 1.82909201e+02] [-1.53029169e-01 9.88220881e-01 -1.25043930e-03 -2.41864925e+01] [-7.24938202e-03 1.42720643e-04 9.99973713e-01 -2.58760844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.515769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.94, Y:-24.19, Z:-2.59 [[ 9.88242049e-01 1.52706471e-01 7.64105397e-03 1.82938093e+02] [-1.52700689e-01 9.88271577e-01 -1.33784399e-03 -2.41911151e+01] [-7.75573389e-03 1.55319478e-04 9.99969912e-01 -2.58780129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.97, Y:-24.20, Z:-2.59 [[ 9.87927712e-01 1.54666234e-01 8.78595492e-03 1.82968496e+02] [-1.54658669e-01 9.87966766e-01 -1.53813353e-03 -2.41960056e+01] [-8.91812879e-03 1.60740644e-04 9.99960220e-01 -2.58691647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.575769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.00, Y:-24.20, Z:-2.59 [[ 9.87790791e-01 1.55515539e-01 9.17985399e-03 1.82998706e+02] [-1.55507317e-01 9.87833433e-01 -1.60709238e-03 -2.42004537e+01] [-9.31809452e-03 1.59936585e-04 9.99956573e-01 -2.58751104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.605769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:183.03, Y:-24.20, Z:-2.59 [[ 9.87775684e-01 1.55602140e-01 9.33655271e-03 1.83027516e+02] [-1.55593639e-01 9.87819795e-01 -1.63456302e-03 -2.42047975e+01] [-9.47717309e-03 1.61873395e-04 9.99955077e-01 -2.58863263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.635769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.06, Y:-24.21, Z:-2.59 [[ 9.88255092e-01 1.52561355e-01 8.76965008e-03 1.83059349e+02] [-1.52553742e-01 9.88293985e-01 -1.53452367e-03 -2.42109449e+01] [-8.90110143e-03 1.78657901e-04 9.99960368e-01 -2.59182030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.665769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.09, Y:-24.22, Z:-2.59 [[ 9.88617537e-01 1.50214513e-01 8.42407691e-03 1.83090116e+02] [-1.50207391e-01 9.88653409e-01 -1.47546075e-03 -2.42180326e+01] [-8.55012797e-03 1.93307757e-04 9.99963428e-01 -2.59294282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.695769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.12, Y:-24.23, Z:-2.59 [[ 9.89406238e-01 1.44933159e-01 8.34716724e-03 1.83122556e+02] [-1.44925969e-01 9.89441420e-01 -1.46311132e-03 -2.42253976e+01] [-8.47108635e-03 2.37890169e-04 9.99964091e-01 -2.59386803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.15, Y:-24.23, Z:-2.59 [[ 9.89763435e-01 1.42459123e-01 8.58725816e-03 1.83153597e+02] [-1.42451405e-01 9.89800650e-01 -1.50701298e-03 -2.42313929e+01] [-8.71436146e-03 2.68319360e-04 9.99961993e-01 -2.59424257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75576923100002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:183.19, Y:-24.24, Z:-2.59 [[ 9.90060552e-01 1.40365061e-01 8.81779843e-03 1.83186295e+02] [-1.40356824e-01 9.90099774e-01 -1.54914015e-03 -2.42382257e+01] [-8.94794538e-03 2.96104369e-04 9.99959922e-01 -2.59459481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:183.22, Y:-24.25, Z:-2.60 [[ 9.90387395e-01 1.37978451e-01 9.73418593e-03 1.83217255e+02] [-1.37968278e-01 9.90435168e-01 -1.71224287e-03 -2.42469774e+01] [-9.87733270e-03 3.52774888e-04 9.99951156e-01 -2.59586871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.25, Y:-24.25, Z:-2.60 [[ 9.90349768e-01 1.38293014e-01 9.07636165e-03 1.83247565e+02] [-1.38241589e-01 9.90379932e-01 -6.07073255e-03 -2.42529679e+01] [-9.82858633e-03 4.75741792e-03 9.99940381e-01 -2.59603124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84576923100002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:183.28, Y:-24.26, Z:-2.60 [[ 9.90407565e-01 1.37621710e-01 1.23741653e-02 1.83280032e+02] [-1.37659779e-01 9.90476960e-01 2.27514177e-03 -2.42646410e+01] [-1.19432167e-02 -3.95674248e-03 9.99920849e-01 -2.59600036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87576923100002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:183.31, Y:-24.28, Z:-2.60 [[ 9.90406390e-01 1.37835699e-01 9.82358580e-03 1.83310284e+02] [-1.37825292e-01 9.90455042e-01 -1.73185423e-03 -2.42758353e+01] [-9.96853142e-03 3.61300915e-04 9.99950248e-01 -2.59815136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90576923100002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:183.34, Y:-24.29, Z:-2.60 [[ 9.90401125e-01 1.37976182e-01 8.25739259e-03 1.83342106e+02] [-1.37968825e-01 9.90435501e-01 -1.45681842e-03 -2.42857131e+01] [-8.37942101e-03 3.03571854e-04 9.99964846e-01 -2.59978083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.37, Y:-24.30, Z:-2.60 [[ 9.90488771e-01 1.37427466e-01 6.75909512e-03 1.83374013e+02] [-1.37422518e-01 9.90511801e-01 -1.19332312e-03 -2.42953355e+01] [-6.85895885e-03 2.53121282e-04 9.99976445e-01 -2.60049610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.40, Y:-24.31, Z:-2.60 [[ 9.90420246e-01 1.38003020e-01 4.78571873e-03 1.83404413e+02] [-1.38000545e-01 9.90431792e-01 -8.45247040e-04 -2.43093160e+01] [-4.85657462e-03 1.76717990e-04 9.99988191e-01 -2.60016930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.44, Y:-24.32, Z:-2.60 [[ 9.90303596e-01 1.38826385e-01 5.10128703e-03 1.83435906e+02] [-1.38823578e-01 9.90316717e-01 -9.01980917e-04 -2.43193764e+01] [-5.17710858e-03 1.85056028e-04 9.99986582e-01 -2.59874367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.47, Y:-24.33, Z:-2.60 [[ 9.90107344e-01 1.40162304e-01 6.47881277e-03 1.83466942e+02] [-1.40157792e-01 9.90128515e-01 -1.14751750e-03 -2.43290525e+01] [-6.57569597e-03 2.28109406e-04 9.99978354e-01 -2.59832395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.055769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.50, Y:-24.34, Z:-2.60 [[ 9.89588402e-01 1.43561174e-01 1.02461913e-02 1.83497018e+02] [-1.43550038e-01 9.89641390e-01 -1.81794087e-03 -2.43422844e+01] [-1.04010408e-02 3.28172041e-04 9.99945854e-01 -2.59741838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.085769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.53, Y:-24.35, Z:-2.60 [[ 9.89241048e-01 1.45832671e-01 1.16180913e-02 1.83527357e+02] [-1.45818482e-01 9.89309209e-01 -2.06372507e-03 -2.43519176e+01] [-1.17948433e-02 3.47389120e-04 9.99930378e-01 -2.59800231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.115769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.56, Y:-24.36, Z:-2.60 [[ 9.88922901e-01 1.47944374e-01 1.19982213e-02 1.83558962e+02] [-1.47929370e-01 9.88995627e-01 -2.13343274e-03 -2.43615573e+01] [-1.21818178e-02 3.34911171e-04 9.99925743e-01 -2.59815437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.145769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:183.59, Y:-24.37, Z:-2.60 [[ 9.88309478e-01 1.51985017e-01 1.20386841e-02 1.83590114e+02] [-1.51970182e-01 9.88382756e-01 -2.14298835e-03 -2.43732906e+01] [-1.22245299e-02 2.88414685e-04 9.99925236e-01 -2.59846366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.175769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:183.62, Y:-24.38, Z:-2.60 [[ 9.88002664e-01 1.54032284e-01 1.11710302e-02 1.83621579e+02] [-1.54019618e-01 9.88065785e-01 -1.99058325e-03 -2.43808609e+01] [-1.13443268e-02 2.46143749e-04 9.99935621e-01 -2.59801974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.205769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.65, Y:-24.39, Z:-2.60 [[ 9.87667880e-01 1.56347329e-01 8.22630371e-03 1.83653111e+02] [-1.56340534e-01 9.87702124e-01 -1.46673096e-03 -2.43899731e+01] [-8.35445712e-03 1.62538349e-04 9.99965088e-01 -2.59797394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.235769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.69, Y:-24.40, Z:-2.60 [[ 9.87533704e-01 1.57229982e-01 7.47776453e-03 1.83685383e+02] [-1.57224383e-01 9.87562004e-01 -1.33448073e-03 -2.43975175e+01] [-7.59457651e-03 1.42157785e-04 9.99971151e-01 -2.59881552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.265769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:183.72, Y:-24.40, Z:-2.60 [[ 9.87446634e-01 1.57757214e-01 7.86175106e-03 1.83716982e+02] [-1.57751028e-01 9.87477919e-01 -1.40473531e-03 -2.44046246e+01] [-7.98491270e-03 1.46901841e-04 9.99968109e-01 -2.60002442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.75, Y:-24.41, Z:-2.60 [[ 9.87390421e-01 1.57960379e-01 1.04247109e-02 1.83749340e+02] [-1.57949486e-01 9.87445432e-01 -1.86531973e-03 -2.44129394e+01] [-1.05884797e-02 1.95221111e-04 9.99943921e-01 -2.60008610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.325769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.78, Y:-24.42, Z:-2.60 [[ 9.87357106e-01 1.58144505e-01 1.07824317e-02 1.83781729e+02] [-1.58132838e-01 9.87415958e-01 -1.93150726e-03 -2.44196438e+01] [-1.09522024e-02 2.02030877e-04 9.99940002e-01 -2.59994948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.355769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.81, Y:-24.43, Z:-2.60 [[ 9.87031895e-01 1.60200116e-01 1.01960876e-02 1.83813352e+02] [-1.60189773e-01 9.87084542e-01 -1.82840404e-03 -2.44259590e+01] [-1.03573110e-02 1.71384142e-04 9.99946347e-01 -2.59946250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.385769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.85, Y:-24.43, Z:-2.60 [[ 9.86736120e-01 1.62020893e-01 1.00528451e-02 1.83846051e+02] [-1.62010914e-01 9.86787316e-01 -1.80453001e-03 -2.44323700e+01] [-1.02123916e-02 1.51924311e-04 9.99947841e-01 -2.60037305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.88, Y:-24.44, Z:-2.60 [[ 9.86428699e-01 1.63899191e-01 9.77120569e-03 1.83878306e+02] [-1.63889838e-01 9.86477085e-01 -1.75578782e-03 -2.44387255e+01] [-9.92684271e-03 1.30558180e-04 9.99950719e-01 -2.60119224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.91, Y:-24.44, Z:-2.60 [[ 9.85888475e-01 1.67199143e-01 8.26814804e-03 1.83910079e+02] [-1.67192551e-01 9.85923141e-01 -1.48705984e-03 -2.44442929e+01] [-8.40039362e-03 8.37024025e-05 9.99964713e-01 -2.60218059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.94, Y:-24.45, Z:-2.60 [[ 9.85874905e-01 1.67279151e-01 8.26779448e-03 1.83943015e+02] [-1.67272545e-01 9.85909569e-01 -1.48902259e-03 -2.44503735e+01] [-8.40038013e-03 8.50149809e-05 9.99964713e-01 -2.60260783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.98, Y:-24.46, Z:-2.60 [[ 9.85671464e-01 1.68472504e-01 8.29342440e-03 1.83975145e+02] [-1.68465897e-01 9.85706351e-01 -1.49387455e-03 -2.44554875e+01] [-8.42655789e-03 7.53103344e-05 9.99964493e-01 -2.60317952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.01, Y:-24.46, Z:-2.60 [[ 9.85503657e-01 1.69396897e-01 9.33989384e-03 1.84006297e+02] [-1.69388540e-01 9.85547911e-01 -1.68451559e-03 -2.44603593e+01] [-9.49026458e-03 7.80252957e-05 9.99954963e-01 -2.60468140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56576923100002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:184.04, Y:-24.47, Z:-2.61 [[ 9.85358802e-01 1.70102072e-01 1.15462857e-02 1.84039147e+02] [-1.70089317e-01 9.85426444e-01 -2.08504889e-03 -2.44663233e+01] [-1.17326864e-02 9.06214234e-05 9.99931166e-01 -2.60652821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:184.07, Y:-24.47, Z:-2.61 [[ 9.85322216e-01 1.70253174e-01 1.24091502e-02 1.84071419e+02] [-1.70238420e-01 9.85400349e-01 -2.24346125e-03 -2.44737066e+01] [-1.26099373e-02 9.80180850e-05 9.99920487e-01 -2.60692350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.10, Y:-24.48, Z:-2.61 [[ 9.85370557e-01 1.70043798e-01 1.14005282e-02 1.84102122e+02] [-1.70031306e-01 9.85436501e-01 -2.06325855e-03 -2.44831765e+01] [-1.15853409e-02 9.46275242e-05 9.99932883e-01 -2.60803051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.13, Y:-24.49, Z:-2.61 [[ 9.85422799e-01 1.69815019e-01 1.02355731e-02 1.84132895e+02] [-1.69804926e-01 9.85475952e-01 -1.85353304e-03 -2.44907371e+01] [-1.04016689e-02 8.84629850e-05 9.99945897e-01 -2.60862164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:184.16, Y:-24.50, Z:-2.61 [[ 9.85440410e-01 1.69793765e-01 8.79067613e-03 1.84164863e+02] [-1.69786315e-01 9.85479615e-01 -1.59244351e-03 -2.45005937e+01] [-8.93341911e-03 7.67216824e-05 9.99960093e-01 -2.61040746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71576923100002 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:184.20, Y:-24.51, Z:-2.61 [[ 9.85331039e-01 1.70432224e-01 8.69489799e-03 1.84196128e+02] [-1.70424943e-01 9.85369399e-01 -1.57709456e-03 -2.45087715e+01] [-8.83647413e-03 7.21327285e-05 9.99960955e-01 -2.61218968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:184.23, Y:-24.52, Z:-2.61 [[ 9.85093327e-01 1.71789163e-01 8.92300461e-03 1.84228050e+02] [-1.71781542e-01 9.85133737e-01 -1.61935309e-03 -2.45169815e+01] [-9.06854019e-03 6.24064315e-05 9.99958878e-01 -2.61235124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77576923100003 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:184.26, Y:-24.52, Z:-2.61 [[ 9.84686753e-01 1.74057273e-01 9.80121093e-03 1.84259484e+02] [-1.74048168e-01 9.84735530e-01 -1.78093829e-03 -2.45246747e+01] [-9.96158590e-03 4.77835339e-05 9.99950381e-01 -2.61237984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.805769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.29, Y:-24.53, Z:-2.61 [[ 9.83779399e-01 1.78970892e-01 1.21455221e-02 1.84291651e+02] [-1.78957250e-01 9.83854369e-01 -2.20967926e-03 -2.45335862e+01] [-1.23448933e-02 3.07693594e-07 9.99923799e-01 -2.61029326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.835769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.32, Y:-24.54, Z:-2.61 [[ 9.83417175e-01 1.80950164e-01 1.21530986e-02 1.84322879e+02] [-1.80936627e-01 9.83492266e-01 -2.21341313e-03 -2.45403330e+01] [-1.23529959e-02 -2.22321697e-05 9.99923699e-01 -2.61013262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.865769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.36, Y:-24.55, Z:-2.61 [[ 9.82905438e-01 1.83850115e-01 9.79977691e-03 1.84355152e+02] [-1.83841445e-01 9.82954288e-01 -1.78610097e-03 -2.45476675e+01] [-9.96110761e-03 -4.60367913e-05 9.99950386e-01 -2.61236687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.895769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.39, Y:-24.55, Z:-2.61 [[ 9.82632961e-01 1.85374393e-01 8.29447351e-03 1.84387749e+02] [-1.85368226e-01 9.82667966e-01 -1.51295515e-03 -2.45544246e+01] [-8.43117655e-03 -5.08522459e-05 9.99964456e-01 -2.61284952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.925769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:184.42, Y:-24.56, Z:-2.61 [[ 9.82325585e-01 1.87023774e-01 7.65203816e-03 1.84419049e+02] [-1.87018564e-01 9.82355386e-01 -1.39714442e-03 -2.45605338e+01] [-7.77832012e-03 -5.86224812e-05 9.99969747e-01 -2.61240158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.955769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:184.45, Y:-24.56, Z:-2.61 [[ 9.81720182e-01 1.90084119e-01 9.67020384e-03 1.84450926e+02] [-1.90075924e-01 9.81767802e-01 -1.76801354e-03 -2.45638043e+01] [-9.82996607e-03 -1.02378356e-04 9.99951679e-01 -2.60977643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.48, Y:-24.57, Z:-2.61 [[ 9.81364019e-01 1.91827578e-01 1.12624359e-02 1.84483512e+02] [-1.91816550e-01 9.81428633e-01 -2.06152391e-03 -2.45681078e+01] [-1.14487342e-02 -1.37216197e-04 9.99934452e-01 -2.60840933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.015769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.52, Y:-24.57, Z:-2.61 [[ 9.80524126e-01 1.95917598e-01 1.37380279e-02 1.84515265e+02] [-1.95901545e-01 9.80620337e-01 -2.51783739e-03 -2.45701908e+01] [-1.39650782e-02 -2.22500585e-04 9.99902459e-01 -2.60725860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.55, Y:-24.57, Z:-2.61 [[ 9.80068774e-01 1.98151276e-01 1.41869857e-02 1.84548277e+02] [-1.98134352e-01 9.80171416e-01 -2.60276521e-03 -2.45745448e+01] [-1.44214191e-02 -2.60040316e-04 9.99895972e-01 -2.60832532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.075769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.58, Y:-24.58, Z:-2.61 [[ 9.79682757e-01 2.00075267e-01 1.38413893e-02 1.84580364e+02] [-2.00059314e-01 9.79780491e-01 -2.54185886e-03 -2.45790767e+01] [-1.40700863e-02 -2.78883556e-04 9.99900973e-01 -2.60888677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.61, Y:-24.58, Z:-2.61 [[ 9.79446370e-01 2.01264697e-01 1.33165096e-02 1.84613345e+02] [-2.01250020e-01 9.79536850e-01 -2.44706184e-03 -2.45839645e+01] [-1.35365190e-02 -2.83181978e-04 9.99908337e-01 -2.61003274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.64, Y:-24.59, Z:-2.61 [[ 9.79779342e-01 1.99734582e-01 1.17701604e-02 1.84644625e+02] [-1.99722981e-01 9.79850011e-01 -2.16495389e-03 -2.45891018e+01] [-1.19654080e-02 -2.29594426e-04 9.99928386e-01 -2.61083272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.165769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:184.68, Y:-24.60, Z:-2.61 [[ 9.80237067e-01 1.97518018e-01 1.10419659e-02 1.84676559e+02] [-1.97507646e-01 9.80299239e-01 -2.03289873e-03 -2.45960284e+01] [-1.12259649e-02 -1.88150001e-04 9.99936969e-01 -2.61144529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.195769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.71, Y:-24.60, Z:-2.61 [[ 9.80997762e-01 1.93790912e-01 9.40606283e-03 1.84707382e+02] [-1.93783200e-01 9.81042847e-01 -1.73321524e-03 -2.46044981e+01] [-9.56363202e-03 -1.22456680e-04 9.99954260e-01 -2.61197736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.74, Y:-24.61, Z:-2.61 [[ 9.81103037e-01 1.93256734e-01 9.41620547e-03 1.84738199e+02] [-1.93248964e-01 9.81148216e-01 -1.73679358e-03 -2.46116306e+01] [-9.57434025e-03 -1.15698497e-04 9.99954158e-01 -2.61252605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.77, Y:-24.62, Z:-2.61 [[ 9.81050518e-01 1.93500968e-01 9.86182824e-03 1.84770171e+02] [-1.93492440e-01 9.81100077e-01 -1.82079965e-03 -2.46189921e+01] [-1.00277669e-02 -1.21892763e-04 9.99949713e-01 -2.61242255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:184.80, Y:-24.63, Z:-2.61 [[ 9.80562621e-01 1.95948048e-01 1.00651929e-02 1.84801922e+02] [-1.95939273e-01 9.80614267e-01 -1.86027417e-03 -2.46272458e+01] [-1.02345888e-02 -1.48051258e-04 9.99947614e-01 -2.61302526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.83, Y:-24.63, Z:-2.61 [[ 9.80190995e-01 1.97836077e-01 9.30053980e-03 1.84833764e+02] [-1.97828655e-01 9.80235106e-01 -1.72047540e-03 -2.46338224e+01] [-9.45708772e-03 -1.53518789e-04 9.99955269e-01 -2.61375277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34576923100002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:184.86, Y:-24.64, Z:-2.62 [[ 9.79688917e-01 2.00410247e-01 6.73483630e-03 1.84864856e+02] [-2.00406412e-01 9.79712058e-01 -1.24657253e-03 -2.46414509e+01] [-6.84802624e-03 -1.28451080e-04 9.99976544e-01 -2.61823603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:184.90, Y:-24.65, Z:-2.62 [[ 9.79683212e-01 2.00456983e-01 6.14828759e-03 1.84896045e+02] [-2.00453782e-01 9.79702498e-01 -1.13894695e-03 -2.46496723e+01] [-6.25180257e-03 -1.16640290e-04 9.99980450e-01 -2.61992183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.93, Y:-24.66, Z:-2.62 [[ 9.79768672e-01 2.00020649e-01 6.71485339e-03 1.84928197e+02] [-2.00016811e-01 9.79791674e-01 -1.24522279e-03 -2.46586593e+01] [-6.82822771e-03 -1.23053284e-04 9.99976680e-01 -2.62013211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.96, Y:-24.67, Z:-2.62 [[ 9.79789596e-01 1.99853504e-01 8.42161647e-03 1.84958386e+02] [-1.99847439e-01 9.79825777e-01 -1.56426475e-03 -2.46688651e+01] [-8.56434070e-03 -1.50388162e-04 9.99963314e-01 -2.61836482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.99, Y:-24.68, Z:-2.62 [[ 9.79568683e-01 2.00937525e-01 8.32504029e-03 1.84990414e+02] [-2.00931631e-01 9.79604046e-01 -1.54700051e-03 -2.46755020e+01] [-8.46609360e-03 -1.57370676e-04 9.99964150e-01 -2.61884676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.02, Y:-24.68, Z:-2.62 [[ 9.78861346e-01 2.04389483e-01 7.44337134e-03 1.85023225e+02] [-2.04384862e-01 9.78889632e-01 -1.38435391e-03 -2.46793477e+01] [-7.56918642e-03 -1.66221892e-04 9.99971339e-01 -2.62075066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:185.06, Y:-24.68, Z:-2.62 [[ 9.78355361e-01 2.06788141e-01 7.71057292e-03 1.85055348e+02] [-2.06783244e-01 9.78385726e-01 -1.43566738e-03 -2.46837732e+01] [-7.84079347e-03 -1.89824406e-04 9.99969242e-01 -2.62206135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.555769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:185.09, Y:-24.69, Z:-2.62 [[ 9.77824270e-01 2.09246403e-01 8.69707596e-03 1.85087687e+02] [-2.09240255e-01 9.77862919e-01 -1.62112082e-03 -2.46889733e+01] [-8.84376178e-03 -2.34607104e-04 9.99960866e-01 -2.62272702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.12, Y:-24.69, Z:-2.62 [[ 9.77388007e-01 2.11223756e-01 9.85940494e-03 1.85119119e+02] [-2.11215932e-01 9.77437693e-01 -1.84005475e-03 -2.46947352e+01] [-1.00256173e-02 -2.84015955e-04 9.99949702e-01 -2.62290860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.15, Y:-24.70, Z:-2.62 [[ 9.76945895e-01 2.13215618e-01 1.07618851e-02 1.85151921e+02] [-2.13206394e-01 9.77005113e-01 -2.01061666e-03 -2.47000238e+01] [-1.09431116e-02 -3.30239018e-04 9.99940068e-01 -2.62233730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.18, Y:-24.70, Z:-2.62 [[ 9.76767070e-01 2.14049126e-01 1.04433210e-02 1.85183335e+02] [-2.14040467e-01 9.76822842e-01 -1.95302205e-03 -2.47038374e+01] [-1.06193172e-02 -3.27645679e-04 9.99943560e-01 -2.62299761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.22, Y:-24.70, Z:-2.62 [[ 9.76332995e-01 2.16011815e-01 1.06197021e-02 1.85217343e+02] [-2.16002957e-01 9.76390686e-01 -1.98789037e-03 -2.47039687e+01] [-1.07983860e-02 -3.53044098e-04 9.99941633e-01 -2.62421909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.25, Y:-24.71, Z:-2.62 [[ 9.75947897e-01 2.17728514e-01 1.09542889e-02 1.85250511e+02] [-2.17719173e-01 9.76009297e-01 -2.05261760e-03 -2.47066189e+01] [-1.11384012e-02 -3.81710881e-04 9.99937893e-01 -2.62369524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.28, Y:-24.71, Z:-2.62 [[ 9.75524115e-01 2.19637241e-01 1.05916275e-02 1.85282604e+02] [-2.19628600e-01 9.75581535e-01 -1.98662503e-03 -2.47087332e+01] [-1.07693331e-02 -3.88223694e-04 9.99941934e-01 -2.62368136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.765769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.32, Y:-24.71, Z:-2.62 [[ 9.74987305e-01 2.22071252e-01 9.17138375e-03 1.85315739e+02] [-2.22064868e-01 9.75030374e-01 -1.72151779e-03 -2.47082759e+01] [-9.32467735e-03 -3.58184137e-04 9.99956460e-01 -2.62464749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.795769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:185.35, Y:-24.71, Z:-2.63 [[ 9.74902514e-01 2.22461085e-01 8.72664240e-03 1.85347791e+02] [-2.22455307e-01 9.74941510e-01 -1.63965134e-03 -2.47124558e+01] [-8.87272454e-03 -3.42787697e-04 9.99960578e-01 -2.62567070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.38, Y:-24.72, Z:-2.63 [[ 9.74923132e-01 2.22384451e-01 8.36909180e-03 1.85380384e+02] [-2.22379122e-01 9.74958999e-01 -1.57382960e-03 -2.47174168e+01] [-8.50951659e-03 -3.26748397e-04 9.99963740e-01 -2.62567593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.855769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.41, Y:-24.72, Z:-2.63 [[ 9.75204802e-01 2.21165276e-01 7.84315194e-03 1.85411817e+02] [-2.21160545e-01 9.75236296e-01 -1.47635078e-03 -2.47209434e+01] [-7.97544398e-03 -2.94851389e-04 9.99968152e-01 -2.62599123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.44, Y:-24.73, Z:-2.63 [[ 9.75446099e-01 2.20083671e-01 8.25144723e-03 1.85444522e+02] [-2.20078383e-01 9.75480952e-01 -1.55474693e-03 -2.47255303e+01] [-8.39130401e-03 -2.99393336e-04 9.99964748e-01 -2.62584641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.48, Y:-24.73, Z:-2.62 [[ 9.75787094e-01 2.18467408e-01 1.05612160e-02 1.85476245e+02] [-2.18458619e-01 9.75844178e-01 -1.99287546e-03 -2.47281835e+01] [-1.07414795e-02 -3.62566507e-04 9.99942243e-01 -2.62322100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.51, Y:-24.73, Z:-2.62 [[ 9.75634719e-01 2.19102872e-01 1.14379790e-02 1.85509285e+02] [-2.19092590e-01 9.75701682e-01 -2.15977430e-03 -2.47319125e+01] [-1.16332681e-02 -3.98825653e-04 9.99932252e-01 -2.62242727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.54, Y:-24.74, Z:-2.62 [[ 9.75300248e-01 2.20578434e-01 1.16009258e-02 1.85541716e+02] [-2.20567934e-01 9.75369150e-01 -2.19281373e-03 -2.47354856e+01] [-1.17988725e-02 -4.20140465e-04 9.99930303e-01 -2.62319652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.57, Y:-24.74, Z:-2.63 [[ 9.74649100e-01 2.23446795e-01 1.14306878e-02 1.85573024e+02] [-2.23436775e-01 9.74716026e-01 -2.16265710e-03 -2.47371219e+01] [-1.16249134e-02 -4.46204217e-04 9.99932329e-01 -2.62501348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.60, Y:-24.74, Z:-2.63 [[ 9.74507143e-01 2.24068957e-01 1.13547674e-02 1.85604072e+02] [-2.24059108e-01 9.74573188e-01 -2.14856046e-03 -2.47414402e+01] [-1.15474776e-02 -4.50351547e-04 9.99933224e-01 -2.62542681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:185.64, Y:-24.74, Z:-2.63 [[ 9.74801955e-01 2.22777775e-01 1.14547359e-02 1.85635169e+02] [-2.22767660e-01 9.74869156e-01 -2.16771758e-03 -2.47422589e+01] [-1.16497880e-02 -4.38649385e-04 9.99932043e-01 -2.62632241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.67, Y:-24.75, Z:-2.63 [[ 9.75037066e-01 2.21787072e-01 1.06402281e-02 1.85666631e+02] [-2.21778280e-01 9.75095040e-01 -2.01417415e-03 -2.47456437e+01] [-1.08219514e-02 -3.95877021e-04 9.99941363e-01 -2.62683602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.70, Y:-24.75, Z:-2.63 [[ 9.75243195e-01 2.20944754e-01 9.17204267e-03 1.85697166e+02] [-2.20938181e-01 9.75286268e-01 -1.73646760e-03 -2.47493160e+01] [-9.32903067e-03 -3.32976215e-04 9.99956428e-01 -2.62730895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.73, Y:-24.75, Z:-2.63 [[ 9.75354392e-01 2.20522767e-01 7.31563750e-03 1.85728077e+02] [-2.20518573e-01 9.75381792e-01 -1.38512872e-03 -2.47501509e+01] [-7.44099204e-03 -2.62242561e-04 9.99972281e-01 -2.62806041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.76, Y:-24.75, Z:-2.63 [[ 9.75232500e-01 2.21047324e-01 7.72340611e-03 1.85757761e+02] [-2.21042665e-01 9.75263042e-01 -1.46244793e-03 -2.47516059e+01] [-7.85562274e-03 -2.80975521e-04 9.99969105e-01 -2.62838195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.79, Y:-24.75, Z:-2.63 [[ 9.74498393e-01 2.24154219e-01 1.03811251e-02 1.85787268e+02] [-2.24145980e-01 9.74553599e-01 -1.96543083e-03 -2.47472550e+01] [-1.05575224e-02 -4.11578267e-04 9.99944183e-01 -2.62907310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.82, Y:-24.75, Z:-2.63 [[ 9.74108164e-01 2.25808847e-01 1.11197330e-02 1.85816066e+02] [-2.25799510e-01 9.74171521e-01 -2.10449895e-03 -2.47479482e+01] [-1.13077417e-02 -4.60820659e-04 9.99935959e-01 -2.62936833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.85, Y:-24.75, Z:-2.63 [[ 9.73950025e-01 2.26493075e-01 1.10560004e-02 1.85845598e+02] [-2.26483894e-01 9.74012664e-01 -2.09193535e-03 -2.47486343e+01] [-1.12424932e-02 -4.66565538e-04 9.99936692e-01 -2.62957566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.88, Y:-24.74, Z:-2.63 [[ 9.74507393e-01 2.24107759e-01 1.05381834e-02 1.85875929e+02] [-2.24099284e-01 9.74564281e-01 -1.99350724e-03 -2.47436109e+01] [-1.07168975e-02 -4.18911802e-04 9.99942485e-01 -2.63014530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.90, Y:-24.75, Z:-2.63 [[ 9.74524593e-01 2.24032951e-01 1.05382622e-02 1.85904768e+02] [-2.24024476e-01 9.74581480e-01 -1.99309058e-03 -2.47489585e+01] [-1.07169131e-02 -4.18512875e-04 9.99942485e-01 -2.63051909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.93, Y:-24.75, Z:-2.63 [[ 9.75069910e-01 2.21652538e-01 1.04318618e-02 1.85932885e+02] [-2.21644107e-01 9.75125633e-01 -1.97211425e-03 -2.47486820e+01] [-1.06095000e-02 -3.89211424e-04 9.99943642e-01 -2.63127976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.96, Y:-24.75, Z:-2.63 [[ 9.75750724e-01 2.18618686e-01 1.07886785e-02 1.85962138e+02] [-2.18609490e-01 9.75810296e-01 -2.03882872e-03 -2.47486395e+01] [-1.09734296e-02 -3.69118903e-04 9.99939722e-01 -2.63170687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.99, Y:-24.74, Z:-2.63 [[ 9.77304140e-01 2.11468447e-01 1.25584297e-02 1.85992660e+02] [-2.11455405e-01 9.77384767e-01 -2.37259085e-03 -2.47445009e+01] [-1.27761460e-02 -3.36804979e-04 9.99918325e-01 -2.63195128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.02, Y:-24.74, Z:-2.63 [[ 9.78129866e-01 2.07554924e-01 1.35247482e-02 1.86020957e+02] [-2.07539431e-01 9.78223317e-01 -2.55461918e-03 -2.47449340e+01] [-1.37604478e-02 -3.08169223e-04 9.99905273e-01 -2.63152321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.05, Y:-24.74, Z:-2.63 [[ 9.79504293e-01 2.01022020e-01 1.27077582e-02 1.86050489e+02] [-2.01007801e-01 9.79586702e-01 -2.39960617e-03 -2.47429700e+01] [-1.29307247e-02 -2.03933995e-04 9.99916374e-01 -2.63120550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.08, Y:-24.75, Z:-2.63 [[ 9.80142508e-01 1.97980471e-01 1.11533623e-02 1.86078392e+02] [-1.97969324e-01 9.80205954e-01 -2.10577491e-03 -2.47459088e+01] [-1.13494944e-02 -1.44064085e-04 9.99935582e-01 -2.63176593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.11, Y:-24.75, Z:-2.63 [[ 9.80829360e-01 1.94570852e-01 1.07679953e-02 1.86107336e+02] [-1.94560264e-01 9.80888461e-01 -2.03235369e-03 -2.47496845e+01] [-1.09576391e-02 -1.01631843e-04 9.99939958e-01 -2.63249255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.13, Y:-24.75, Z:-2.63 [[ 9.82305342e-01 1.86891395e-01 1.21582286e-02 1.86134365e+02] [-1.86877314e-01 9.82380581e-01 -2.29424381e-03 -2.47540856e+01] [-1.23727821e-02 -1.84491507e-05 9.99923454e-01 -2.63202724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.16, Y:-24.76, Z:-2.63 [[ 9.83091342e-01 1.82621667e-01 1.34439804e-02 1.86162120e+02] [-1.82604063e-01 9.83183261e-01 -2.53596121e-03 -2.47609934e+01] [-1.36810179e-02 3.81560749e-05 9.99906410e-01 -2.63199982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.19, Y:-24.77, Z:-2.63 [[ 9.84649695e-01 1.73944411e-01 1.44333335e-02 1.86190132e+02] [-1.73923196e-01 9.84755459e-01 -2.72188816e-03 -2.47727335e+01] [-1.46867612e-02 1.69814846e-04 9.99892129e-01 -2.63199133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.22, Y:-24.78, Z:-2.63 [[ 9.85347220e-01 1.70058030e-01 1.30813546e-02 1.86217735e+02] [-1.70040266e-01 9.85434028e-01 -2.46663315e-03 -2.47809200e+01] [-1.33102828e-02 2.06133101e-04 9.99911393e-01 -2.63279774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.25, Y:-24.79, Z:-2.63 [[ 9.85972345e-01 1.66548438e-01 1.09614316e-02 1.86247468e+02] [-1.66535752e-01 9.86033251e-01 -2.06652227e-03 -2.47897876e+01] [-1.11525121e-02 2.12063553e-04 9.99937786e-01 -2.63381671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.28, Y:-24.80, Z:-2.63 [[ 9.86759402e-01 1.61964984e-01 8.55727176e-03 1.86275933e+02] [-1.61957082e-01 9.86796484e-01 -1.61304741e-03 -2.48030658e+01] [-8.70554288e-03 2.05778930e-04 9.99962085e-01 -2.63495024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.31, Y:-24.81, Z:-2.63 [[ 9.86879833e-01 1.61225968e-01 8.62451949e-03 1.86305470e+02] [-1.61217907e-01 9.86917495e-01 -1.62644467e-03 -2.48133058e+01] [-8.77391428e-03 2.14678464e-04 9.99961485e-01 -2.63372381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.33, Y:-24.82, Z:-2.63 [[ 9.86785311e-01 1.61766570e-01 9.29122441e-03 1.86334357e+02] [-1.61757238e-01 9.86829026e-01 -1.75217442e-03 -2.48230909e+01] [-9.45229317e-03 2.26097175e-04 9.99955301e-01 -2.63250530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.36, Y:-24.84, Z:-2.63 [[ 9.86352092e-01 1.64419940e-01 8.69683300e-03 1.86363822e+02] [-1.64411868e-01 9.86390414e-01 -1.63998841e-03 -2.48352321e+01] [-8.84811950e-03 1.87743437e-04 9.99960837e-01 -2.63266707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.39, Y:-24.84, Z:-2.63 [[ 9.86038992e-01 1.66322627e-01 7.99316280e-03 1.86393207e+02] [-1.66315869e-01 9.86071376e-01 -1.50752094e-03 -2.48433002e+01] [-8.13256388e-03 1.57084608e-04 9.99966918e-01 -2.63383398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.42, Y:-24.85, Z:-2.64 [[ 9.85334707e-01 1.70460353e-01 7.66702600e-03 1.86421810e+02] [-1.70454260e-01 9.85364529e-01 -1.44610071e-03 -2.48528816e+01] [-7.80131830e-03 1.18015982e-04 9.99969562e-01 -2.63518565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.45, Y:-24.86, Z:-2.64 [[ 9.84955020e-01 1.72622853e-01 8.05970067e-03 1.86451149e+02] [-1.72616191e-01 9.84987990e-01 -1.52026523e-03 -2.48598678e+01] [-8.20114088e-03 1.06158042e-04 9.99966364e-01 -2.63562964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.48, Y:-24.87, Z:-2.64 [[ 9.84573690e-01 1.74761798e-01 8.54181660e-03 1.86480229e+02] [-1.74754394e-01 9.84610738e-01 -1.61140914e-03 -2.48659037e+01] [-8.69197711e-03 9.38310549e-05 9.99962220e-01 -2.63523815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.51, Y:-24.87, Z:-2.64 [[ 9.84246547e-01 1.76580090e-01 8.84343816e-03 1.86509758e+02] [-1.76572229e-01 9.84286272e-01 -1.66815611e-03 -2.48715800e+01] [-8.99903793e-03 8.03713071e-05 9.99959505e-01 -2.63590936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.54, Y:-24.88, Z:-2.64 [[ 9.83563688e-01 1.80262680e-01 1.03845325e-02 1.86538697e+02] [-1.80252045e-01 9.83618505e-01 -1.95888152e-03 -2.48763349e+01] [-1.05675316e-02 5.48515140e-05 9.99944161e-01 -2.63586967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.57, Y:-24.88, Z:-2.64 [[ 9.83195316e-01 1.82222238e-01 1.10465221e-02 1.86567137e+02] [-1.82210328e-01 9.83257370e-01 -2.08364793e-03 -2.48801340e+01] [-1.12412613e-02 3.58424641e-05 9.99936814e-01 -2.63600436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.60, Y:-24.88, Z:-2.64 [[ 9.82312038e-01 1.86883784e-01 1.17264797e-02 1.86597610e+02] [-1.86870700e-01 9.82382029e-01 -2.21145921e-03 -2.48808014e+01] [-1.19331688e-02 -1.89924696e-05 9.99928797e-01 -2.63713036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.63, Y:-24.88, Z:-2.64 [[ 9.81895470e-01 1.89078398e-01 1.14299893e-02 1.86626169e+02] [-1.89066118e-01 9.81961994e-01 -2.15529635e-03 -2.48833102e+01] [-1.16313351e-02 -4.47479908e-05 9.99932353e-01 -2.63833199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.65, Y:-24.89, Z:-2.64 [[ 9.81511126e-01 1.91123831e-01 1.03726317e-02 1.86654942e+02] [-1.91113836e-01 9.81565931e-01 -1.95561850e-03 -2.48857046e+01] [-1.05551872e-02 -6.28921133e-05 9.99944290e-01 -2.63949192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.68, Y:-24.89, Z:-2.64 [[ 9.81686640e-01 1.90235770e-01 1.00842647e-02 1.86683481e+02] [-1.90226281e-01 9.81738432e-01 -1.90076547e-03 -2.48904125e+01] [-1.02617038e-02 -5.23361001e-05 9.99947346e-01 -2.64061717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.71, Y:-24.90, Z:-2.64 [[ 9.81997765e-01 1.88625421e-01 1.00418867e-02 1.86711604e+02] [-1.88615931e-01 9.82049107e-01 -1.89246087e-03 -2.48952582e+01] [-1.02185921e-02 -3.56674683e-05 9.99947788e-01 -2.64104344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.74, Y:-24.90, Z:-2.64 [[ 9.82781044e-01 1.84427426e-01 1.13112428e-02 1.86740545e+02] [-1.84415114e-01 9.82846135e-01 -2.13105219e-03 -2.48990421e+01] [-1.15102357e-02 8.39356748e-06 9.99933755e-01 -2.64161944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.77, Y:-24.90, Z:-2.64 [[ 9.83144358e-01 1.82486522e-01 1.12179001e-02 1.86769915e+02] [-1.82474291e-01 9.83208354e-01 -2.11305756e-03 -2.49039088e+01] [-1.14151376e-02 3.04622525e-05 9.99934845e-01 -2.64178230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.80, Y:-24.91, Z:-2.64 [[ 9.83685738e-01 1.79672628e-01 8.95070001e-03 1.86798480e+02] [-1.79664726e-01 9.83726458e-01 -1.68588601e-03 -2.49072911e+01] [-9.10794799e-03 5.02569648e-05 9.99958521e-01 -2.64349919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.83, Y:-24.91, Z:-2.64 [[ 9.83838763e-01 1.78897657e-01 7.54435636e-03 1.86827148e+02] [-1.78892021e-01 9.83867687e-01 -1.42085865e-03 -2.49118750e+01] [-7.67683672e-03 4.82706610e-05 9.99970531e-01 -2.64418205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.325769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:186.86, Y:-24.92, Z:-2.64 [[ 9.83912686e-01 1.78497361e-01 7.38372962e-03 1.86855780e+02] [-1.78491954e-01 9.83940389e-01 -1.39026970e-03 -2.49172620e+01] [-7.51330927e-03 4.99676663e-05 9.99971773e-01 -2.64471072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.88, Y:-24.92, Z:-2.64 [[ 9.84148500e-01 1.77101657e-01 9.31304770e-03 1.86882661e+02] [-1.77092997e-01 9.84192561e-01 -1.75298241e-03 -2.49239828e+01] [-9.47628836e-03 7.59194721e-05 9.99955096e-01 -2.64397146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.91, Y:-24.93, Z:-2.64 [[ 9.84341991e-01 1.75995576e-01 9.81847612e-03 1.86911615e+02] [-1.75985903e-01 9.84390953e-01 -1.84741227e-03 -2.49304710e+01] [-9.99035546e-03 9.05720840e-05 9.99950091e-01 -2.64349099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.94, Y:-24.94, Z:-2.64 [[ 9.84810690e-01 1.73392584e-01 9.10582099e-03 1.86940530e+02] [-1.73384155e-01 9.84852781e-01 -1.71308540e-03 -2.49378022e+01] [-9.26492943e-03 1.08259738e-04 9.99957074e-01 -2.64317010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.97, Y:-24.94, Z:-2.64 [[ 9.85076844e-01 1.71904339e-01 8.51525527e-03 1.86969387e+02] [-1.71896913e-01 9.85113641e-01 -1.60193687e-03 -2.49447320e+01] [-8.66387402e-03 1.14284825e-04 9.99962461e-01 -2.64361741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.00, Y:-24.95, Z:-2.64 [[ 9.85362031e-01 1.70263438e-01 8.48705378e-03 1.86998434e+02] [-1.70256002e-01 9.85398572e-01 -1.59638500e-03 -2.49524634e+01] [-8.63493667e-03 1.28045318e-04 9.99962710e-01 -2.64390657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.03, Y:-24.96, Z:-2.64 [[ 9.85587344e-01 1.68942542e-01 8.71804791e-03 1.87027640e+02] [-1.68934645e-01 9.85625891e-01 -1.63968391e-03 -2.49606279e+01] [-8.86974610e-03 1.43271381e-04 9.99960653e-01 -2.64431037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.06, Y:-24.97, Z:-2.64 [[ 9.85814463e-01 1.67644951e-01 8.06312505e-03 1.87056935e+02] [-1.67638154e-01 9.85847427e-01 -1.51645264e-03 -2.49707818e+01] [-8.20323672e-03 1.43253548e-04 9.99966343e-01 -2.64422601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.09, Y:-24.98, Z:-2.64 [[ 9.85644701e-01 1.68666540e-01 7.49149905e-03 1.87086801e+02] [-1.68660702e-01 9.85673162e-01 -1.40884312e-03 -2.49818064e+01] [-7.62179425e-03 1.25097269e-04 9.99970946e-01 -2.64438106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.12, Y:-24.99, Z:-2.64 [[ 9.85407529e-01 1.70034624e-01 7.76075361e-03 1.87116904e+02] [-1.70028400e-01 9.85438082e-01 -1.45964647e-03 -2.49896449e+01] [-7.89593258e-03 1.18798097e-04 9.99968820e-01 -2.64397853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.15, Y:-25.00, Z:-2.64 [[ 9.85062730e-01 1.71986645e-01 8.48597616e-03 1.87146387e+02] [-1.71979265e-01 9.85099275e-01 -1.59736442e-03 -2.49967193e+01] [-8.63425430e-03 1.14092216e-04 9.99962718e-01 -2.64358834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.18, Y:-25.00, Z:-2.64 [[ 9.84215835e-01 1.76706163e-01 9.70168925e-03 1.87177019e+02] [-1.76696747e-01 9.84263646e-01 -1.82613538e-03 -2.50039622e+01] [-9.87170941e-03 8.30544247e-05 9.99951270e-01 -2.64384433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.21, Y:-25.01, Z:-2.64 [[ 9.83867304e-01 1.78624095e-01 9.92777929e-03 1.87208059e+02] [-1.78614330e-01 9.83917389e-01 -1.86894483e-03 -2.50110374e+01] [-1.01019533e-02 6.55500667e-05 9.99948972e-01 -2.64426742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.24, Y:-25.02, Z:-2.65 [[ 9.83673730e-01 1.79696261e-01 9.75944845e-03 1.87238806e+02] [-1.79686878e-01 9.83722141e-01 -1.83711955e-03 -2.50184731e+01] [-9.93070903e-03 5.34814121e-05 9.99950688e-01 -2.64554943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.27, Y:-25.03, Z:-2.65 [[ 9.83810849e-01 1.78979501e-01 9.08576770e-03 1.87269231e+02] [-1.78971326e-01 9.83852801e-01 -1.71161802e-03 -2.50276649e+01] [-9.24540254e-03 5.78164781e-05 9.99957259e-01 -2.64681446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.30, Y:-25.03, Z:-2.65 [[ 9.84057207e-01 1.77635788e-01 8.77159199e-03 1.87300201e+02] [-1.77628104e-01 9.84096297e-01 -1.65368737e-03 -2.50348227e+01] [-8.92584525e-03 6.92417169e-05 9.99960161e-01 -2.64809536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.33, Y:-25.04, Z:-2.65 [[ 9.84584764e-01 1.74693814e-01 8.65533960e-03 1.87330842e+02] [-1.74686206e-01 9.84622802e-01 -1.63317772e-03 -2.50425096e+01] [-8.80755078e-03 9.60334631e-05 9.99961208e-01 -2.65022902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.36, Y:-25.05, Z:-2.65 [[ 9.84742860e-01 1.73787577e-01 8.90937268e-03 1.87362093e+02] [-1.73779464e-01 9.84783157e-01 -1.68284445e-03 -2.50503772e+01] [-9.06625761e-03 1.08903048e-04 9.99958895e-01 -2.64996443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.39, Y:-25.06, Z:-2.65 [[ 9.84720171e-01 1.73871843e-01 9.73482876e-03 1.87392091e+02] [-1.73862139e-01 9.84768281e-01 -1.84082597e-03 -2.50584340e+01] [-9.90661839e-03 1.20180309e-04 9.99950921e-01 -2.64993063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.42, Y:-25.07, Z:-2.65 [[ 9.84180637e-01 1.76909935e-01 9.55762536e-03 1.87422993e+02] [-1.76900719e-01 9.84227040e-01 -1.80798189e-03 -2.50670358e+01] [-9.72672328e-03 8.86299778e-05 9.99952690e-01 -2.65026410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.45, Y:-25.07, Z:-2.65 [[ 9.83769211e-01 1.79221902e-01 8.81189672e-03 1.87454341e+02] [-1.79214149e-01 9.83808673e-01 -1.66823566e-03 -2.50736236e+01] [-8.96820479e-03 6.19423119e-05 9.99959783e-01 -2.65174706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.48, Y:-25.08, Z:-2.65 [[ 9.82915384e-01 1.83908255e-01 7.42302697e-03 1.87483810e+02] [-1.83902874e-01 9.82943413e-01 -1.40700118e-03 -2.50805501e+01] [-7.55517460e-03 1.78471141e-05 9.99971459e-01 -2.65319867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.51, Y:-25.09, Z:-2.65 [[ 9.82546934e-01 1.85870563e-01 7.32501623e-03 1.87514231e+02] [-1.85865377e-01 9.82574238e-01 -1.38844745e-03 -2.50868693e+01] [-7.45544375e-03 2.74788048e-06 9.99972208e-01 -2.65381825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.55, Y:-25.09, Z:-2.65 [[ 9.82299988e-01 1.87173770e-01 7.26040299e-03 1.87545222e+02] [-1.87168710e-01 9.82326819e-01 -1.37636907e-03 -2.50939012e+01] [-7.38970876e-03 -6.91293535e-06 9.99972696e-01 -2.65344188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.57, Y:-25.10, Z:-2.65 [[ 9.82149682e-01 1.87908272e-01 8.51367532e-03 1.87574061e+02] [-1.87901338e-01 9.82186582e-01 -1.61425287e-03 -2.51022929e+01] [-8.66534913e-03 -1.42930452e-05 9.99962455e-01 -2.65336588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.60, Y:-25.11, Z:-2.65 [[ 9.82197632e-01 1.87603314e-01 9.63373651e-03 1.87604207e+02] [-1.87594421e-01 9.82244876e-01 -1.82672266e-03 -2.51099976e+01] [-9.80538755e-03 -1.30325552e-05 9.99951926e-01 -2.65335336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.64, Y:-25.12, Z:-2.65 [[ 9.82468705e-01 1.86062440e-01 1.16624334e-02 1.87636281e+02] [-1.86049296e-01 9.82537922e-01 -2.21158039e-03 -2.51197829e+01] [-1.18702752e-02 3.02099727e-06 9.99929546e-01 -2.65275455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.67, Y:-25.13, Z:-2.65 [[ 9.82668627e-01 1.84967302e-01 1.22256911e-02 1.87667159e+02] [-1.84952741e-01 9.82744675e-01 -2.32094389e-03 -2.51278004e+01] [-1.24440315e-02 1.95436647e-05 9.99922570e-01 -2.65278206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.70, Y:-25.14, Z:-2.65 [[ 9.82924999e-01 1.83608665e-01 1.20956527e-02 1.87699202e+02] [-1.83594282e-01 9.82999418e-01 -2.29848214e-03 -2.51364214e+01] [-1.23120408e-02 3.85428895e-05 9.99924203e-01 -2.65278503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.73, Y:-25.15, Z:-2.65 [[ 9.83161915e-01 1.82401860e-01 1.10549140e-02 1.87730107e+02] [-1.82389749e-01 9.83224063e-01 -2.10257250e-03 -2.51472423e+01] [-1.12529706e-02 5.08662223e-05 9.99936682e-01 -2.65253026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.76, Y:-25.15, Z:-2.65 [[ 9.83010313e-01 1.83238451e-01 1.06955478e-02 1.87761765e+02] [-1.83227145e-01 9.83068496e-01 -2.03594959e-03 -2.51549782e+01] [-1.08875203e-02 4.16447527e-05 9.99940728e-01 -2.65292253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.79, Y:-25.16, Z:-2.65 [[ 9.82635341e-01 1.85267129e-01 1.01919933e-02 1.87792969e+02] [-1.85256952e-01 9.82688196e-01 -1.94201529e-03 -2.51616796e+01] [-1.03753431e-02 2.01552548e-05 9.99946174e-01 -2.65355832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.83, Y:-25.17, Z:-2.65 [[ 9.82621133e-01 1.85342492e-01 1.01916058e-02 1.87825841e+02] [-1.85332297e-01 9.82673985e-01 -1.94404637e-03 -2.51681042e+01] [-1.03753403e-02 2.14273375e-05 9.99946174e-01 -2.65398553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.86, Y:-25.17, Z:-2.65 [[ 9.81555862e-01 1.90973446e-01 8.78815881e-03 1.87855537e+02] [-1.90966084e-01 9.81595203e-01 -1.67715501e-03 -2.51725020e+01] [-8.94670660e-03 -3.20189418e-05 9.99959977e-01 -2.65303668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.89, Y:-25.18, Z:-2.65 [[ 9.80934234e-01 1.94139167e-01 8.83250317e-03 1.87886115e+02] [-1.94131859e-01 9.80973996e-01 -1.68567709e-03 -2.51774789e+01] [-8.99171187e-03 -6.11318952e-05 9.99959572e-01 -2.65326956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.92, Y:-25.18, Z:-2.65 [[ 9.79995246e-01 1.98770561e-01 9.97905793e-03 1.87918576e+02] [-1.98761473e-01 9.80046045e-01 -1.90432768e-03 -2.51834346e+01] [-1.01584605e-02 -1.17220185e-04 9.99948395e-01 -2.65300238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.95, Y:-25.19, Z:-2.65 [[ 9.79859115e-01 1.99420746e-01 1.03672756e-02 1.87949892e+02] [-1.99410952e-01 9.79913950e-01 -1.98051272e-03 -2.51897360e+01] [-1.05539933e-02 -1.26724850e-04 9.99944297e-01 -2.65365185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.98, Y:-25.20, Z:-2.65 [[ 9.79934636e-01 1.99044290e-01 1.04632709e-02 1.87981098e+02] [-1.99034272e-01 9.79990488e-01 -2.00073474e-03 -2.51960401e+01] [-1.06521408e-02 -1.21960244e-04 9.99943257e-01 -2.65438954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.01, Y:-25.20, Z:-2.66 [[ 9.80612572e-01 1.95675058e-01 1.05002115e-02 1.88010999e+02] [-1.95664752e-01 9.80668784e-01 -2.00999905e-03 -2.52008478e+01] [-1.06905364e-02 -8.34909529e-05 9.99942851e-01 -2.65579373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.04, Y:-25.21, Z:-2.66 [[ 9.80946879e-01 1.93981266e-01 1.06999865e-02 1.88041477e+02] [-1.93970462e-01 9.81005231e-01 -2.04834053e-03 -2.52058776e+01] [-1.08940825e-02 -6.61680808e-05 9.99940656e-01 -2.65661041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.07, Y:-25.21, Z:-2.66 [[ 9.81444277e-01 1.91494709e-01 9.84413338e-03 1.88071613e+02] [-1.91485437e-01 9.81493645e-01 -1.88472316e-03 -2.52089659e+01] [-1.00228689e-02 -3.52574232e-05 9.99949769e-01 -2.65641685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.10, Y:-25.21, Z:-2.66 [[ 9.81604572e-01 1.90730823e-01 8.61491033e-03 1.88102003e+02] [-1.90723693e-01 9.81642375e-01 -1.64930293e-03 -2.52131335e+01] [-8.77133395e-03 -2.41042192e-05 9.99961531e-01 -2.65740268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.13, Y:-25.22, Z:-2.66 [[ 9.81673628e-01 1.90431442e-01 7.26324874e-03 1.88134950e+02] [-1.90426369e-01 9.81700497e-01 -1.39001259e-03 -2.52178315e+01] [-7.39503700e-03 -1.85753824e-05 9.99972656e-01 -2.65916915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.17, Y:-25.22, Z:-2.66 [[ 9.81610949e-01 1.90819614e-01 5.27439799e-03 1.88167054e+02] [-1.90816940e-01 9.81625119e-01 -1.01030862e-03 -2.52219983e+01] [-5.37026826e-03 -1.47144823e-05 9.99985580e-01 -2.66148205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.20, Y:-25.23, Z:-2.66 [[ 9.81685256e-01 1.90417976e-01 5.92052532e-03 1.88198690e+02] [-1.90414595e-01 9.81703109e-01 -1.13469875e-03 -2.52279217e+01] [-6.02826515e-03 -1.34373987e-05 9.99981830e-01 -2.66254057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.23, Y:-25.23, Z:-2.66 [[ 9.82173707e-01 1.87793641e-01 8.26787783e-03 1.88231173e+02] [-1.87786938e-01 9.82208506e-01 -1.58672757e-03 -2.52334335e+01] [-8.41875728e-03 5.84264213e-06 9.99964562e-01 -2.66169992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.26, Y:-25.24, Z:-2.66 [[ 9.82453460e-01 1.86307955e-01 8.63397191e-03 1.88263060e+02] [-1.86300572e-01 9.82491397e-01 -1.65882337e-03 -2.52396030e+01] [-8.79185511e-03 2.12028547e-05 9.99961351e-01 -2.66160820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.30, Y:-25.25, Z:-2.66 [[ 9.82633881e-01 1.85369788e-01 8.28839976e-03 1.88295507e+02] [-1.85362939e-01 9.82668836e-01 -1.59377051e-03 -2.52458506e+01] [-8.44018904e-03 2.97307572e-05 9.99964381e-01 -2.66270661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.33, Y:-25.25, Z:-2.66 [[ 9.82638966e-01 1.85421216e-01 6.29568535e-03 1.88327327e+02] [-1.85417261e-01 9.82659133e-01 -1.21132627e-03 -2.52497651e+01] [-6.41111829e-03 2.29676624e-05 9.99979448e-01 -2.66422680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.795769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.36, Y:-25.25, Z:-2.67 [[ 9.82522089e-01 1.86032208e-01 6.50865407e-03 1.88359188e+02] [-1.86027985e-01 9.82543646e-01 -1.25360939e-03 -2.52544961e+01] [-6.62824843e-03 2.09071157e-05 9.99978033e-01 -2.66519211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.39, Y:-25.26, Z:-2.66 [[ 9.82331268e-01 1.86971245e-01 8.18735626e-03 1.88391254e+02] [-1.86964578e-01 9.82365387e-01 -1.57908295e-03 -2.52604185e+01] [-8.33821850e-03 2.04369466e-05 9.99965236e-01 -2.66479778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.42, Y:-25.27, Z:-2.66 [[ 9.82207379e-01 1.87592177e-01 8.82269821e-03 1.88422479e+02] [-1.87584445e-01 9.82247003e-01 -1.70331801e-03 -2.52678036e+01] [-8.98559801e-03 1.80105743e-05 9.99959629e-01 -2.66441726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.45, Y:-25.27, Z:-2.66 [[ 9.82037930e-01 1.88474181e-01 8.88751020e-03 1.88453260e+02] [-1.88466357e-01 9.82078145e-01 -1.71733969e-03 -2.52748959e+01] [-9.05190372e-03 1.14960416e-05 9.99959031e-01 -2.66405078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.49, Y:-25.28, Z:-2.66 [[ 9.81704332e-01 1.90170489e-01 9.58072570e-03 1.88485326e+02] [-1.90161458e-01 9.81751081e-01 -1.85325742e-03 -2.52803964e+01] [-9.75832268e-03 -2.53393743e-06 9.99952386e-01 -2.66354762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.52, Y:-25.29, Z:-2.66 [[ 9.81442753e-01 1.91485720e-01 1.01657416e-02 1.88518019e+02] [-1.91475605e-01 9.81495399e-01 -1.96824800e-03 -2.52856314e+01] [-1.03545200e-02 -1.47687937e-05 9.99946390e-01 -2.66361049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.55, Y:-25.29, Z:-2.66 [[ 9.80880880e-01 1.94326598e-01 1.04819644e-02 1.88549937e+02] [-1.94315981e-01 9.80936884e-01 -2.03184825e-03 -2.52898843e+01] [-1.06769876e-02 -4.38120892e-05 9.99942998e-01 -2.66335936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:188.58, Y:-25.30, Z:-2.66 [[ 9.80713612e-01 1.95150102e-01 1.08281935e-02 1.88582012e+02] [-1.95138806e-01 9.80773386e-01 -2.10030369e-03 -2.52952837e+01] [-1.10298785e-02 -5.32043340e-05 9.99939168e-01 -2.65947405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.61, Y:-25.30, Z:-2.66 [[ 9.80522755e-01 1.96070540e-01 1.14660380e-02 1.88613140e+02] [-1.96057912e-01 9.80589791e-01 -2.22618761e-03 -2.52999219e+01] [-1.16799696e-02 -6.51798638e-05 9.99931785e-01 -2.66355358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.64, Y:-25.31, Z:-2.66 [[ 9.80780609e-01 1.94783078e-01 1.13555656e-02 1.88644098e+02] [-1.94770583e-01 9.80846344e-01 -2.20672710e-03 -2.53050874e+01] [-1.15678981e-02 -4.74149832e-05 9.99933089e-01 -2.66313070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.68, Y:-25.31, Z:-2.66 [[ 9.81235570e-01 1.92540446e-01 1.02436841e-02 1.88676164e+02] [-1.92530158e-01 9.81289038e-01 -1.99047428e-03 -2.53121690e+01] [-1.04352617e-02 -1.90939465e-05 9.99945551e-01 -2.66376410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.71, Y:-25.32, Z:-2.66 [[ 9.82373538e-01 1.86765214e-01 7.80936803e-03 1.88708068e+02] [-1.86759042e-01 9.82404577e-01 -1.51868761e-03 -2.53205576e+01] [-7.95559692e-03 3.34484315e-05 9.99968353e-01 -2.66494792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.74, Y:-25.33, Z:-2.67 [[ 9.82756360e-01 1.84738537e-01 7.84921758e-03 1.88740706e+02] [-1.84732231e-01 9.82787704e-01 -1.52723744e-03 -2.53280241e+01] [-7.99625413e-03 5.08988345e-05 9.99968028e-01 -2.66587052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.77, Y:-25.34, Z:-2.67 [[ 9.83357794e-01 1.81468430e-01 8.75546604e-03 1.88772600e+02] [-1.81460436e-01 9.83396767e-01 -1.70557493e-03 -2.53377381e+01] [-8.91960500e-03 8.84197150e-05 9.99960216e-01 -2.66570015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.80, Y:-25.35, Z:-2.67 [[ 9.83464932e-01 1.80837506e-01 9.72237559e-03 1.88804554e+02] [-1.80827596e-01 9.83512982e-01 -1.89615154e-03 -2.53452454e+01] [-9.90497792e-03 1.06724741e-04 9.99950939e-01 -2.66547998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.84, Y:-25.35, Z:-2.67 [[ 9.83423253e-01 1.81044082e-01 1.00869163e-02 1.88836260e+02] [-1.81033402e-01 9.83474976e-01 -1.96956683e-03 -2.53520720e+01] [-1.02768082e-02 1.10849050e-04 9.99947186e-01 -2.66550763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.87, Y:-25.36, Z:-2.67 [[ 9.82934299e-01 1.83753209e-01 8.65577706e-03 1.88868628e+02] [-1.83745445e-01 9.82972407e-01 -1.69070155e-03 -2.53606430e+01] [-8.81906185e-03 7.13889352e-05 9.99961109e-01 -2.66645404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.90, Y:-25.37, Z:-2.67 [[ 9.82716137e-01 1.84990997e-01 6.87925898e-03 1.88899213e+02] [-1.84986117e-01 9.82740214e-01 -1.34463868e-03 -2.53688931e+01] [-7.00927049e-03 4.88307306e-05 9.99975434e-01 -2.66773535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.93, Y:-25.38, Z:-2.67 [[ 9.82657853e-01 1.85349263e-01 5.40328010e-03 1.88929425e+02] [-1.85346254e-01 9.82672707e-01 -1.05665381e-03 -2.53784871e+01] [-5.50550589e-03 3.68514339e-05 9.99984844e-01 -2.66947390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.96, Y:-25.39, Z:-2.67 [[ 9.82759812e-01 1.84785966e-01 6.10725941e-03 1.88961295e+02] [-1.84782104e-01 9.82778787e-01 -1.19568536e-03 -2.53861098e+01] [-6.22303087e-03 4.65592784e-05 9.99980636e-01 -2.67069526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.99, Y:-25.39, Z:-2.67 [[ 9.82893246e-01 1.84035935e-01 7.18621423e-03 1.88992913e+02] [-1.84030554e-01 9.82919514e-01 -1.40873266e-03 -2.53944078e+01] [-7.32272763e-03 6.21508269e-05 9.99973187e-01 -2.67149971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.02, Y:-25.41, Z:-2.67 [[ 9.83205931e-01 1.82277916e-01 8.99208187e-03 1.89023222e+02] [-1.82269394e-01 9.83247045e-01 -1.76527252e-03 -2.54078145e+01] [-9.16320813e-03 9.66451020e-05 9.99958012e-01 -2.67195395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.05, Y:-25.42, Z:-2.67 [[ 9.83359535e-01 1.81446847e-01 9.00374371e-03 1.89053993e+02] [-1.81438251e-01 9.83400748e-01 -1.76931823e-03 -2.54171034e+01] [-9.17532551e-03 1.06252444e-04 9.99957900e-01 -2.67227868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.09, Y:-25.43, Z:-2.67 [[ 9.83564331e-01 1.80385782e-01 7.88525034e-03 1.89085960e+02] [-1.80379146e-01 9.83595933e-01 -1.55062487e-03 -2.54279938e+01] [-8.03561084e-03 1.02804590e-04 9.99967709e-01 -2.67303280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.12, Y:-25.44, Z:-2.67 [[ 9.83482868e-01 1.80852844e-01 7.32778365e-03 1.89116749e+02] [-1.80847117e-01 9.83510163e-01 -1.44230525e-03 -2.54366058e+01] [-7.46779470e-03 9.32739608e-05 9.99972111e-01 -2.67411272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.15, Y:-25.45, Z:-2.67 [[ 9.83227032e-01 1.82216256e-01 7.86388191e-03 1.89148510e+02] [-1.82209691e-01 9.83258475e-01 -1.54934307e-03 -2.54483144e+01] [-8.01454402e-03 9.04804930e-05 9.99967879e-01 -2.67459414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.18, Y:-25.46, Z:-2.67 [[ 9.83190640e-01 1.82356558e-01 9.06919375e-03 1.89180777e+02] [-1.82347813e-01 9.83232462e-01 -1.78891651e-03 -2.54573478e+01] [-9.24334636e-03 1.05098318e-04 9.99957274e-01 -2.67464993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.21, Y:-25.47, Z:-2.67 [[ 9.83213688e-01 1.82146795e-01 1.06484247e-02 1.89212890e+02] [-1.82134701e-01 9.83271340e-01 -2.10283518e-03 -2.54668530e+01] [-1.08533156e-02 1.28088674e-04 9.99941093e-01 -2.67393459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.24, Y:-25.48, Z:-2.67 [[ 9.83290519e-01 1.81583200e-01 1.29343393e-02 1.89242674e+02] [-1.81565267e-01 9.83375571e-01 -2.55734195e-03 -2.54802450e+01] [-1.31836837e-02 1.66183323e-04 9.99913078e-01 -2.67259319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.27, Y:-25.49, Z:-2.67 [[ 9.83228045e-01 1.81941781e-01 1.26412034e-02 1.89274446e+02] [-1.81924662e-01 9.83309292e-01 -2.50092548e-03 -2.54892981e+01] [-1.28852355e-02 1.59233433e-04 9.99916969e-01 -2.67250620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.31, Y:-25.50, Z:-2.67 [[ 9.82726350e-01 1.84767397e-01 1.04847568e-02 1.89306041e+02] [-1.84755764e-01 9.82782274e-01 -2.07586139e-03 -2.54975029e+01] [-1.06877846e-02 1.02884432e-04 9.99942879e-01 -2.67334551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.34, Y:-25.51, Z:-2.67 [[ 9.82269227e-01 1.87208704e-01 1.00033549e-02 1.89337657e+02] [-1.87198224e-01 9.82320159e-01 -1.98229912e-03 -2.55052139e+01] [-1.01976009e-02 7.45411431e-05 9.99948000e-01 -2.67321896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.37, Y:-25.51, Z:-2.67 [[ 9.81768393e-01 1.89830755e-01 9.75226313e-03 1.89369792e+02] [-1.89820905e-01 9.81816827e-01 -1.93439161e-03 -2.55143838e+01] [-9.94214307e-03 4.79411329e-05 9.99950575e-01 -2.67320102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.40, Y:-25.53, Z:-2.67 [[ 9.80893226e-01 1.94269220e-01 1.03898173e-02 1.89400459e+02] [-1.94258264e-01 9.80948250e-01 -2.06324385e-03 -2.55258935e+01] [-1.05926979e-02 5.51405066e-06 9.99943896e-01 -2.67167015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.43, Y:-25.53, Z:-2.67 [[ 9.80400219e-01 1.96706379e-01 1.10458424e-02 1.89432358e+02] [-1.96694135e-01 9.80462442e-01 -2.19488416e-03 -2.55337288e+01] [-1.12617813e-02 -2.07874948e-05 9.99936584e-01 -2.67131242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.46, Y:-25.54, Z:-2.67 [[ 9.79463554e-01 2.01323939e-01 1.09461485e-02 1.89463431e+02] [-2.01312179e-01 9.79524715e-01 -2.17722340e-03 -2.55414351e+01] [-1.11603502e-02 -7.10820331e-05 9.99937719e-01 -2.67214534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.49, Y:-25.55, Z:-2.67 [[ 9.79023797e-01 2.03517212e-01 9.65142960e-03 1.89494504e+02] [-2.03508160e-01 9.79071365e-01 -1.92119712e-03 -2.55488475e+01] [-9.84043503e-03 -8.32469802e-05 9.99951578e-01 -2.67225700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.53, Y:-25.56, Z:-2.67 [[ 9.78564635e-01 2.05763537e-01 8.52182468e-03 1.89526311e+02] [-2.05756555e-01 9.78601736e-01 -1.69758164e-03 -2.55559726e+01] [-8.68877283e-03 -9.22279272e-05 9.99962248e-01 -2.67305187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.56, Y:-25.56, Z:-2.67 [[ 9.77482760e-01 2.10902472e-01 6.89936087e-03 1.89557699e+02] [-2.10898017e-01 9.77507102e-01 -1.37531943e-03 -2.55602190e+01] [-7.03423252e-03 -1.10710495e-04 9.99975253e-01 -2.67343978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.59, Y:-25.56, Z:-2.67 [[ 9.76896482e-01 2.13599328e-01 6.97073441e-03 1.89590225e+02] [-2.13594840e-01 9.76921343e-01 -1.39076277e-03 -2.55648470e+01] [-7.10692521e-03 -1.30281643e-04 9.99974737e-01 -2.67369847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.62, Y:-25.57, Z:-2.67 [[ 9.75880947e-01 2.18136835e-01 8.52631816e-03 1.89622430e+02] [-2.18130272e-01 9.75918174e-01 -1.70356375e-03 -2.55672532e+01] [-8.69259885e-03 -1.97372699e-04 9.99962199e-01 -2.67431789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.65, Y:-25.57, Z:-2.67 [[ 9.75574415e-01 2.19469113e-01 9.37385676e-03 1.89653985e+02] [-2.19461231e-01 9.75619422e-01 -1.87398094e-03 -2.55722203e+01] [-9.55659764e-03 -2.28990289e-04 9.99954308e-01 -2.67470326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.69, Y:-25.58, Z:-2.68 [[ 9.75506570e-01 2.19743345e-01 9.98972819e-03 1.89686820e+02] [-2.19734389e-01 9.75557688e-01 -1.99896628e-03 -2.55776647e+01] [-1.01848157e-02 -2.45082082e-04 9.99948103e-01 -2.67593621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.72, Y:-25.58, Z:-2.68 [[ 9.76121106e-01 2.17014227e-01 9.61312436e-03 1.89719540e+02] [-2.17005785e-01 9.76168419e-01 -1.92530185e-03 -2.55835061e+01] [-9.80184630e-03 -2.06775834e-04 9.99951939e-01 -2.67759402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.75, Y:-25.59, Z:-2.68 [[ 9.77422817e-01 2.11117288e-01 8.60972394e-03 1.89751160e+02] [-2.11110274e-01 9.77460727e-01 -1.72580376e-03 -2.55907919e+01] [-8.78001404e-03 -1.30761213e-04 9.99961446e-01 -2.67936129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.78, Y:-25.60, Z:-2.68 [[ 9.77406266e-01 2.11193915e-01 8.60934865e-03 1.89783968e+02] [-2.11186888e-01 9.77444174e-01 -1.72767362e-03 -2.55975232e+01] [-8.78003184e-03 -1.29542534e-04 9.99961446e-01 -2.67978854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.82, Y:-25.61, Z:-2.68 [[ 9.78097255e-01 2.07971200e-01 8.58719760e-03 1.89816226e+02] [-2.07964083e-01 9.78134945e-01 -1.72351218e-03 -2.56050017e+01] [-8.75787895e-03 -1.00066139e-04 9.99961644e-01 -2.68006041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.85, Y:-25.61, Z:-2.68 [[ 9.78716423e-01 2.05043274e-01 8.45099438e-03 1.89848041e+02] [-2.05036258e-01 9.78752906e-01 -1.69770348e-03 -2.56124514e+01] [-8.61953799e-03 -7.11899926e-05 9.99962849e-01 -2.68047525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.88, Y:-25.62, Z:-2.68 [[ 9.79404096e-01 2.01731098e-01 8.49588502e-03 1.89879728e+02] [-2.01723868e-01 9.79440944e-01 -1.70836439e-03 -2.56216092e+01] [-8.66584787e-03 -4.06437124e-05 9.99962450e-01 -2.68167070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.91, Y:-25.63, Z:-2.68 [[ 9.79474068e-01 2.01381309e-01 8.72456750e-03 1.89911914e+02] [-2.01373655e-01 9.79512923e-01 -1.75607388e-03 -2.56289472e+01] [-8.89946707e-03 -3.68692188e-05 9.99960398e-01 -2.68210433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.94, Y:-25.64, Z:-2.68 [[ 9.79211390e-01 2.02634733e-01 9.17706565e-03 1.89942957e+02] [-2.02626302e-01 9.79254391e-01 -1.84913819e-03 -2.56356437e+01] [-9.36138146e-03 -4.88176973e-05 9.99956180e-01 -2.68217169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.98, Y:-25.64, Z:-2.68 [[ 9.78851722e-01 2.04346450e-01 9.58299847e-03 1.89975424e+02] [-2.04337320e-01 9.78898628e-01 -1.93276696e-03 -2.56425722e+01] [-9.77573813e-03 -6.62719579e-05 9.99952214e-01 -2.68168947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.01, Y:-25.65, Z:-2.68 [[ 9.78362187e-01 2.06634008e-01 1.04793936e-02 1.90006668e+02] [-2.06623197e-01 9.78418304e-01 -2.11585865e-03 -2.56498108e+01] [-1.06904389e-02 -9.52097252e-05 9.99942851e-01 -2.68150463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.04, Y:-25.66, Z:-2.68 [[ 9.77445577e-01 2.10850786e-01 1.19201559e-02 1.90039144e+02] [-2.10837080e-01 9.77518246e-01 -2.40922995e-03 -2.56577211e+01] [-1.21601579e-02 -1.58319712e-04 9.99926050e-01 -2.68019735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.07, Y:-25.66, Z:-2.68 [[ 9.76973198e-01 2.13016781e-01 1.21334934e-02 1.90070791e+02] [-2.13002718e-01 9.77048523e-01 -2.45479100e-03 -2.56640722e+01] [-1.23779235e-02 -1.86202056e-04 9.99923373e-01 -2.68061245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.10, Y:-25.67, Z:-2.68 [[ 9.75791913e-01 2.18364810e-01 1.21223898e-02 1.90102671e+02] [-2.18351166e-01 9.75867176e-01 -2.45402162e-03 -2.56689885e+01] [-1.23657143e-02 -2.52323493e-04 9.99923510e-01 -2.68086390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.14, Y:-25.67, Z:-2.68 [[ 9.75085774e-01 2.21528943e-01 1.15178820e-02 1.90135050e+02] [-2.21516832e-01 9.75153758e-01 -2.33284679e-03 -2.56744227e+01] [-1.17484990e-02 -2.76679023e-04 9.99930946e-01 -2.68117502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.17, Y:-25.68, Z:-2.68 [[ 9.74518048e-01 2.24044225e-01 1.08976551e-02 1.90167731e+02] [-2.24033518e-01 9.74578936e-01 -2.20917433e-03 -2.56789603e+01] [-1.11155778e-02 -2.88559750e-04 9.99938178e-01 -2.68169317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.20, Y:-25.68, Z:-2.68 [[ 9.73847173e-01 2.26980084e-01 1.00858716e-02 1.90200328e+02] [-2.26971052e-01 9.73899355e-01 -2.04643916e-03 -2.56813641e+01] [-1.02871248e-02 -2.96281902e-04 9.99947042e-01 -2.68270632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.23, Y:-25.69, Z:-2.68 [[ 9.73773647e-01 2.27293979e-01 1.01159411e-02 1.90232979e+02] [-2.27284891e-01 9.73826143e-01 -2.05438431e-03 -2.56866622e+01] [-1.03181171e-02 -2.98695265e-04 9.99946722e-01 -2.68316806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.27, Y:-25.69, Z:-2.68 [[ 9.74167859e-01 2.25637655e-01 9.19953856e-03 1.90265616e+02] [-2.25630051e-01 9.74211263e-01 -1.86977756e-03 -2.56916832e+01] [-9.38418630e-03 -2.54215147e-04 9.99955935e-01 -2.68255454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.30, Y:-25.70, Z:-2.68 [[ 9.74432221e-01 2.24510012e-01 8.78075272e-03 1.90297509e+02] [-2.24503022e-01 9.74471755e-01 -1.78657933e-03 -2.56973253e+01] [-8.95770046e-03 -2.30405058e-04 9.99959852e-01 -2.68278916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.33, Y:-25.70, Z:-2.68 [[ 9.75089257e-01 2.21644061e-01 8.65164181e-03 1.90330096e+02] [-2.21637155e-01 9.75127617e-01 -1.76110484e-03 -2.57001901e+01] [-8.82679329e-03 -2.00290862e-04 9.99961023e-01 -2.68369909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.36, Y:-25.70, Z:-2.68 [[ 9.75317134e-01 2.20625898e-01 8.98338897e-03 1.90363004e+02] [-2.20618392e-01 9.75358485e-01 -1.83043614e-03 -2.57044093e+01] [-9.16586628e-03 -1.96645099e-04 9.99957973e-01 -2.68440310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.40, Y:-25.71, Z:-2.68 [[ 9.75383046e-01 2.20331544e-01 9.05115765e-03 1.90396344e+02] [-2.20323896e-01 9.75425022e-01 -1.84599761e-03 -2.57085560e+01] [-9.23545715e-03 -1.93631548e-04 9.99957334e-01 -2.68407648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.43, Y:-25.71, Z:-2.68 [[ 9.75012966e-01 2.21981962e-01 8.58631696e-03 1.90430230e+02] [-2.21975130e-01 9.75050752e-01 -1.75269779e-03 -2.57098326e+01] [-8.76116211e-03 -1.97045753e-04 9.99961601e-01 -2.68443504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.46, Y:-25.71, Z:-2.69 [[ 9.74715183e-01 2.23303290e-01 8.12108425e-03 1.90463712e+02] [-2.23297212e-01 9.74748995e-01 -1.65918611e-03 -2.57118857e+01] [-8.28652042e-03 -1.96181576e-04 9.99965647e-01 -2.68578009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.49, Y:-25.72, Z:-2.69 [[ 9.74752574e-01 2.23124751e-01 8.53019751e-03 1.90494673e+02] [-2.23118019e-01 9.74789877e-01 -1.74492272e-03 -2.57174919e+01] [-8.70448563e-03 -2.02372855e-04 9.99962095e-01 -2.68592734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.53, Y:-25.72, Z:-2.69 [[ 9.74888554e-01 2.22499912e-01 9.27885716e-03 1.90527023e+02] [-2.22491913e-01 9.74932687e-01 -1.89875532e-03 -2.57241723e+01] [-9.46873403e-03 -2.13395855e-04 9.99955148e-01 -2.68610775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.56, Y:-25.73, Z:-2.69 [[ 9.75286117e-01 2.20714451e-01 1.01054863e-02 1.90559093e+02] [-2.20704845e-01 9.75338447e-01 -2.07008326e-03 -2.57309073e+01] [-1.03131666e-02 -2.11406327e-04 9.99946796e-01 -2.68679910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.59, Y:-25.74, Z:-2.69 [[ 9.75454090e-01 2.19942237e-01 1.07112355e-02 1.90591277e+02] [-2.19931373e-01 9.75512874e-01 -2.19639627e-03 -2.57381705e+01] [-1.09320285e-02 -2.13253011e-04 9.99940221e-01 -2.68786021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.62, Y:-25.75, Z:-2.69 [[ 9.75370299e-01 2.20212560e-01 1.26177842e-02 1.90622711e+02] [-2.20197469e-01 9.75451877e-01 -2.59026660e-03 -2.57465518e+01] [-1.28784505e-02 -2.51935039e-04 9.99917038e-01 -2.68832193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.65, Y:-25.75, Z:-2.69 [[ 9.75031537e-01 2.21667996e-01 1.32966785e-02 1.90654985e+02] [-2.21651349e-01 9.75122156e-01 -2.73140916e-03 -2.57541962e+01] [-1.35713518e-02 -2.84016663e-04 9.99907865e-01 -2.68773838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.69, Y:-25.76, Z:-2.69 [[ 9.74699230e-01 2.23111004e-01 1.35237004e-02 1.90687113e+02] [-2.23093886e-01 9.74792996e-01 -2.78069864e-03 -2.57610923e+01] [-1.38032129e-02 -3.06710038e-04 9.99904684e-01 -2.68781604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.72, Y:-25.77, Z:-2.69 [[ 9.73974917e-01 2.26322395e-01 1.22896428e-02 1.90719577e+02] [-2.26308487e-01 9.74052397e-01 -2.52910633e-03 -2.57690385e+01] [-1.25431494e-02 -3.17964334e-04 9.99921281e-01 -2.68907380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.75, Y:-25.78, Z:-2.69 [[ 9.73455262e-01 2.28595318e-01 1.13592739e-02 1.90751991e+02] [-2.28583567e-01 9.73521484e-01 -2.33964714e-03 -2.57774743e+01] [-1.15933296e-02 -3.19001523e-04 9.99932744e-01 -2.69032688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.78, Y:-25.78, Z:-2.69 [[ 9.73230792e-01 2.29548603e-01 1.13694294e-02 1.90782829e+02] [-2.29536870e-01 9.73297144e-01 -2.34394616e-03 -2.57841521e+01] [-1.16038827e-02 -3.28502656e-04 9.99932619e-01 -2.69051947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.81, Y:-25.79, Z:-2.69 [[ 9.72998443e-01 2.30532135e-01 1.13562308e-02 1.90814487e+02] [-2.30520473e-01 9.73064654e-01 -2.34327175e-03 -2.57900123e+01] [-1.15905462e-02 -3.37843920e-04 9.99932770e-01 -2.69042165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.85, Y:-25.79, Z:-2.69 [[ 9.72606924e-01 2.32209421e-01 1.07030625e-02 1.90845325e+02] [-2.32199145e-01 9.72665756e-01 -2.21017980e-03 -2.57936955e+01] [-1.09237270e-02 -3.35605780e-04 9.99940278e-01 -2.69003919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.88, Y:-25.80, Z:-2.69 [[ 9.72575078e-01 2.32361431e-01 1.02899178e-02 1.90876102e+02] [-2.32351923e-01 9.72629457e-01 -2.12665324e-03 -2.57996134e+01] [-1.05024294e-02 -3.22552244e-04 9.99944796e-01 -2.69042273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.91, Y:-25.81, Z:-2.69 [[ 9.73051932e-01 2.30362498e-01 1.01517403e-02 1.90906184e+02] [-2.30353134e-01 9.73104841e-01 -2.09817237e-03 -2.58072168e+01] [-1.03620478e-02 -2.96854508e-04 9.99946268e-01 -2.69095669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.94, Y:-25.81, Z:-2.69 [[ 9.73443271e-01 2.28793572e-01 7.85488730e-03 1.90937954e+02] [-2.28746513e-01 9.73464627e-01 -6.45394065e-03 -2.58134094e+01] [-9.12307507e-03 4.48576702e-03 9.99948322e-01 -2.69145529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.97, Y:-25.83, Z:-2.69 [[ 9.73740675e-01 2.27410409e-01 1.06584640e-02 1.90968820e+02] [-2.27448365e-01 9.73786985e-01 2.47952604e-03 -2.58252362e+01] [-9.81520348e-03 -4.83866557e-03 9.99940123e-01 -2.69092659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.00, Y:-25.83, Z:-2.69 [[ 9.74021776e-01 2.26265671e-01 9.24263905e-03 1.90999703e+02] [-2.26257700e-01 9.74065600e-01 -1.91292930e-03 -2.58325818e+01] [-9.43576699e-03 -2.27983455e-04 9.99955456e-01 -2.69182534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.03, Y:-25.84, Z:-2.69 [[ 9.73136004e-01 2.30061002e-01 8.84607357e-03 1.91031595e+02] [-2.30053843e-01 9.73176177e-01 -1.83236033e-03 -2.58406363e+01] [-9.03034271e-03 -2.51937412e-04 9.99959194e-01 -2.69029036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.06, Y:-25.85, Z:-2.69 [[ 9.72284846e-01 2.33627655e-01 8.96084639e-03 1.91062659e+02] [-2.33620444e-01 9.72326096e-01 -1.85796755e-03 -2.58468990e+01] [-9.14693739e-03 -2.86963218e-04 9.99958125e-01 -2.69027765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.10, Y:-25.85, Z:-2.69 [[ 9.71360291e-01 2.37450908e-01 8.73216847e-03 1.91095049e+02] [-2.37444200e-01 9.71399490e-01 -1.81203698e-03 -2.58523673e+01] [-8.91269382e-03 -3.13261989e-04 9.99960232e-01 -2.69104630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.13, Y:-25.85, Z:-2.69 [[ 9.69584049e-01 2.44624781e-01 8.09250529e-03 1.91126035e+02] [-2.44619251e-01 9.69617757e-01 -1.68150856e-03 -2.58531186e+01] [-8.25797549e-03 -3.49218705e-04 9.99965841e-01 -2.69211226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.16, Y:-25.86, Z:-2.69 [[ 9.68862895e-01 2.47458710e-01 8.29926655e-03 1.91155278e+02] [-2.47452995e-01 9.68898364e-01 -1.72476727e-03 -2.58552511e+01] [-8.46795446e-03 -3.82615353e-04 9.99964073e-01 -2.69281179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.19, Y:-25.85, Z:-2.69 [[ 9.68257580e-01 2.49751739e-01 1.00661437e-02 1.91185618e+02] [-2.49743460e-01 9.68309780e-01 -2.09148930e-03 -2.58527726e+01] [-1.02694985e-02 -4.88853183e-04 9.99947148e-01 -2.69331992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.21, Y:-25.85, Z:-2.69 [[ 9.68465025e-01 2.48923490e-01 1.06109165e-02 1.91214673e+02] [-2.48914243e-01 9.68523020e-01 -2.20443003e-03 -2.58533894e+01] [-1.08256513e-02 -5.06294865e-04 9.99941273e-01 -2.69338392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.25, Y:-25.85, Z:-2.70 [[ 9.69747569e-01 2.43846794e-01 1.13311051e-02 1.91246355e+02] [-2.43835908e-01 9.69813647e-01 -2.35360601e-03 -2.58479383e+01] [-1.15629797e-02 -4.80526602e-04 9.99933031e-01 -2.69527780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.28, Y:-25.85, Z:-2.70 [[ 9.70580484e-01 2.40499360e-01 1.15577569e-02 1.91276480e+02] [-2.40487802e-01 9.70649193e-01 -2.40038594e-03 -2.58493461e+01] [-1.17958187e-02 -4.49731813e-04 9.99930326e-01 -2.69608651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.585769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:191.30, Y:-25.85, Z:-2.70 [[ 9.71501746e-01 2.36750780e-01 1.15509868e-02 1.91304936e+02] [-2.36738972e-01 9.71570329e-01 -2.39885760e-03 -2.58514561e+01] [-1.17905274e-02 -4.04074378e-04 9.99930408e-01 -2.69597518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.34, Y:-25.85, Z:-2.70 [[ 9.73722439e-01 2.27474569e-01 1.09513580e-02 1.91335340e+02] [-2.27463371e-01 9.73783982e-01 -2.27391862e-03 -2.58516764e+01] [-1.11815157e-02 -2.76867233e-04 9.99937447e-01 -2.69772078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.36, Y:-25.86, Z:-2.70 [[ 9.74890090e-01 2.22430717e-01 1.06718815e-02 1.91364068e+02] [-2.22419783e-01 9.74948476e-01 -2.21580132e-03 -2.58551575e+01] [-1.08973969e-02 -2.13474830e-04 9.99940599e-01 -2.69960952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.39, Y:-25.86, Z:-2.70 [[ 9.76908245e-01 2.13364665e-01 1.12160633e-02 1.91393017e+02] [-2.13351993e-01 9.76972623e-01 -2.32833642e-03 -2.58593275e+01] [-1.14545715e-02 -1.18398406e-04 9.99934387e-01 -2.70080662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.42, Y:-25.87, Z:-2.70 [[ 9.77667011e-01 2.09862460e-01 1.11787265e-02 1.91423096e+02] [-2.09849647e-01 9.77730915e-01 -2.32029031e-03 -2.58659419e+01] [-1.14167283e-02 -7.73805207e-05 9.99934824e-01 -2.70061753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.45, Y:-25.87, Z:-2.70 [[ 9.78609381e-01 2.05525910e-01 9.09830416e-03 1.91452525e+02] [-2.05517235e-01 9.78651674e-01 -1.88847155e-03 -2.58737257e+01] [-9.29220043e-03 -2.17823388e-05 9.99956826e-01 -2.70021867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:-25.88, Z:-2.70 [[ 9.78779341e-01 2.04747823e-01 8.32646620e-03 1.91480584e+02] [-2.04740528e-01 9.78814757e-01 -1.72841403e-03 -2.58810168e+01] [-8.50395700e-03 -1.30291432e-05 9.99963841e-01 -2.70086724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.51, Y:-25.89, Z:-2.70 [[ 9.78786982e-01 2.04702157e-01 8.54820544e-03 1.91509303e+02] [-2.04694469e-01 9.78824308e-01 -1.77406832e-03 -2.58886892e+01] [-8.73034689e-03 -1.33354026e-05 9.99961890e-01 -2.70177313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.54, Y:-25.90, Z:-2.70 [[ 9.78507923e-01 2.06007465e-01 9.11966155e-03 1.91536949e+02] [-2.05998774e-01 9.78550420e-01 -1.89245912e-03 -2.58971343e+01] [-9.31390935e-03 -2.68528520e-05 9.99956624e-01 -2.70173051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.57, Y:-25.90, Z:-2.70 [[ 9.78442652e-01 2.06291185e-01 9.69142175e-03 1.91566654e+02] [-2.06281389e-01 9.78490647e-01 -2.01062462e-03 -2.59044349e+01] [-9.89773968e-03 -3.18790484e-05 9.99951016e-01 -2.70193675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.60, Y:-25.91, Z:-2.70 [[ 9.78377249e-01 2.06603494e-01 9.64134013e-03 1.91595835e+02] [-2.06593815e-01 9.78424752e-01 -2.00020146e-03 -2.59135553e+01] [-9.84657443e-03 -3.48896313e-05 9.99951521e-01 -2.70145003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.63, Y:-25.92, Z:-2.70 [[ 9.78336615e-01 2.06823987e-01 9.01704004e-03 1.91625235e+02] [-2.06815528e-01 9.78378167e-01 -1.87078548e-03 -2.59215652e+01] [-9.20899841e-03 -3.46059611e-05 9.99957596e-01 -2.70134446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.65, Y:-25.93, Z:-2.70 [[ 9.78243415e-01 2.07282888e-01 8.58056707e-03 1.91654351e+02] [-2.07275245e-01 9.78281045e-01 -1.78037296e-03 -2.59311424e+01] [-8.76324697e-03 -3.69010186e-05 9.99961601e-01 -2.70150133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.68, Y:-25.94, Z:-2.70 [[ 9.78186874e-01 2.07522039e-01 9.22182401e-03 1.91683324e+02] [-2.07513221e-01 9.78230342e-01 -1.91346368e-03 -2.59389234e+01] [-9.41815394e-03 -4.19253518e-05 9.99955647e-01 -2.70116932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.71, Y:-25.95, Z:-2.70 [[ 9.78242275e-01 2.07131559e-01 1.17715536e-02 1.91713887e+02] [-2.07117167e-01 9.78313096e-01 -2.44223072e-03 -2.59492525e+01] [-1.20221281e-02 -4.89974864e-05 9.99927730e-01 -2.70092444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:-25.96, Z:-2.70 [[ 9.78298719e-01 2.06833175e-01 1.23148076e-02 1.91745493e+02] [-2.06817371e-01 9.78376224e-01 -2.55722023e-03 -2.59571947e+01] [-1.25774330e-02 -4.51908655e-05 9.99920900e-01 -2.70101671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.78, Y:-25.97, Z:-2.70 [[ 9.78311748e-01 2.06783519e-01 1.21119613e-02 1.91776495e+02] [-2.06768198e-01 9.78386720e-01 -2.51749256e-03 -2.59663801e+01] [-1.23707580e-02 -4.14758563e-05 9.99923478e-01 -2.70123714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.81, Y:-25.97, Z:-2.70 [[ 9.78293139e-01 2.06871569e-01 1.21115042e-02 1.91808449e+02] [-2.06856227e-01 9.78368107e-01 -2.51968967e-03 -2.59731404e+01] [-1.23707616e-02 -4.03449370e-05 9.99923478e-01 -2.70164817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.84, Y:-25.98, Z:-2.70 [[ 9.78187231e-01 2.07366241e-01 1.22059051e-02 1.91840291e+02] [-2.07350683e-01 9.78263380e-01 -2.54047273e-03 -2.59809196e+01] [-1.24673983e-02 -4.58447839e-05 9.99922278e-01 -2.70201917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.87, Y:-25.99, Z:-2.70 [[ 9.77795282e-01 2.09255830e-01 1.13307195e-02 1.91871168e+02] [-2.09242526e-01 9.77860928e-01 -2.36040811e-03 -2.59876807e+01] [-1.15737971e-02 -6.28724564e-05 9.99933019e-01 -2.70319264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.90, Y:-25.99, Z:-2.70 [[ 9.77599720e-01 2.10221375e-01 1.02840394e-02 1.91901534e+02] [-2.10210448e-01 9.77653808e-01 -2.14439028e-03 -2.59932933e+01] [-1.05050269e-02 -6.54571855e-05 9.99944819e-01 -2.70469024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.93, Y:-26.00, Z:-2.71 [[ 9.77421944e-01 2.11075636e-01 9.66531571e-03 1.91931347e+02] [-2.11066023e-01 9.77469729e-01 -2.01562768e-03 -2.59990787e+01] [-9.87300342e-03 -6.99010227e-05 9.99951258e-01 -2.70617695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.96, Y:-26.00, Z:-2.71 [[ 9.77094525e-01 2.12538143e-01 1.06689876e-02 1.91962633e+02] [-2.12526516e-01 9.77152766e-01 -2.22506159e-03 -2.60048059e+01] [-1.08981412e-02 -9.33472742e-05 9.99940609e-01 -2.70659542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.99, Y:-26.01, Z:-2.71 [[ 9.76917567e-01 2.13318444e-01 1.12831554e-02 1.91992844e+02] [-2.13305488e-01 9.76982717e-01 -2.35345251e-03 -2.60103617e+01] [-1.15254827e-02 -1.07629875e-04 9.99933574e-01 -2.70687849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.02, Y:-26.02, Z:-2.71 [[ 9.76519276e-01 2.15138569e-01 1.12026712e-02 1.92024158e+02] [-2.15125916e-01 9.76583524e-01 -2.33678524e-03 -2.60155152e+01] [-1.14430767e-02 -1.28069069e-04 9.99934518e-01 -2.70801334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.06, Y:-26.02, Z:-2.71 [[ 9.76327308e-01 2.16038084e-01 1.06082297e-02 1.92056585e+02] [-2.16026792e-01 9.76384929e-01 -2.21272058e-03 -2.60214325e+01] [-1.08357475e-02 -1.31322306e-04 9.99941283e-01 -2.70900061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:192.09, Y:-26.02, Z:-2.71 [[ 9.75769627e-01 2.18625816e-01 8.74003948e-03 1.92087254e+02] [-2.18618236e-01 9.75808760e-01 -1.82508751e-03 -2.60234951e+01] [-8.92761833e-03 -1.29867054e-04 9.99960140e-01 -2.71040152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.12, Y:-26.03, Z:-2.71 [[ 9.75396783e-01 2.20315100e-01 7.89766383e-03 1.92115891e+02] [-2.20308964e-01 9.75428747e-01 -1.64948530e-03 -2.60267874e+01] [-8.06701485e-03 -1.31023474e-04 9.99967453e-01 -2.71170657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.14, Y:-26.03, Z:-2.71 [[ 9.75051288e-01 2.21850933e-01 7.55969149e-03 1.92143273e+02] [-2.21845359e-01 9.75080584e-01 -1.57875472e-03 -2.60298276e+01] [-7.72155660e-03 -1.37715649e-04 9.99970179e-01 -2.71233385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.17, Y:-26.03, Z:-2.71 [[ 9.74733236e-01 2.23196395e-01 8.85933774e-03 1.92173473e+02] [-2.23188801e-01 9.74773481e-01 -1.84939937e-03 -2.60326670e+01] [-9.04862676e-03 -1.74633934e-04 9.99959045e-01 -2.71229365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.20, Y:-26.04, Z:-2.71 [[ 9.75126481e-01 2.21477011e-01 8.73376811e-03 1.92202455e+02] [-2.21469564e-01 9.75165580e-01 -1.82301448e-03 -2.60353800e+01] [-8.92062585e-03 -1.56594118e-04 9.99960198e-01 -2.71244232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.23, Y:-26.04, Z:-2.71 [[ 9.75550289e-01 2.19613702e-01 8.45316279e-03 1.92230536e+02] [-2.19606658e-01 9.75586902e-01 -1.76417242e-03 -2.60398508e+01] [-8.63423133e-03 -1.35331919e-04 9.99962715e-01 -2.71288072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.26, Y:-26.04, Z:-2.71 [[ 9.76078285e-01 2.17250664e-01 8.56334184e-03 1.92260228e+02] [-2.17243348e-01 9.76115841e-01 -1.78667584e-03 -2.60448912e+01] [-8.74697014e-03 -1.16393562e-04 9.99961738e-01 -2.71267742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.29, Y:-26.05, Z:-2.71 [[ 9.77297605e-01 2.11609684e-01 1.05229235e-02 1.92289381e+02] [-2.11598314e-01 9.77354253e-01 -2.19512382e-03 -2.60484194e+01] [-1.07491335e-02 -8.13436131e-05 9.99942223e-01 -2.71072074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.32, Y:-26.05, Z:-2.71 [[ 9.77827996e-01 2.09047101e-01 1.23174771e-02 1.92318943e+02] [-2.09031316e-01 9.77905571e-01 -2.56967695e-03 -2.60537464e+01] [-1.25825130e-02 -6.20363861e-05 9.99920835e-01 -2.70975603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.35, Y:-26.06, Z:-2.71 [[ 9.79029955e-01 2.03178889e-01 1.47880461e-02 1.92350052e+02] [-2.03155470e-01 9.79141634e-01 -3.08478465e-03 -2.60603776e+01] [-1.51063547e-02 1.58241213e-05 9.99885892e-01 -2.70868975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.38, Y:-26.07, Z:-2.71 [[ 9.79554900e-01 2.00613768e-01 1.50437232e-02 1.92379547e+02] [-2.00589225e-01 9.79670410e-01 -3.13846452e-03 -2.60670593e+01] [-1.53675097e-02 5.66895305e-05 9.99881911e-01 -2.70915108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:192.41, Y:-26.07, Z:-2.71 [[ 9.80122310e-01 1.97984403e-01 1.27449268e-02 1.92409842e+02] [-1.97966564e-01 9.80205167e-01 -2.65902338e-03 -2.60735270e+01] [-1.30190883e-02 8.30987770e-05 9.99915245e-01 -2.71128407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.44, Y:-26.08, Z:-2.71 [[ 9.80087933e-01 1.98280125e-01 1.06130198e-02 1.92438985e+02] [-1.98267769e-01 9.80145391e-01 -2.21446764e-03 -2.60803516e+01] [-1.08413874e-02 6.61532465e-05 9.99941228e-01 -2.71195974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.47, Y:-26.09, Z:-2.71 [[ 9.79862645e-01 1.99455658e-01 9.30790937e-03 1.92469044e+02] [-1.99446207e-01 9.79906852e-01 -1.94228155e-03 -2.60875113e+01] [-9.50828321e-03 4.67419257e-05 9.99954794e-01 -2.71219968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.50, Y:-26.10, Z:-2.71 [[ 9.78992261e-01 2.03733611e-01 8.17118918e-03 1.92496316e+02] [-2.03726475e-01 9.79026361e-01 -1.70523618e-03 -2.60954838e+01] [-8.34722353e-03 4.72545847e-06 9.99965161e-01 -2.71096764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.52, Y:-26.10, Z:-2.71 [[ 9.78530222e-01 2.05916840e-01 8.76698974e-03 1.92524544e+02] [-2.05908716e-01 9.78569494e-01 -1.82918297e-03 -2.61020212e+01] [-8.95576829e-03 -1.52887856e-05 9.99959896e-01 -2.71100669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.55, Y:-26.11, Z:-2.71 [[ 9.77628791e-01 2.10041953e-01 1.11501027e-02 1.92553508e+02] [-2.10029085e-01 9.77692371e-01 -2.32598735e-03 -2.61083319e+01] [-1.13899253e-02 -6.78936613e-05 9.99935130e-01 -2.71178601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.58, Y:-26.11, Z:-2.71 [[ 9.77145773e-01 2.12189006e-01 1.27264951e-02 1.92583651e+02] [-2.12172428e-01 9.77228640e-01 -2.65447785e-03 -2.61143825e+01] [-1.29999466e-02 -1.06399559e-04 9.99915491e-01 -2.71265702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.61, Y:-26.12, Z:-2.71 [[ 9.76251649e-01 2.16143730e-01 1.46494523e-02 1.92612263e+02] [-2.16122210e-01 9.76361539e-01 -3.05547869e-03 -2.61192845e+01] [-1.49635843e-02 -1.83155880e-04 9.99888023e-01 -2.71303325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.64, Y:-26.12, Z:-2.71 [[ 9.75899852e-01 2.17721866e-01 1.47196200e-02 1.92641176e+02] [-2.17700326e-01 9.76010833e-01 -3.06962243e-03 -2.61245529e+01] [-1.50348325e-02 -2.08821993e-04 9.99886949e-01 -2.71317640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.67, Y:-26.13, Z:-2.71 [[ 9.75621070e-01 2.19022685e-01 1.38777508e-02 1.92670823e+02] [-2.19003673e-01 9.75719743e-01 -2.89388040e-03 -2.61298401e+01] [-1.41746209e-02 -2.15947711e-04 9.99899512e-01 -2.71360703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.70, Y:-26.13, Z:-2.72 [[ 9.75454312e-01 2.19981017e-01 9.86087300e-03 1.92699832e+02] [-2.19971468e-01 9.75504139e-01 -2.05611049e-03 -2.61315356e+01] [-1.00716277e-02 -1.63468865e-04 9.99949267e-01 -2.71595923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.73, Y:-26.13, Z:-2.72 [[ 9.75542647e-01 2.19661356e-01 8.08902276e-03 1.92728265e+02] [-2.19654921e-01 9.75576174e-01 -1.68658956e-03 -2.61340356e+01] [-8.26193642e-03 -1.31453605e-04 9.99965861e-01 -2.71764738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.76, Y:-26.13, Z:-2.72 [[ 9.75858692e-01 2.18226536e-01 8.77448427e-03 1.92757600e+02] [-2.18218910e-01 9.75898131e-01 -1.82903377e-03 -2.61323250e+01] [-8.96214650e-03 -1.29879893e-04 9.99959831e-01 -2.71843401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.79, Y:-26.13, Z:-2.72 [[ 9.76056208e-01 2.17251501e-01 1.07733319e-02 1.92785213e+02] [-2.17239952e-01 9.76115650e-01 -2.24504860e-03 -2.61345109e+01] [-1.10037580e-02 -1.49104477e-04 9.99939446e-01 -2.71734319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.82, Y:-26.13, Z:-2.72 [[ 9.76864097e-01 2.13569598e-01 1.11607919e-02 1.92815023e+02] [-2.13556971e-01 9.76927845e-01 -2.32507277e-03 -2.61341070e+01] [-1.13998532e-02 -1.12184800e-04 9.99935013e-01 -2.71733062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.84, Y:-26.14, Z:-2.72 [[ 9.77558178e-01 2.10416790e-01 1.02363851e-02 1.92844373e+02] [-2.10405999e-01 9.77611768e-01 -2.13205314e-03 -2.61365690e+01] [-1.04558304e-02 -6.95908599e-05 9.99945334e-01 -2.71783529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.87, Y:-26.14, Z:-2.72 [[ 9.79299053e-01 2.02147919e-01 1.04681939e-02 1.92873957e+02] [-2.02136167e-01 9.79355001e-01 -2.17979050e-03 -2.61376766e+01] [-1.06927182e-02 1.86661841e-05 9.99942831e-01 -2.71940890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.90, Y:-26.14, Z:-2.72 [[ 9.80231976e-01 1.97560289e-01 1.07333764e-02 1.92902211e+02] [-1.97547665e-01 9.80290736e-01 -2.23444775e-03 -2.61423146e+01] [-1.09632676e-02 6.99236793e-05 9.99939899e-01 -2.71978728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.93, Y:-26.15, Z:-2.72 [[ 9.81117484e-01 1.93131356e-01 1.04288542e-02 1.92930202e+02] [-1.93119194e-01 9.81172903e-01 -2.17051270e-03 -2.61473980e+01] [-1.06517032e-02 1.15516056e-04 9.99943262e-01 -2.72002745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.96, Y:-26.15, Z:-2.72 [[ 9.82654256e-01 1.85203298e-01 9.50530150e-03 1.92959385e+02] [-1.85192826e-01 9.82700211e-01 -1.97793723e-03 -2.61529173e+01] [-9.70718229e-03 1.83314785e-04 9.99952867e-01 -2.72054192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.99, Y:-26.16, Z:-2.72 [[ 9.83582558e-01 1.80231851e-01 9.04612963e-03 1.92988584e+02] [-1.80222158e-01 9.83624131e-01 -1.88218260e-03 -2.61596628e+01] [-9.23722065e-03 2.20968975e-04 9.99957312e-01 -2.71902460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.02, Y:-26.17, Z:-2.72 [[ 9.83735841e-01 1.79354738e-01 9.78124460e-03 1.93016334e+02] [-1.79343365e-01 9.83784436e-01 -2.03486400e-03 -2.61663434e+01] [-9.98759870e-03 2.47567324e-04 9.99950092e-01 -2.71806423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.05, Y:-26.17, Z:-2.72 [[ 9.83797391e-01 1.78957196e-01 1.08173956e-02 1.93045665e+02] [-1.78943265e-01 9.83856821e-01 -2.25011679e-03 -2.61733663e+01] [-1.10454430e-02 2.77958943e-04 9.99938959e-01 -2.71787584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.07, Y:-26.18, Z:-2.72 [[ 9.83710474e-01 1.79412677e-01 1.11711201e-02 1.93073790e+02] [-1.79397853e-01 9.83773862e-01 -2.32342430e-03 -2.61790216e+01] [-1.14067077e-02 2.81501868e-04 9.99934902e-01 -2.71938341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.10, Y:-26.19, Z:-2.72 [[ 9.83310572e-01 1.81644891e-01 1.02689834e-02 1.93102684e+02] [-1.81632490e-01 9.83364164e-01 -2.13542697e-03 -2.61860953e+01] [-1.04860397e-02 2.34606882e-04 9.99944992e-01 -2.72000989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.13, Y:-26.19, Z:-2.72 [[ 9.83135744e-01 1.82565908e-01 1.06676409e-02 1.93131823e+02] [-1.82552583e-01 9.83193590e-01 -2.21805219e-03 -2.61929394e+01] [-1.08932968e-02 2.33240994e-04 9.99940639e-01 -2.71935669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.16, Y:-26.20, Z:-2.72 [[ 9.83026247e-01 1.83124931e-01 1.11649794e-02 1.93159933e+02] [-1.83110373e-01 9.83089621e-01 -2.32118556e-03 -2.61994842e+01] [-1.14012423e-02 2.37362792e-04 9.99934976e-01 -2.71966982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.19, Y:-26.21, Z:-2.72 [[ 9.82945658e-01 1.83620716e-01 1.00631005e-02 1.93188386e+02] [-1.83608919e-01 9.82997146e-01 -2.09175639e-03 -2.62069958e+01] [-1.02760889e-02 2.08407850e-04 9.99947178e-01 -2.72154731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.22, Y:-26.21, Z:-2.72 [[ 9.82920239e-01 1.83839942e-01 8.40707151e-03 1.93216631e+02] [-1.83831719e-01 9.82956177e-01 -1.74731801e-03 -2.62138189e+01] [-8.58500971e-03 1.71987829e-04 9.99963133e-01 -2.72337551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.24, Y:-26.22, Z:-2.72 [[ 9.82572666e-01 1.85758454e-01 6.68974023e-03 1.93244258e+02] [-1.85753291e-01 9.82595431e-01 -1.39047286e-03 -2.62215004e+01] [-6.83160028e-03 1.23599361e-04 9.99976657e-01 -2.72490040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.27, Y:-26.23, Z:-2.72 [[ 9.82178351e-01 1.87805132e-01 7.41070180e-03 1.93272409e+02] [-1.87798856e-01 9.82206301e-01 -1.54006130e-03 -2.62283752e+01] [-7.56806942e-03 1.20893545e-04 9.99971354e-01 -2.72435382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.30, Y:-26.24, Z:-2.72 [[ 9.81373406e-01 1.91877364e-01 9.45067562e-03 1.93300670e+02] [-1.91867353e-01 9.81418904e-01 -1.96339117e-03 -2.62352507e+01] [-9.65180203e-03 1.13543773e-04 9.99953414e-01 -2.72469850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.33, Y:-26.24, Z:-2.73 [[ 9.81086587e-01 1.93333667e-01 9.54991675e-03 1.93328376e+02] [-1.93323518e-01 9.81133061e-01 -1.98349722e-03 -2.62406044e+01] [-9.75321584e-03 9.97590159e-05 9.99952431e-01 -2.72594583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.36, Y:-26.25, Z:-2.73 [[ 9.80968438e-01 1.93941147e-01 9.36778901e-03 1.93357270e+02] [-1.93931412e-01 9.81013162e-01 -1.94529948e-03 -2.62468742e+01] [-9.56719793e-03 9.15688345e-05 9.99954229e-01 -2.72728036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.38, Y:-26.26, Z:-2.73 [[ 9.81311502e-01 1.92214676e-01 9.01417397e-03 1.93384239e+02] [-1.92205591e-01 9.81352897e-01 -1.87169211e-03 -2.62559553e+01] [-9.20585243e-03 1.04138361e-04 9.99957620e-01 -2.72791763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.41, Y:-26.26, Z:-2.73 [[ 9.81648483e-01 1.90469423e-01 9.36242176e-03 1.93411784e+02] [-1.90459547e-01 9.81693121e-01 -1.94362408e-03 -2.62638138e+01] [-9.56122600e-03 1.24793023e-04 9.99954283e-01 -2.72770101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.44, Y:-26.27, Z:-2.73 [[ 9.82321557e-01 1.86940157e-01 9.88621399e-03 1.93441085e+02] [-1.86928971e-01 9.82371289e-01 -2.05187794e-03 -2.62723462e+01] [-1.00955112e-02 1.67584119e-04 9.99949025e-01 -2.72743154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.47, Y:-26.28, Z:-2.73 [[ 9.82554111e-01 1.85702946e-01 1.00913163e-02 1.93470288e+02] [-1.85691225e-01 9.82605914e-01 -2.09447439e-03 -2.62791583e+01] [-1.03047372e-02 1.84065528e-04 9.99946888e-01 -2.72847634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:-26.29, Z:-2.73 [[ 9.82676458e-01 1.85059538e-01 9.99731520e-03 1.93500277e+02] [-1.85048004e-01 9.82727293e-01 -2.07475340e-03 -2.62879492e+01] [-1.02085874e-02 1.88828105e-04 9.99947873e-01 -2.72936656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.53, Y:-26.30, Z:-2.73 [[ 9.82562216e-01 1.85683558e-01 9.64929259e-03 1.93529774e+02] [-1.85672840e-01 9.82609579e-01 -2.00279874e-03 -2.62958626e+01] [-9.85337412e-03 1.76262802e-04 9.99951439e-01 -2.72898886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.56, Y:-26.30, Z:-2.73 [[ 9.82421274e-01 1.86439923e-01 9.41248084e-03 1.93559603e+02] [-1.86429758e-01 9.82466350e-01 -1.95379959e-03 -2.63036210e+01] [-9.61171194e-03 1.64687752e-04 9.99953793e-01 -2.72874050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.59, Y:-26.31, Z:-2.73 [[ 9.81835840e-01 1.89481735e-01 9.74961615e-03 1.93587968e+02] [-1.89470978e-01 9.81884236e-01 -2.02381229e-03 -2.63133462e+01] [-9.95646987e-03 1.39782130e-04 9.99950423e-01 -2.72805313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.62, Y:-26.32, Z:-2.73 [[ 9.81387120e-01 1.91761182e-01 1.03426162e-02 1.93616475e+02] [-1.91749204e-01 9.81441610e-01 -2.14676900e-03 -2.63215745e+01] [-1.05623408e-02 1.23623019e-04 9.99944209e-01 -2.72802661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.65, Y:-26.33, Z:-2.73 [[ 9.81394474e-01 1.91723544e-01 1.03426305e-02 1.93646021e+02] [-1.91711565e-01 9.81448963e-01 -2.14670020e-03 -2.63276508e+01] [-1.05623369e-02 1.23957835e-04 9.99944209e-01 -2.72840595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.67, Y:-26.34, Z:-2.73 [[ 9.80488543e-01 1.96266442e-01 1.10318192e-02 1.93674798e+02] [-1.96253107e-01 9.80550599e-01 -2.28922172e-03 -2.63372079e+01] [-1.12665543e-02 7.95268728e-05 9.99936527e-01 -2.72857346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.70, Y:-26.34, Z:-2.73 [[ 9.80114058e-01 1.98120103e-01 1.11739696e-02 1.93703483e+02] [-1.98106542e-01 9.80177750e-01 -2.31873349e-03 -2.63447679e+01] [-1.14118641e-02 5.89868097e-05 9.99934881e-01 -2.72861978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.73, Y:-26.35, Z:-2.73 [[ 9.79254279e-01 2.02259123e-01 1.23411953e-02 1.93732371e+02] [-2.02242911e-01 9.79332041e-01 -2.56077948e-03 -2.63536699e+01] [-1.26040690e-02 1.17349981e-05 9.99920565e-01 -2.72738145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.76, Y:-26.36, Z:-2.73 [[ 9.78674750e-01 2.04984665e-01 1.33049064e-02 1.93762048e+02] [-2.04966074e-01 9.78765185e-01 -2.76076027e-03 -2.63609210e+01] [-1.35882927e-02 -2.51680617e-05 9.99907675e-01 -2.72733535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.79, Y:-26.37, Z:-2.73 [[ 9.77509537e-01 2.10539820e-01 1.21691872e-02 1.93790240e+02] [-2.10524697e-01 9.77585278e-01 -2.52524166e-03 -2.63655480e+01] [-1.24280821e-02 -9.34666271e-05 9.99922764e-01 -2.72894034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.82, Y:-26.37, Z:-2.73 [[ 9.77101250e-01 2.12555318e-01 9.66348931e-03 1.93818966e+02] [-2.12545882e-01 9.77149030e-01 -2.00506685e-03 -2.63708732e+01] [-9.86885683e-03 -9.47815362e-05 9.99951297e-01 -2.73048045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.85, Y:-26.38, Z:-2.73 [[ 9.76941830e-01 2.13378192e-01 7.37620442e-03 1.93847859e+02] [-2.13372719e-01 9.76969672e-01 -1.53037725e-03 -2.63767310e+01] [-7.53287715e-03 -7.87912398e-05 9.99971624e-01 -2.73248085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.88, Y:-26.38, Z:-2.73 [[ 9.77424232e-01 2.11160537e-01 7.28688977e-03 1.93875533e+02] [-2.11155135e-01 9.77451392e-01 -1.51173407e-03 -2.63831609e+01] [-7.44179913e-03 -6.10586808e-05 9.99972308e-01 -2.73337665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.90, Y:-26.39, Z:-2.73 [[ 9.77892244e-01 2.08933825e-01 8.56832326e-03 1.93903681e+02] [-2.08926273e-01 9.77929780e-01 -1.77719032e-03 -2.63895872e+01] [-8.75053365e-03 -5.22472114e-05 9.99961712e-01 -2.73299302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.93, Y:-26.40, Z:-2.73 [[ 9.79116394e-01 2.03090220e-01 9.24385321e-03 1.93933716e+02] [-2.03081175e-01 9.79160029e-01 -1.91675018e-03 -2.63983082e+01] [-9.44048479e-03 -5.31043730e-07 9.99955438e-01 -2.73320467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.96, Y:-26.41, Z:-2.73 [[ 9.79689172e-01 2.00357434e-01 8.12553853e-03 1.93963146e+02] [-2.00350349e-01 9.79722868e-01 -1.68507590e-03 -2.64062125e+01] [-8.29839340e-03 2.28961333e-05 9.99965567e-01 -2.73483736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.99, Y:-26.42, Z:-2.74 [[ 9.80660873e-01 1.95592934e-01 6.90337839e-03 1.93993316e+02] [-1.95587703e-01 9.80685169e-01 -1.43161809e-03 -2.64159192e+01] [-7.05005519e-03 5.37159310e-05 9.99975147e-01 -2.73654225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.02, Y:-26.42, Z:-2.74 [[ 9.80785597e-01 1.94914678e-01 8.23901781e-03 1.94022614e+02] [-1.94907199e-01 9.80820199e-01 -1.70891306e-03 -2.64240556e+01] [-8.41408733e-03 7.02334330e-05 9.99964598e-01 -2.73612974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.05, Y:-26.43, Z:-2.74 [[ 9.80765022e-01 1.94924586e-01 1.02165271e-02 1.94052794e+02] [-1.94913085e-01 9.80818229e-01 -2.11921877e-03 -2.64324208e+01] [-1.04336439e-02 8.71208200e-05 9.99945564e-01 -2.73527652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.08, Y:-26.44, Z:-2.73 [[ 9.80798955e-01 1.94636347e-01 1.22516219e-02 1.94084327e+02] [-1.94619781e-01 9.80875466e-01 -2.54170617e-03 -2.64431739e+01] [-1.25120238e-02 1.08494784e-04 9.99921716e-01 -2.73459573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.12, Y:-26.45, Z:-2.73 [[ 9.80836486e-01 1.94443210e-01 1.23136397e-02 1.94116018e+02] [-1.94426430e-01 9.80913770e-01 -2.55699369e-03 -2.64520941e+01] [-1.25758088e-02 1.13895702e-04 9.99920915e-01 -2.73496529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.15, Y:-26.46, Z:-2.74 [[ 9.80861530e-01 1.94369813e-01 1.14470505e-02 1.94146270e+02] [-1.94355282e-01 9.80928318e-01 -2.37914953e-03 -2.64632438e+01] [-1.16911708e-02 1.08821528e-04 9.99931650e-01 -2.73610397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.18, Y:-26.47, Z:-2.74 [[ 9.80843826e-01 1.94484827e-01 1.10018881e-02 1.94177422e+02] [-1.94471390e-01 9.80905521e-01 -2.28857478e-03 -2.64717850e+01] [-1.12369058e-02 1.05181974e-04 9.99936858e-01 -2.73638843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.21, Y:-26.48, Z:-2.74 [[ 9.80783905e-01 1.94800524e-01 1.07558127e-02 1.94208759e+02] [-1.94787679e-01 9.80842875e-01 -2.23928162e-03 -2.64796287e+01] [-1.09859755e-02 1.01151576e-04 9.99939647e-01 -2.73616252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.24, Y:-26.49, Z:-2.74 [[ 9.80377956e-01 1.96759735e-01 1.20279093e-02 1.94238582e+02] [-1.96743792e-01 9.80451732e-01 -2.50633569e-03 -2.64879117e+01] [-1.22859304e-02 9.07397768e-05 9.99924521e-01 -2.73582621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.27, Y:-26.50, Z:-2.74 [[ 9.79735765e-01 1.99920589e-01 1.22306547e-02 1.94270363e+02] [-1.99904327e-01 9.79812102e-01 -2.55045667e-03 -2.64978062e+01] [-1.24936323e-02 5.38128289e-05 9.99921950e-01 -2.73526809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.30, Y:-26.51, Z:-2.74 [[ 9.79330453e-01 2.01956605e-01 1.11979407e-02 1.94301155e+02] [-2.01943083e-01 9.79394470e-01 -2.33714944e-03 -2.65055741e+01] [-1.14392040e-02 2.74949445e-05 9.99934570e-01 -2.73561189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.33, Y:-26.51, Z:-2.74 [[ 9.79026891e-01 2.03475802e-01 1.01953014e-02 1.94333253e+02] [-2.03464658e-01 9.79079975e-01 -2.12956144e-03 -2.65132624e+01] [-1.04153297e-02 1.05143992e-05 9.99945759e-01 -2.73639735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.36, Y:-26.52, Z:-2.74 [[ 9.78607054e-01 2.05452867e-01 1.08329346e-02 1.94364983e+02] [-2.05440382e-01 9.78667011e-01 -2.26501840e-03 -2.65208461e+01] [-1.10671902e-02 -8.95923917e-06 9.99938757e-01 -2.73663026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.40, Y:-26.53, Z:-2.74 [[ 9.78518270e-01 2.05760227e-01 1.28344915e-02 1.94397324e+02] [-2.05742689e-01 9.78602437e-01 -2.68646446e-03 -2.65287275e+01] [-1.31126321e-02 -1.18482349e-05 9.99914026e-01 -2.73583567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.43, Y:-26.54, Z:-2.74 [[ 9.78572858e-01 2.05528638e-01 1.23750151e-02 1.94428897e+02] [-2.05512285e-01 9.78651102e-01 -2.59263271e-03 -2.65357091e+01] [-1.26436824e-02 -6.13763246e-06 9.99920065e-01 -2.73706858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.46, Y:-26.54, Z:-2.74 [[ 9.78621105e-01 2.05385926e-01 1.08330380e-02 1.94461032e+02] [-2.05373374e-01 9.78681062e-01 -2.27061374e-03 -2.65431951e+01] [-1.10684413e-02 -2.74704086e-06 9.99938743e-01 -2.73831661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.49, Y:-26.55, Z:-2.74 [[ 9.78930540e-01 2.04034915e-01 8.04677035e-03 1.94491701e+02] [-2.04027933e-01 9.78963612e-01 -1.68787265e-03 -2.65516170e+01] [-8.22188032e-03 1.05441556e-05 9.99966200e-01 -2.73992624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.52, Y:-26.56, Z:-2.74 [[ 9.79051086e-01 2.03454713e-01 8.07153885e-03 1.94523969e+02] [-2.03447663e-01 9.79084358e-01 -1.69375967e-03 -2.65604547e+01] [-8.24732081e-03 1.61415280e-05 9.99965990e-01 -2.74010977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.56, Y:-26.57, Z:-2.74 [[ 9.79145375e-01 2.02962385e-01 8.97802363e-03 1.94555772e+02] [-2.02953624e-01 9.79186535e-01 -1.88596180e-03 -2.65709279e+01] [-9.17393915e-03 2.45083410e-05 9.99957918e-01 -2.74150107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.59, Y:-26.58, Z:-2.74 [[ 9.79015102e-01 2.03553978e-01 9.75744081e-03 1.94588232e+02] [-2.03543638e-01 9.79063725e-01 -2.05174101e-03 -2.65791106e+01] [-9.97079639e-03 2.26204318e-05 9.99950290e-01 -2.74190310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.62, Y:-26.59, Z:-2.74 [[ 9.78688613e-01 2.05089209e-01 1.03448410e-02 1.94620594e+02] [-2.05077651e-01 9.78743284e-01 -2.17735946e-03 -2.65872361e+01] [-1.05714966e-02 9.46122547e-06 9.99944120e-01 -2.74270837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.65, Y:-26.59, Z:-2.74 [[ 9.77732523e-01 2.09669502e-01 8.82113782e-03 1.94653107e+02] [-2.09661272e-01 9.77772314e-01 -1.85797801e-03 -2.65949714e+01] [-9.01462567e-03 -3.28454555e-05 9.99959367e-01 -2.74402095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.69, Y:-26.60, Z:-2.75 [[ 9.77198123e-01 2.12190553e-01 7.68105008e-03 1.94685532e+02] [-2.12184382e-01 9.77228309e-01 -1.61894678e-03 -2.66022679e+01] [-7.84966479e-03 -4.77671060e-05 9.99969190e-01 -2.74516454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.72, Y:-26.61, Z:-2.74 [[ 9.76349885e-01 2.16050477e-01 7.94310827e-03 1.94717773e+02] [-2.16043992e-01 9.76382192e-01 -1.67584783e-03 -2.66103428e+01] [-8.11757719e-03 -7.98469884e-05 9.99967049e-01 -2.74443891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.75, Y:-26.62, Z:-2.74 [[ 9.75968359e-01 2.17723211e-01 9.07558638e-03 1.94748885e+02] [-2.17714797e-01 9.76010549e-01 -1.91697152e-03 -2.66169823e+01] [-9.27523725e-03 -1.04985896e-04 9.99956979e-01 -2.74415535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.78, Y:-26.62, Z:-2.74 [[ 9.75567829e-01 2.19448441e-01 1.04781609e-02 1.94780369e+02] [-2.19437300e-01 9.75624089e-01 -2.21551461e-03 -2.66233250e+01] [-1.07089374e-02 -1.37914555e-04 9.99942648e-01 -2.74365634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.81, Y:-26.63, Z:-2.74 [[ 9.74960108e-01 2.22016690e-01 1.27034227e-02 1.94812757e+02] [-2.22000496e-01 9.75042845e-01 -2.68884197e-03 -2.66295718e+01] [-1.29833493e-02 -1.98652489e-04 9.99915693e-01 -2.74416433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.84, Y:-26.64, Z:-2.74 [[ 9.74794893e-01 2.22735004e-01 1.28076102e-02 1.94844602e+02] [-2.22718573e-01 9.74879005e-01 -2.71337011e-03 -2.66361189e+01] [-1.30902327e-02 -2.07513335e-04 9.99914298e-01 -2.74481774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.88, Y:-26.64, Z:-2.74 [[ 9.74460306e-01 2.24278381e-01 1.12392086e-02 1.94875604e+02] [-2.24265809e-01 9.74525099e-01 -2.38298781e-03 -2.66417653e+01] [-1.14873435e-02 -1.98443178e-04 9.99933999e-01 -2.74481650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.91, Y:-26.65, Z:-2.74 [[ 9.74138050e-01 2.25718435e-01 1.03076546e-02 1.94907570e+02] [-2.25707923e-01 9.74192563e-01 -2.18712197e-03 -2.66482795e+01] [-1.05353142e-02 -1.95960578e-04 9.99944483e-01 -2.74433953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.94, Y:-26.65, Z:-2.74 [[ 9.73710377e-01 2.27579632e-01 9.77819972e-03 1.94939266e+02] [-2.27570247e-01 9.73759452e-01 -2.07673305e-03 -2.66547235e+01] [-9.99423655e-03 -2.03090801e-04 9.99950036e-01 -2.74430402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.97, Y:-26.66, Z:-2.74 [[ 9.72738457e-01 2.31670747e-01 1.04191830e-02 1.94969357e+02] [-2.31660309e-01 9.72794222e-01 -2.21441875e-03 -2.66581163e+01] [-1.06487371e-02 -2.59660888e-04 9.99943267e-01 -2.74384603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.00, Y:-26.66, Z:-2.74 [[ 9.72261937e-01 2.33596864e-01 1.17996243e-02 1.95000028e+02] [-2.33583616e-01 9.72333484e-01 -2.50797305e-03 -2.66618169e+01] [-1.20590245e-02 -3.17792179e-04 9.99927237e-01 -2.74390709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.03, Y:-26.66, Z:-2.74 [[ 9.71225917e-01 2.37802578e-01 1.30442248e-02 1.95030106e+02] [-2.37786767e-01 9.71313424e-01 -2.77250029e-03 -2.66623367e+01] [-1.33293384e-02 -4.09019915e-04 9.99911077e-01 -2.74347045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.06, Y:-26.67, Z:-2.74 [[ 9.70829668e-01 2.39448514e-01 1.24162802e-02 1.95060080e+02] [-2.39434325e-01 9.70908976e-01 -2.63889346e-03 -2.66653795e+01] [-1.26869570e-02 -4.10967614e-04 9.99919433e-01 -2.74364299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:-26.67, Z:-2.74 [[ 9.70553746e-01 2.40622203e-01 1.12419903e-02 1.95089665e+02] [-2.40610652e-01 9.70618775e-01 -2.38908257e-03 -2.66677406e+01] [-1.14865531e-02 -3.86209569e-04 9.99933953e-01 -2.74467941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.12, Y:-26.67, Z:-2.75 [[ 9.70422904e-01 2.41211271e-01 9.82396967e-03 1.95118665e+02] [-2.41202482e-01 9.70472568e-01 -2.08762513e-03 -2.66667331e+01] [-1.00374518e-02 -3.43686632e-04 9.99949564e-01 -2.74616567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.15, Y:-26.67, Z:-2.75 [[ 9.70799441e-01 2.39692280e-01 9.80079271e-03 1.95148327e+02] [-2.39683462e-01 9.70848857e-01 -2.08204068e-03 -2.66701220e+01] [-1.00141375e-02 -3.27844000e-04 9.99949804e-01 -2.74728074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.18, Y:-26.67, Z:-2.75 [[ 9.71215829e-01 2.38016610e-01 9.37589519e-03 1.95176951e+02] [-2.38008463e-01 9.71261038e-01 -1.99159733e-03 -2.66745036e+01] [-9.58047495e-03 -2.97271553e-04 9.99954062e-01 -2.74721631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:-26.68, Z:-2.75 [[ 9.71616327e-01 2.36380579e-01 9.27013300e-03 1.95206131e+02] [-2.36372544e-01 9.71660509e-01 -1.96876668e-03 -2.66784235e+01] [-9.47280036e-03 -2.78319071e-04 9.99955093e-01 -2.74762454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.23, Y:-26.68, Z:-2.75 [[ 9.71953870e-01 2.35003808e-01 8.88169162e-03 1.95234244e+02] [-2.34996377e-01 9.71994416e-01 -1.88610849e-03 -2.66818285e+01] [-9.07619734e-03 -2.53954908e-04 9.99958778e-01 -2.74803088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.26, Y:-26.68, Z:-2.75 [[ 9.72455657e-01 2.32920582e-01 8.83161958e-03 1.95262982e+02] [-2.32913150e-01 9.72495732e-01 -1.87519782e-03 -2.66838041e+01] [-9.02548451e-03 -2.33453610e-04 9.99959242e-01 -2.74928768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.29, Y:-26.69, Z:-2.75 [[ 9.72841045e-01 2.31317245e-01 8.52255254e-03 1.95290908e+02] [-2.31310266e-01 9.72878352e-01 -1.80922921e-03 -2.66876933e+01] [-8.70991279e-03 -2.11261468e-04 9.99962046e-01 -2.75025885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:-26.69, Z:-2.75 [[ 9.73108537e-01 2.30184006e-01 8.66590875e-03 1.95318917e+02] [-2.30176750e-01 9.73147102e-01 -1.83912723e-03 -2.66920813e+01] [-8.85654166e-03 -2.05020300e-04 9.99960759e-01 -2.75100082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.35, Y:-26.70, Z:-2.75 [[ 9.73266520e-01 2.29492691e-01 9.24046265e-03 1.95346908e+02] [-2.29484415e-01 9.73310362e-01 -1.96046955e-03 -2.66965433e+01] [-9.44375147e-03 -2.12482791e-04 9.99955384e-01 -2.75112537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.38, Y:-26.70, Z:-2.75 [[ 9.73371107e-01 2.29001768e-01 1.03381675e-02 1.95375726e+02] [-2.28991389e-01 9.73425979e-01 -2.19262840e-03 -2.67007000e+01] [-1.05655566e-02 -2.33110197e-04 9.99944156e-01 -2.75158157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.40, Y:-26.71, Z:-2.75 [[ 9.73423289e-01 2.28770129e-01 1.05512479e-02 1.95404104e+02] [-2.28759310e-01 9.73480443e-01 -2.23731048e-03 -2.67065515e+01] [-1.07832633e-02 -2.35846078e-04 9.99941831e-01 -2.75174271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:-26.71, Z:-2.75 [[ 9.73856820e-01 2.26941411e-01 1.00244310e-02 1.95431631e+02] [-2.26931553e-01 9.73908391e-01 -2.12518399e-03 -2.67096087e+01] [-1.02451697e-02 -2.05234767e-04 9.99947496e-01 -2.75245309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.46, Y:-26.71, Z:-2.75 [[ 9.74118025e-01 2.25867284e-01 8.83423010e-03 1.95460000e+02] [-2.25859588e-01 9.74158068e-01 -1.87238373e-03 -2.67138757e+01] [-9.02884675e-03 -1.71372830e-04 9.99959224e-01 -2.75293637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.49, Y:-26.72, Z:-2.75 [[ 9.74385183e-01 2.24759262e-01 7.53589949e-03 1.95488414e+02] [-2.24753631e-01 9.74414314e-01 -1.59693961e-03 -2.67192883e+01] [-7.70201530e-03 -1.37686474e-04 9.99970330e-01 -2.75399442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.52, Y:-26.73, Z:-2.75 [[ 9.74668677e-01 2.23535798e-01 7.26063096e-03 1.95515856e+02] [-2.23530539e-01 9.74695712e-01 -1.53834639e-03 -2.67255047e+01] [-7.42078135e-03 -1.23594713e-04 9.99972458e-01 -2.75419061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.54, Y:-26.73, Z:-2.75 [[ 9.74608826e-01 2.23771138e-01 8.00705974e-03 1.95544235e+02] [-2.23764755e-01 9.74641708e-01 -1.69591495e-03 -2.67309773e+01] [-8.18351120e-03 -1.38844077e-04 9.99966505e-01 -2.75405268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.57, Y:-26.74, Z:-2.75 [[ 9.74616615e-01 2.23737210e-01 8.00714860e-03 1.95572947e+02] [-2.23730829e-01 9.74649497e-01 -1.69549530e-03 -2.67369703e+01] [-8.18350874e-03 -1.38988105e-04 9.99966505e-01 -2.75442151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:-26.74, Z:-2.75 [[ 9.74094252e-01 2.25966804e-01 8.91021457e-03 1.95602091e+02] [-2.25958998e-01 9.74134987e-01 -1.88638357e-03 -2.67409062e+01] [-9.10601182e-03 -1.75827770e-04 9.99958524e-01 -2.75263408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.63, Y:-26.75, Z:-2.75 [[ 9.73722385e-01 2.27535404e-01 9.61020910e-03 1.95630314e+02] [-2.27526406e-01 9.73769787e-01 -2.03406826e-03 -2.67454809e+01] [-9.82095381e-03 -2.05958538e-04 9.99951752e-01 -2.75184847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.66, Y:-26.75, Z:-2.75 [[ 9.72728193e-01 2.31659173e-01 1.15710701e-02 1.95658741e+02] [-2.31646426e-01 9.72796967e-01 -2.44842560e-03 -2.67462181e+01] [-1.18235021e-02 -2.98744422e-04 9.99930055e-01 -2.75085006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:195.69, Y:-26.75, Z:-2.75 [[ 9.72175213e-01 2.33961387e-01 1.17228145e-02 1.95686549e+02] [-2.33948480e-01 9.72245833e-01 -2.47983120e-03 -2.67474195e+01] [-1.19776423e-02 -3.31704217e-04 9.99928210e-01 -2.75105529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.71, Y:-26.75, Z:-2.75 [[ 9.71557959e-01 2.36554430e-01 1.08228584e-02 1.95714907e+02] [-2.36543598e-01 9.71618180e-01 -2.28865912e-03 -2.67485809e+01] [-1.10570784e-02 -3.36512885e-04 9.99938812e-01 -2.75215992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.74, Y:-26.75, Z:-2.75 [[ 9.70495293e-01 2.41025880e-01 6.73878894e-03 1.95743419e+02] [-2.41021787e-01 9.70518659e-01 -1.42515894e-03 -2.67450813e+01] [-6.88362059e-03 -2.41084905e-04 9.99976279e-01 -2.75338947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.77, Y:-26.75, Z:-2.75 [[ 9.70272199e-01 2.41944495e-01 5.89243520e-03 1.95771861e+02] [-2.41941388e-01 9.70290067e-01 -1.24532593e-03 -2.67454246e+01] [-6.01867109e-03 -2.17318816e-04 9.99981864e-01 -2.75361869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.80, Y:-26.74, Z:-2.75 [[ 9.70263886e-01 2.41875346e-01 9.18198766e-03 1.95800498e+02] [-2.41867807e-01 9.70307272e-01 -1.93951182e-03 -2.67393496e+01] [-9.37846949e-03 -3.38988947e-04 9.99955964e-01 -2.75205831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:-26.74, Z:-2.75 [[ 9.70404204e-01 2.41223182e-01 1.12719458e-02 1.95828819e+02] [-2.41211790e-01 9.70469582e-01 -2.37987440e-03 -2.67397244e+01] [-1.15131614e-02 -4.09486097e-04 9.99933638e-01 -2.75191790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.86, Y:-26.74, Z:-2.75 [[ 9.70883038e-01 2.39281630e-01 1.14204794e-02 1.95856939e+02] [-2.39269810e-01 9.70950126e-01 -2.41051879e-03 -2.67362650e+01] [-1.16655088e-02 -3.92244138e-04 9.99931879e-01 -2.75333204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.89, Y:-26.74, Z:-2.75 [[ 9.71186157e-01 2.38077309e-01 1.08001285e-02 1.95885370e+02] [-2.38066677e-01 9.71246141e-01 -2.27828182e-03 -2.67373793e+01] [-1.10319903e-02 -3.58514943e-04 9.99939081e-01 -2.75466841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.91, Y:-26.74, Z:-2.76 [[ 9.71533159e-01 2.36669740e-01 1.05240177e-02 1.95913832e+02] [-2.36659570e-01 9.71590100e-01 -2.21936959e-03 -2.67379596e+01] [-1.07502890e-02 -3.34418347e-04 9.99942158e-01 -2.75513094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.94, Y:-26.73, Z:-2.76 [[ 9.72214642e-01 2.33859264e-01 1.04179908e-02 1.95943509e+02] [-2.33849144e-01 9.72270412e-01 -2.19633791e-03 -2.67347774e+01] [-1.06427381e-02 -3.00926342e-04 9.99943319e-01 -2.75546395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.97, Y:-26.74, Z:-2.76 [[ 9.72667463e-01 2.31973402e-01 1.03124577e-02 1.95971445e+02] [-2.31963387e-01 9.72722089e-01 -2.17344673e-03 -2.67371749e+01] [-1.05353373e-02 -2.78071709e-04 9.99944463e-01 -2.75589818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:-26.74, Z:-2.76 [[ 9.73681798e-01 2.27726407e-01 9.18906731e-03 1.95998737e+02] [-2.27718271e-01 9.73725136e-01 -1.93611830e-03 -2.67382908e+01] [-9.38853108e-03 -2.07355363e-04 9.99955905e-01 -2.75771222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.03, Y:-26.74, Z:-2.76 [[ 9.74289195e-01 2.25127727e-01 8.83581725e-03 1.96026844e+02] [-2.25120105e-01 9.74329244e-01 -1.86085978e-03 -2.67424638e+01] [-9.02792627e-03 -1.76104536e-04 9.99959232e-01 -2.75857080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.05, Y:-26.75, Z:-2.76 [[ 9.75156271e-01 2.21300377e-01 9.81781522e-03 1.96054146e+02] [-2.21290780e-01 9.75205680e-01 -2.06694468e-03 -2.67465568e+01] [-1.00318048e-02 -1.56997919e-04 9.99949668e-01 -2.75862979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.08, Y:-26.75, Z:-2.76 [[ 9.75478666e-01 2.19842939e-01 1.05097122e-02 1.96081569e+02] [-2.19831865e-01 9.75535268e-01 -2.21186888e-03 -2.67521655e+01] [-1.07388587e-02 -1.52738732e-04 9.99942325e-01 -2.75859219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.11, Y:-26.76, Z:-2.76 [[ 9.75771827e-01 2.18506815e-01 1.11406323e-02 1.96108725e+02] [-2.18494293e-01 9.75835411e-01 -2.34389103e-03 -2.67574923e+01] [-1.13835797e-02 -1.47061737e-04 9.99935194e-01 -2.75812486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.14, Y:-26.76, Z:-2.76 [[ 9.76117689e-01 2.16935666e-01 1.15400718e-02 1.96135046e+02] [-2.16922131e-01 9.76185894e-01 -2.42700028e-03 -2.67628592e+01] [-1.17917582e-02 -1.34259070e-04 9.99930466e-01 -2.75791054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.16, Y:-26.77, Z:-2.76 [[ 9.76242277e-01 2.16381180e-01 1.14105821e-02 1.96161193e+02] [-2.16367919e-01 9.76308952e-01 -2.39890227e-03 -2.67689137e+01] [-1.16593307e-02 -1.26974082e-04 9.99932020e-01 -2.75781885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.19, Y:-26.78, Z:-2.76 [[ 9.76590988e-01 2.14816485e-01 1.11319107e-02 1.96188278e+02] [-2.14803773e-01 9.76654425e-01 -2.33941526e-03 -2.67767884e+01] [-1.13745748e-02 -1.06524560e-04 9.99935302e-01 -2.75826492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.21, Y:-26.78, Z:-2.76 [[ 9.76814770e-01 2.13818905e-01 1.06949166e-02 1.96214469e+02] [-2.13807119e-01 9.76873312e-01 -2.24683158e-03 -2.67835100e+01] [-1.09279937e-02 -9.19110392e-05 9.99940283e-01 -2.75884183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.24, Y:-26.79, Z:-2.76 [[ 9.77201266e-01 2.12083755e-01 9.90793964e-03 1.96241621e+02] [-2.12073559e-01 9.77251491e-01 -2.08067859e-03 -2.67913074e+01] [-1.01238269e-02 -6.79702701e-05 9.99948750e-01 -2.75917726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.27, Y:-26.80, Z:-2.76 [[ 9.77377002e-01 2.11273804e-01 9.87808098e-03 1.96268274e+02] [-2.11263635e-01 9.77426916e-01 -2.07369564e-03 -2.67983903e+01] [-1.00932198e-02 -6.00968715e-05 9.99949060e-01 -2.75956918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.30, Y:-26.81, Z:-2.76 [[ 9.77640007e-01 2.10044662e-01 1.00626742e-02 1.96295505e+02] [-2.10034053e-01 9.77691791e-01 -2.11168697e-03 -2.68056670e+01] [-1.02817426e-02 -4.90345923e-05 9.99947140e-01 -2.75946686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.32, Y:-26.81, Z:-2.76 [[ 9.77869167e-01 2.08948169e-01 1.06091956e-02 1.96321980e+02] [-2.08936320e-01 9.77926716e-01 -2.22560943e-03 -2.68128656e+01] [-1.08400529e-02 -4.02914479e-05 9.99941244e-01 -2.75956796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.35, Y:-26.82, Z:-2.76 [[ 9.78156369e-01 2.07589893e-01 1.07960093e-02 1.96348764e+02] [-2.07577555e-01 9.78215945e-01 -2.26338983e-03 -2.68199685e+01] [-1.10306853e-02 -2.70600400e-05 9.99939160e-01 -2.75974976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:-26.83, Z:-2.76 [[ 9.78014869e-01 2.08325790e-01 9.34246278e-03 1.96374499e+02] [-2.08316589e-01 9.78059489e-01 -1.95821145e-03 -2.68266419e+01] [-9.54543032e-03 -3.10300669e-05 9.99954441e-01 -2.76070611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.40, Y:-26.83, Z:-2.76 [[ 9.77755969e-01 2.09564981e-01 8.70534983e-03 1.96401277e+02] [-2.09557051e-01 9.77794721e-01 -1.82350623e-03 -2.68331852e+01] [-8.89418816e-03 -4.13233349e-05 9.99960445e-01 -2.76152171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.43, Y:-26.84, Z:-2.76 [[ 9.77430491e-01 2.11114755e-01 7.75855140e-03 1.96428065e+02] [-2.11108509e-01 9.77461282e-01 -1.62470453e-03 -2.68394486e+01] [-7.92668270e-03 -4.98604733e-05 9.99968582e-01 -2.76254948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.46, Y:-26.84, Z:-2.76 [[ 9.76779875e-01 2.14134246e-01 6.89926960e-03 1.96455670e+02] [-2.14129385e-01 9.76804238e-01 -1.44435427e-03 -2.68445439e+01] [-7.04852150e-03 -6.65201693e-05 9.99975157e-01 -2.76374066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:-26.85, Z:-2.76 [[ 9.76495195e-01 2.15428962e-01 6.89176605e-03 1.96483340e+02] [-2.15424147e-01 9.76519512e-01 -1.44228949e-03 -2.68497603e+01] [-7.04065495e-03 -7.62640685e-05 9.99975211e-01 -2.76448494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.51, Y:-26.85, Z:-2.76 [[ 9.75817867e-01 2.18461545e-01 7.35145677e-03 1.96509954e+02] [-2.18456157e-01 9.75845553e-01 -1.53793066e-03 -2.68541855e+01] [-7.50986510e-03 -1.05230772e-04 9.99971795e-01 -2.76308196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.54, Y:-26.86, Z:-2.76 [[ 9.75476432e-01 2.19949137e-01 8.25277013e-03 1.96536942e+02] [-2.19942407e-01 9.75511332e-01 -1.72560871e-03 -2.68581952e+01] [-8.43021694e-03 -1.31843500e-04 9.99964456e-01 -2.76297608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:-26.86, Z:-2.76 [[ 9.75091657e-01 2.21592026e-01 9.65582334e-03 1.96563650e+02] [-2.21582904e-01 9.75139449e-01 -2.01796899e-03 -2.68612261e+01] [-9.86294009e-03 -1.71860646e-04 9.99951345e-01 -2.76271145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.59, Y:-26.86, Z:-2.76 [[ 9.74384907e-01 2.24585742e-01 1.16317646e-02 1.96592224e+02] [-2.24572732e-01 9.74454301e-01 -2.42971831e-03 -2.68616176e+01] [-1.18803031e-02 -2.44696316e-04 9.99929397e-01 -2.76309386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.62, Y:-26.86, Z:-2.76 [[ 9.74347476e-01 2.24733195e-01 1.19158551e-02 1.96620570e+02] [-2.24719563e-01 9.74420303e-01 -2.48816115e-03 -2.68643911e+01] [-1.21702235e-02 -2.53392218e-04 9.99925908e-01 -2.76335630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.65, Y:-26.86, Z:-2.76 [[ 9.74529837e-01 2.23986466e-01 1.10299362e-02 1.96648291e+02] [-2.23974747e-01 9.74592228e-01 -2.30243165e-03 -2.68625734e+01] [-1.12654037e-02 -2.26638839e-04 9.99936518e-01 -2.76339163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.68, Y:-26.86, Z:-2.76 [[ 9.74784254e-01 2.22924886e-01 1.00076504e-02 1.96675681e+02] [-2.22915190e-01 9.74835605e-01 -2.08823696e-03 -2.68641160e+01] [-1.02213340e-02 -1.95276794e-04 9.99947742e-01 -2.76415747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.70, Y:-26.87, Z:-2.76 [[ 9.75181623e-01 2.21208733e-01 9.35408045e-03 1.96704072e+02] [-2.21200190e-01 9.75226470e-01 -1.95123573e-03 -2.68660980e+01] [-9.55397724e-03 -1.66315142e-04 9.99954346e-01 -2.76459942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.73, Y:-26.87, Z:-2.77 [[ 9.76069614e-01 2.17244444e-01 9.64154642e-03 1.96731981e+02] [-2.17235181e-01 9.76117224e-01 -2.01049341e-03 -2.68662651e+01] [-9.84804804e-03 -1.32101547e-04 9.99951498e-01 -2.76525104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.76, Y:-26.87, Z:-2.77 [[ 9.76595470e-01 2.14850726e-01 1.00226873e-02 1.96760156e+02] [-2.14840599e-01 9.76646893e-01 -2.08904185e-03 -2.68698224e+01] [-1.02374585e-02 -1.13131335e-04 9.99947589e-01 -2.76561581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.79, Y:-26.87, Z:-2.77 [[ 9.77810776e-01 2.09238769e-01 1.02578678e-02 1.96787517e+02] [-2.09227860e-01 9.77864579e-01 -2.13740880e-03 -2.68708594e+01] [-1.04780344e-02 -5.62503751e-05 9.99945102e-01 -2.76552099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.82, Y:-26.88, Z:-2.77 [[ 9.78464732e-01 2.06162260e-01 1.01926761e-02 1.96815334e+02] [-2.06151337e-01 9.78517819e-01 -2.12233751e-03 -2.68751860e+01] [-1.04112611e-02 -2.46013954e-05 9.99945801e-01 -2.76554765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.84, Y:-26.88, Z:-2.77 [[ 9.79185053e-01 2.02743973e-01 9.56626786e-03 1.96841515e+02] [-2.02734194e-01 9.79231781e-01 -1.99129527e-03 -2.68795775e+01] [-9.77131663e-03 1.04369545e-05 9.99952259e-01 -2.76539322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.87, Y:-26.89, Z:-2.77 [[ 9.80560949e-01 1.96025353e-01 8.61894918e-03 1.96869156e+02] [-1.96017161e-01 9.80598825e-01 -1.79342735e-03 -2.68854874e+01] [-8.80328867e-03 6.91028714e-05 9.99961248e-01 -2.76668915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.90, Y:-26.89, Z:-2.77 [[ 9.81188264e-01 1.92844272e-01 8.98203880e-03 1.96895973e+02] [-1.92835248e-01 9.81229370e-01 -1.86829679e-03 -2.68927091e+01] [-9.17373061e-03 1.01097210e-04 9.99957915e-01 -2.76689115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.92, Y:-26.90, Z:-2.77 [[ 9.82229767e-01 1.87383666e-01 1.05851987e-02 1.96921042e+02] [-1.87370825e-01 9.82286786e-01 -2.20087108e-03 -2.69028154e+01] [-1.08101081e-02 1.78403669e-04 9.99941553e-01 -2.76571874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:196.95, Y:-26.91, Z:-2.77 [[ 9.82646704e-01 1.85171160e-01 1.08210985e-02 1.96948417e+02] [-1.85157617e-01 9.82706263e-01 -2.24898704e-03 -2.69106993e+01] [-1.10504088e-02 2.06350881e-04 9.99938921e-01 -2.76558466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.98, Y:-26.92, Z:-2.77 [[ 9.82940111e-01 1.83599811e-01 1.09475160e-02 1.96975526e+02] [-1.83585861e-01 9.83001047e-01 -2.27448647e-03 -2.69187518e+01] [-1.11790150e-02 2.25874841e-04 9.99937487e-01 -2.76608618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.00, Y:-26.93, Z:-2.77 [[ 9.83152331e-01 1.82427214e-01 1.14806893e-02 1.97000818e+02] [-1.82411801e-01 9.83219329e-01 -2.38445729e-03 -2.69304170e+01] [-1.17230256e-02 2.50071520e-04 9.99931252e-01 -2.76713526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.03, Y:-26.94, Z:-2.77 [[ 9.83124692e-01 1.82618630e-01 1.07831142e-02 1.97027881e+02] [-1.82605058e-01 9.83183799e-01 -2.23836471e-03 -2.69396820e+01] [-1.10105503e-02 2.31540411e-04 9.99939355e-01 -2.76722172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.05, Y:-26.95, Z:-2.77 [[ 9.83013579e-01 1.83379104e-01 7.51053030e-03 1.97053021e+02] [-1.83372544e-01 9.83042258e-01 -1.55883381e-03 -2.69506127e+01] [-7.66902621e-03 1.55129759e-04 9.99970581e-01 -2.76833743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.08, Y:-26.96, Z:-2.77 [[ 9.82829229e-01 1.84405549e-01 6.42653766e-03 1.97080118e+02] [-1.84400771e-01 9.82850232e-01 -1.33340801e-03 -2.69585658e+01] [-6.56221186e-03 1.25453871e-04 9.99978461e-01 -2.76887299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.11, Y:-26.97, Z:-2.77 [[ 9.82490345e-01 1.86196469e-01 6.60287211e-03 1.97105840e+02] [-1.86191468e-01 9.82512525e-01 -1.36958096e-03 -2.69659101e+01] [-6.74241569e-03 1.16201615e-04 9.99977263e-01 -2.76885868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.13, Y:-26.97, Z:-2.77 [[ 9.81432607e-01 1.91614533e-01 8.59705216e-03 1.97132446e+02] [-1.91606272e-01 9.81470254e-01 -1.78219265e-03 -2.69731855e+01] [-8.77924498e-03 1.01852867e-04 9.99961456e-01 -2.76810247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.16, Y:-26.98, Z:-2.77 [[ 9.80872905e-01 1.94447262e-01 8.86607590e-03 1.97159952e+02] [-1.94438598e-01 9.80912971e-01 -1.83733260e-03 -2.69788248e+01] [-9.05411314e-03 7.82823958e-05 9.99959008e-01 -2.76820984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.19, Y:-26.98, Z:-2.77 [[ 9.80075659e-01 1.98393910e-01 9.56867656e-03 1.97186133e+02] [-1.98384012e-01 9.80122367e-01 -1.98224795e-03 -2.69849803e+01] [-9.77173984e-03 4.44805200e-05 9.99952254e-01 -2.76932344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.21, Y:-26.99, Z:-2.77 [[ 9.79972927e-01 1.98870030e-01 1.01869511e-02 1.97213537e+02] [-1.98858846e-01 9.80025872e-01 -2.10953551e-03 -2.69909850e+01] [-1.04029990e-02 4.15223406e-05 9.99945886e-01 -2.77004160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.24, Y:-27.00, Z:-2.77 [[ 9.79975596e-01 1.98844392e-01 1.04278211e-02 1.97240023e+02] [-1.98832684e-01 9.80031074e-01 -2.15822656e-03 -2.69970000e+01] [-1.06487400e-02 4.16176985e-05 9.99943300e-01 -2.77003773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.27, Y:-27.00, Z:-2.77 [[ 9.80297245e-01 1.97300411e-01 9.47940113e-03 1.97267706e+02] [-1.97290674e-01 9.80343075e-01 -1.96079228e-03 -2.70035630e+01] [-9.67993038e-03 5.19618339e-05 9.99953147e-01 -2.77100577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.30, Y:-27.01, Z:-2.77 [[ 9.80318327e-01 1.97195629e-01 9.47950181e-03 1.97295641e+02] [-1.97185892e-01 9.80364157e-01 -1.96030540e-03 -2.70091590e+01] [-9.67992746e-03 5.24992874e-05 9.99953147e-01 -2.77136406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.32, Y:-27.02, Z:-2.77 [[ 9.80768929e-01 1.94948275e-01 9.35296502e-03 1.97322623e+02] [-1.94938705e-01 9.80813522e-01 -1.93301336e-03 -2.70185131e+01] [-9.55035218e-03 7.25845557e-05 9.99954392e-01 -2.77124469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.35, Y:-27.03, Z:-2.77 [[ 9.80993999e-01 1.93762413e-01 1.03392883e-02 1.97348582e+02] [-1.93750662e-01 9.81048479e-01 -2.13598421e-03 -2.70265742e+01] [-1.05572165e-02 9.21437407e-05 9.99944267e-01 -2.77081565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.38, Y:-27.03, Z:-2.77 [[ 9.81193583e-01 1.92699659e-01 1.12246936e-02 1.97375798e+02] [-1.92685752e-01 9.81257779e-01 -2.31778114e-03 -2.70346814e+01] [-1.14609535e-02 1.11353458e-04 9.99934315e-01 -2.77040495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.40, Y:-27.05, Z:-2.77 [[ 9.81319896e-01 1.92083348e-01 1.07354172e-02 1.97402186e+02] [-1.92070598e-01 9.81378609e-01 -2.21597820e-03 -2.70452766e+01] [-1.09611613e-02 1.12625487e-04 9.99939918e-01 -2.77073890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.43, Y:-27.05, Z:-2.77 [[ 9.81300675e-01 1.92239607e-01 9.63948027e-03 1.97428812e+02] [-1.92229341e-01 9.81348013e-01 -1.98921853e-03 -2.70539205e+01] [-9.84209141e-03 9.90305454e-05 9.99951561e-01 -2.77209837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.46, Y:-27.07, Z:-2.77 [[ 9.80961908e-01 1.94035205e-01 8.00466693e-03 1.97455732e+02] [-1.94028190e-01 9.80994564e-01 -1.65131644e-03 -2.70660616e+01] [-8.17294827e-03 6.67474886e-05 9.99966599e-01 -2.77260793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.48, Y:-27.07, Z:-2.77 [[ 9.80618106e-01 1.95773970e-01 7.78989071e-03 1.97482653e+02] [-1.95767383e-01 9.80649045e-01 -1.60675533e-03 -2.70742732e+01] [-7.95370976e-03 5.06068529e-05 9.99968367e-01 -2.77232736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.51, Y:-27.08, Z:-2.77 [[ 9.80168064e-01 1.98057036e-01 6.63157526e-03 1.97508961e+02] [-1.98032245e-01 9.80186451e-01 -4.21335395e-03 -2.70815244e+01] [-7.33466461e-03 2.81652925e-03 9.99969134e-01 -2.77235125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.54, Y:-27.09, Z:-2.77 [[ 9.79503973e-01 2.01220577e-01 9.06896654e-03 1.97535824e+02] [-2.01236957e-01 9.79542157e-01 9.21829888e-04 -2.70941890e+01] [-8.69794391e-03 -2.72794726e-03 9.99958451e-01 -2.77226717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.56, Y:-27.10, Z:-2.77 [[ 9.79057634e-01 2.03403702e-01 8.54886971e-03 1.97564285e+02] [-2.03396073e-01 9.79094956e-01 -1.76176547e-03 -2.70999589e+01] [-8.72850484e-03 -1.39365940e-05 9.99961906e-01 -2.77272863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.59, Y:-27.11, Z:-2.77 [[ 9.78063448e-01 2.08163930e-01 7.72465012e-03 1.97590591e+02] [-2.08157850e-01 9.78093950e-01 -1.59175074e-03 -2.71064311e+01] [-7.88677864e-03 -5.11133410e-05 9.99968898e-01 -2.77391204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.62, Y:-27.11, Z:-2.77 [[ 9.77613633e-01 2.10279611e-01 7.35323859e-03 1.97617405e+02] [-2.10274167e-01 9.77641284e-01 -1.51456083e-03 -2.71130226e+01] [-7.50731088e-03 -6.55408043e-05 9.99971818e-01 -2.77470001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.64, Y:-27.12, Z:-2.78 [[ 9.77322986e-01 2.11635541e-01 7.08370064e-03 1.97644423e+02] [-2.11630528e-01 9.77348654e-01 -1.45856275e-03 -2.71195075e+01] [-7.23192901e-03 -7.36404036e-05 9.99973847e-01 -2.77575281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.67, Y:-27.13, Z:-2.78 [[ 9.77162601e-01 2.12377810e-01 6.99411023e-03 1.97670995e+02] [-2.12372945e-01 9.77187628e-01 -1.43967198e-03 -2.71266829e+01] [-7.14031237e-03 -7.85661725e-05 9.99974505e-01 -2.77721146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.70, Y:-27.13, Z:-2.78 [[ 9.77194341e-01 2.12232501e-01 6.97031832e-03 1.97698302e+02] [-2.12227670e-01 9.77219197e-01 -1.43409985e-03 -2.71328232e+01] [-7.11589147e-03 -7.79001567e-05 9.99974679e-01 -2.77811920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.73, Y:-27.14, Z:-2.78 [[ 9.77350613e-01 2.11548953e-01 5.72889723e-03 1.97725064e+02] [-2.11545679e-01 9.77367401e-01 -1.17835982e-03 -2.71408927e+01] [-5.84851819e-03 -6.02527683e-05 9.99982895e-01 -2.77868467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.75, Y:-27.15, Z:-2.78 [[ 9.77375805e-01 2.11439892e-01 5.45045956e-03 1.97752546e+02] [-2.11436929e-01 9.77391001e-01 -1.12088336e-03 -2.71478087e+01] [-5.56422959e-03 -5.69041574e-05 9.99984518e-01 -2.77854249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.78, Y:-27.15, Z:-2.78 [[ 9.77262785e-01 2.11934885e-01 6.40724707e-03 1.97781149e+02] [-2.11930805e-01 9.77283787e-01 -1.31688042e-03 -2.71539068e+01] [-6.54079158e-03 -7.09548008e-05 9.99978606e-01 -2.77816630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.81, Y:-27.16, Z:-2.78 [[ 9.76575892e-01 2.15016298e-01 8.21704109e-03 1.97809568e+02] [-2.15009701e-01 9.76610453e-01 -1.68837184e-03 -2.71572373e+01] [-8.38787569e-03 -1.17920314e-04 9.99964814e-01 -2.77720583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.84, Y:-27.16, Z:-2.78 [[ 9.76061801e-01 2.17309842e-01 8.93270728e-03 1.97837218e+02] [-2.17302149e-01 9.76102664e-01 -1.83464155e-03 -2.71616415e+01] [-9.11792503e-03 -1.50372952e-04 9.99958420e-01 -2.77731086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.87, Y:-27.16, Z:-2.78 [[ 9.75462436e-01 2.19901123e-01 1.07950289e-02 1.97865186e+02] [-2.19890055e-01 9.75522143e-01 -2.21631841e-03 -2.71644798e+01] [-1.10181607e-02 -2.11784158e-04 9.99939276e-01 -2.77683538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.89, Y:-27.17, Z:-2.78 [[ 9.75362206e-01 2.20263788e-01 1.23462957e-02 1.97893287e+02] [-2.20249351e-01 9.75440312e-01 -2.53395539e-03 -2.71679934e+01] [-1.26012132e-02 -2.47739308e-04 9.99920571e-01 -2.77708976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.92, Y:-27.17, Z:-2.78 [[ 9.75346737e-01 2.20299517e-01 1.29176305e-02 1.97921541e+02] [-2.20283729e-01 9.75432240e-01 -2.65023589e-03 -2.71715582e+01] [-1.31841189e-02 -2.60644880e-04 9.99913052e-01 -2.77716215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.95, Y:-27.17, Z:-2.78 [[ 9.75721935e-01 2.18745608e-01 1.08196645e-02 1.97949255e+02] [-2.18734444e-01 9.75781901e-01 -2.21913178e-03 -2.71745693e+01] [-1.10430581e-02 -2.01377740e-04 9.99939003e-01 -2.77850224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.98, Y:-27.18, Z:-2.78 [[ 9.76251582e-01 2.16425447e-01 9.63712543e-03 1.97976399e+02] [-2.16416482e-01 9.76299135e-01 -1.97610395e-03 -2.71794831e+01] [-9.83639641e-03 -1.56458172e-04 9.99951609e-01 -2.77950025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.00, Y:-27.19, Z:-2.78 [[ 9.77681472e-01 2.09900929e-01 8.97438892e-03 1.98003208e+02] [-2.09892885e-01 9.77722656e-01 -1.83963815e-03 -2.71857276e+01] [-9.16060513e-03 -8.50802392e-05 9.99958037e-01 -2.77920953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.03, Y:-27.19, Z:-2.78 [[ 9.78482753e-01 2.06084089e-01 1.00424177e-02 1.98030360e+02] [-2.06073823e-01 9.78534284e-01 -2.05769875e-03 -2.71923601e+01] [-1.02509090e-02 -5.60566706e-05 9.99947456e-01 -2.77943511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.06, Y:-27.20, Z:-2.78 [[ 9.79292866e-01 2.02158475e-01 1.08366759e-02 1.98058167e+02] [-2.02146289e-01 9.79352822e-01 -2.21970367e-03 -2.71995829e+01] [-1.10616611e-02 -1.68538568e-05 9.99938818e-01 -2.77986229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.08, Y:-27.21, Z:-2.78 [[ 9.80328386e-01 1.97131338e-01 9.77199937e-03 1.98084650e+02] [-1.97121183e-01 9.80377088e-01 -2.00123047e-03 -2.72088862e+01] [-9.97474952e-03 3.55949639e-05 9.99950250e-01 -2.78062273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.11, Y:-27.22, Z:-2.78 [[ 9.80462746e-01 1.96523852e-01 8.43680296e-03 1.98111607e+02] [-1.96516264e-01 9.80499043e-01 -1.72737382e-03 -2.72156236e+01] [-8.61174739e-03 3.56566844e-05 9.99962918e-01 -2.78084931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.14, Y:-27.22, Z:-2.78 [[ 9.80182747e-01 1.97991913e-01 6.40198646e-03 1.98140016e+02] [-1.97987577e-01 9.80203653e-01 -1.31047800e-03 -2.72214906e+01] [-6.53471456e-03 1.69941407e-05 9.99978648e-01 -2.78157164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.17, Y:-27.23, Z:-2.78 [[ 9.79795002e-01 1.99905305e-01 6.29469667e-03 1.98168289e+02] [-1.99901154e-01 9.79815222e-01 -1.28821987e-03 -2.72271653e+01] [-6.42516160e-03 3.87425794e-06 9.99979358e-01 -2.78161063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.19, Y:-27.23, Z:-2.78 [[ 9.78840944e-01 2.04508075e-01 6.84501206e-03 1.98194830e+02] [-2.04503281e-01 9.78864876e-01 -1.40065077e-03 -2.72306759e+01] [-6.98678627e-03 -2.88130993e-05 9.99975592e-01 -2.78244858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:198.22, Y:-27.23, Z:-2.78 [[ 9.78348271e-01 2.06852826e-01 6.82415000e-03 1.98223355e+02] [-2.06848123e-01 9.78372069e-01 -1.39560863e-03 -2.72346118e+01] [-6.96524335e-03 -4.61713245e-05 9.99975741e-01 -2.78274564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.25, Y:-27.24, Z:-2.78 [[ 9.77873228e-01 2.09096247e-01 6.53521751e-03 1.98249822e+02] [-2.09091985e-01 9.77895064e-01 -1.33643052e-03 -2.72374751e+01] [-6.67019955e-03 -5.96019754e-05 9.99977752e-01 -2.78318961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.28, Y:-27.24, Z:-2.78 [[ 9.77433342e-01 2.11162065e-01 5.88597916e-03 1.98276416e+02] [-2.11158647e-01 9.77451062e-01 -1.20324675e-03 -2.72401370e+01] [-6.00733665e-03 -6.67819098e-05 9.99981954e-01 -2.78361126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.30, Y:-27.24, Z:-2.78 [[ 9.76750321e-01 2.14299987e-01 5.85884067e-03 1.98304441e+02] [-2.14296661e-01 9.76767888e-01 -1.19710816e-03 -2.72404737e+01] [-5.97926769e-03 -8.62542170e-05 9.99982120e-01 -2.78386543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.33, Y:-27.24, Z:-2.78 [[ 9.76520946e-01 2.15300958e-01 7.23458843e-03 1.98332710e+02] [-2.15295919e-01 9.76547738e-01 -1.47746139e-03 -2.72434955e+01] [-7.38301981e-03 -1.14805370e-04 9.99972739e-01 -2.78437486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.36, Y:-27.24, Z:-2.78 [[ 9.76360504e-01 2.15909005e-01 1.01718936e-02 1.98360980e+02] [-2.15899089e-01 9.76413474e-01 -2.07620400e-03 -2.72431904e+01] [-1.03802451e-02 -1.68978967e-04 9.99946110e-01 -2.78412695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.39, Y:-27.25, Z:-2.78 [[ 9.76495745e-01 2.15296990e-01 1.01619711e-02 1.98388450e+02] [-2.15287066e-01 9.76548606e-01 -2.07352790e-03 -2.72459148e+01] [-1.03700831e-02 -1.62949785e-04 9.99946216e-01 -2.78496107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.42, Y:-27.25, Z:-2.79 [[ 9.76697492e-01 2.14427510e-01 9.10234650e-03 1.98416823e+02] [-2.14419520e-01 9.76739896e-01 -1.85624131e-03 -2.72492752e+01] [-9.28865417e-03 -1.38734536e-04 9.99956850e-01 -2.78592537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.44, Y:-27.25, Z:-2.79 [[ 9.77155211e-01 2.12397638e-01 7.41199488e-03 1.98444046e+02] [-2.12392283e-01 9.77183316e-01 -1.51137003e-03 -2.72507654e+01] [-7.56388916e-03 -9.74074152e-05 9.99971389e-01 -2.78621698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.47, Y:-27.25, Z:-2.79 [[ 9.77367006e-01 2.11407582e-01 7.78261840e-03 1.98470368e+02] [-2.11401654e-01 9.77397987e-01 -1.58594300e-03 -2.72545112e+01] [-7.94199593e-03 -9.52100427e-05 9.99968457e-01 -2.78592914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.50, Y:-27.26, Z:-2.79 [[ 9.77722778e-01 2.09645475e-01 1.03413976e-02 1.98498423e+02] [-2.09634930e-01 9.77777461e-01 -2.10558152e-03 -2.72587628e+01] [-1.05530111e-02 -1.09243150e-04 9.99944309e-01 -2.78530164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.53, Y:-27.26, Z:-2.79 [[ 9.77944699e-01 2.08572647e-01 1.10279616e-02 1.98526184e+02] [-2.08560597e-01 9.78006871e-01 -2.24451221e-03 -2.72642874e+01] [-1.12535661e-02 -1.04989440e-04 9.99936671e-01 -2.78533798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.55, Y:-27.27, Z:-2.79 [[ 9.78127962e-01 2.07716216e-01 1.09390663e-02 1.98553028e+02] [-2.07704314e-01 9.78189125e-01 -2.22563506e-03 -2.72704311e+01] [-1.11627761e-02 -9.51353710e-05 9.99937690e-01 -2.78576300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.58, Y:-27.28, Z:-2.79 [[ 9.78431963e-01 2.06371929e-01 9.02885323e-03 1.98579624e+02] [-2.06363767e-01 9.78473619e-01 -1.83663126e-03 -2.72773922e+01] [-9.21352383e-03 -6.62094293e-05 9.99957552e-01 -2.78666791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.61, Y:-27.28, Z:-2.79 [[ 9.78525665e-01 2.05952148e-01 8.44016141e-03 1.98606238e+02] [-2.05945008e-01 9.78562062e-01 -1.71585511e-03 -2.72836386e+01] [-8.61260580e-03 -5.92008478e-05 9.99962909e-01 -2.78682577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.63, Y:-27.29, Z:-2.79 [[ 9.78703893e-01 2.05088446e-01 8.79877231e-03 1.98633097e+02] [-2.05080660e-01 9.78743443e-01 -1.78794570e-03 -2.72911005e+01] [-8.97842770e-03 -5.45886119e-05 9.99959692e-01 -2.78663887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.66, Y:-27.30, Z:-2.79 [[ 9.78890569e-01 2.04181761e-01 9.11386499e-03 1.98660278e+02] [-2.04173374e-01 9.78932994e-01 -1.85127489e-03 -2.72979814e+01] [-9.29985970e-03 -4.86130287e-05 9.99956754e-01 -2.78660709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.69, Y:-27.30, Z:-2.79 [[ 9.79079125e-01 2.03249231e-01 9.68590884e-03 1.98686484e+02] [-2.03239720e-01 9.79127034e-01 -1.96673625e-03 -2.73046093e+01] [-9.88347283e-03 -4.29709965e-05 9.99951156e-01 -2.78712179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.71, Y:-27.31, Z:-2.79 [[ 9.79237644e-01 2.02471694e-01 9.94233773e-03 1.98713470e+02] [-2.02461641e-01 9.79288115e-01 -2.01790461e-03 -2.73127795e+01] [-1.01449817e-02 -3.69338612e-05 9.99948538e-01 -2.78700215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.74, Y:-27.32, Z:-2.79 [[ 9.79132146e-01 2.03011864e-01 9.29646835e-03 1.98740289e+02] [-2.03003105e-01 9.79176277e-01 -1.88620360e-03 -2.73190741e+01] [-9.48580298e-03 -4.03693609e-05 9.99955008e-01 -2.78736004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.77, Y:-27.32, Z:-2.79 [[ 9.78684243e-01 2.05212972e-01 8.04917562e-03 1.98766569e+02] [-2.05206484e-01 9.78717341e-01 -1.63271010e-03 -2.73246634e+01] [-8.21292105e-03 -5.38353861e-05 9.99966272e-01 -2.78858834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.79, Y:-27.33, Z:-2.79 [[ 9.78368233e-01 2.06720060e-01 7.90048485e-03 1.98794609e+02] [-2.06713864e-01 9.78400129e-01 -1.60183261e-03 -2.73296381e+01] [-8.06096633e-03 -6.59576065e-05 9.99967508e-01 -2.78912099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.82, Y:-27.33, Z:-2.79 [[ 9.77943593e-01 2.08719662e-01 7.90139935e-03 1.98821211e+02] [-2.08713533e-01 9.77975509e-01 -1.60163661e-03 -2.73337005e+01] [-8.06166810e-03 -8.28187167e-05 9.99967501e-01 -2.78999958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.85, Y:-27.34, Z:-2.79 [[ 9.76958053e-01 2.13319412e-01 6.91304651e-03 1.98849333e+02] [-2.13314842e-01 9.76982506e-01 -1.40041760e-03 -2.73357054e+01] [-7.05266177e-03 -1.06506174e-04 9.99975124e-01 -2.79057190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.88, Y:-27.34, Z:-2.79 [[ 9.76372653e-01 2.16006545e-01 6.13317941e-03 1.98877331e+02] [-2.16003002e-01 9.76391909e-01 -1.24214653e-03 -2.73357257e+01] [-6.25669853e-03 -1.11987260e-04 9.99980420e-01 -2.79195445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.91, Y:-27.34, Z:-2.79 [[ 9.76411921e-01 2.15825964e-01 6.23815379e-03 1.98905561e+02] [-2.15822300e-01 9.76431841e-01 -1.26275663e-03 -2.73388696e+01] [-6.36366766e-03 -1.13362070e-04 9.99979745e-01 -2.79276409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.93, Y:-27.34, Z:-2.79 [[ 9.76743770e-01 2.14305337e-01 6.69560458e-03 1.98932611e+02] [-2.14301081e-01 9.76766712e-01 -1.35504777e-03 -2.73423099e+01] [-6.83043764e-03 -1.11340836e-04 9.99976666e-01 -2.79336172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.96, Y:-27.35, Z:-2.79 [[ 9.77259952e-01 2.11912661e-01 7.48395707e-03 1.98960626e+02] [-2.11907285e-01 9.77288603e-01 -1.51325484e-03 -2.73471400e+01] [-7.63466381e-03 -1.07061664e-04 9.99970850e-01 -2.79362144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.99, Y:-27.35, Z:-2.79 [[ 9.78676507e-01 2.05223411e-01 8.69746330e-03 1.98987125e+02] [-2.05215892e-01 9.78715151e-01 -1.75786786e-03 -2.73511926e+01] [-8.87309475e-03 -6.44737170e-05 9.99960631e-01 -2.79430055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.02, Y:-27.36, Z:-2.80 [[ 9.79424295e-01 2.01613173e-01 8.95424156e-03 1.99015055e+02] [-2.01605061e-01 9.79465225e-01 -1.80891753e-03 -2.73561696e+01] [-9.13506983e-03 -3.35226403e-05 9.99958274e-01 -2.79533097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.04, Y:-27.36, Z:-2.80 [[ 9.79436417e-01 2.01554272e-01 8.95437995e-03 1.99043011e+02] [-2.01546163e-01 9.79477348e-01 -1.80823219e-03 -2.73616816e+01] [-9.13506924e-03 -3.36724677e-05 9.99958274e-01 -2.79568780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.07, Y:-27.37, Z:-2.80 [[ 9.80527714e-01 1.96134904e-01 9.82350989e-03 1.99070211e+02] [-1.96124879e-01 9.80576922e-01 -1.98308464e-03 -2.73681707e+01] [-1.00216592e-02 1.78347627e-05 9.99949782e-01 -2.79537811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.10, Y:-27.38, Z:-2.79 [[ 9.80814658e-01 1.94696466e-01 9.79245711e-03 1.99096411e+02] [-1.94686439e-01 9.80863541e-01 -1.97611058e-03 -2.73757324e+01] [-9.98980590e-03 3.17396129e-05 9.99950100e-01 -2.79468385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.12, Y:-27.38, Z:-2.79 [[ 9.81038230e-01 1.93575995e-01 9.60857930e-03 1.99122777e+02] [-1.93566296e-01 9.81085283e-01 -1.93818490e-03 -2.73837576e+01] [-9.80202181e-03 4.15363847e-05 9.99951958e-01 -2.79467149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.15, Y:-27.39, Z:-2.80 [[ 9.81410929e-01 1.91733179e-01 8.42481594e-03 1.99148082e+02] [-1.91725660e-01 9.81447087e-01 -1.69880621e-03 -2.73935582e+01] [-8.59422858e-03 5.19735812e-05 9.99963068e-01 -2.79503891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.17, Y:-27.40, Z:-2.80 [[ 9.81464196e-01 1.91466327e-01 8.28720615e-03 1.99174711e+02] [-1.91459048e-01 9.81499181e-01 -1.67032471e-03 -2.74012660e+01] [-8.45369698e-03 5.27032955e-05 9.99964265e-01 -2.79563261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.20, Y:-27.41, Z:-2.80 [[ 9.81222667e-01 1.92700000e-01 8.29380332e-03 1.99202067e+02] [-1.92692760e-01 9.81257718e-01 -1.67094975e-03 -2.74118200e+01] [-8.46035054e-03 4.14179186e-05 9.99964210e-01 -2.79577184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.23, Y:-27.42, Z:-2.80 [[ 9.80978804e-01 1.93919764e-01 8.70121393e-03 1.99229185e+02] [-1.93911846e-01 9.81017392e-01 -1.75263012e-03 -2.74189473e+01] [-8.87591182e-03 3.20245422e-05 9.99960608e-01 -2.79589639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.26, Y:-27.43, Z:-2.80 [[ 9.80637584e-01 1.95601180e-01 9.49246426e-03 1.99256700e+02] [-1.95591843e-01 9.80683526e-01 -1.91131719e-03 -2.74255658e+01] [-9.68295922e-03 1.76608964e-05 9.99953119e-01 -2.79540773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.28, Y:-27.43, Z:-2.80 [[ 9.79893474e-01 1.99221906e-01 1.09275439e-02 1.99284514e+02] [-1.99209767e-01 9.79954403e-01 -2.19935808e-03 -2.74302806e+01] [-1.11466550e-02 -2.17368373e-05 9.99937874e-01 -2.79521984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.31, Y:-27.43, Z:-2.80 [[ 9.79630567e-01 2.00558083e-01 1.00203982e-02 1.99311092e+02] [-2.00547952e-01 9.79681813e-01 -2.01614027e-03 -2.74347998e+01] [-1.02211551e-02 -3.44976959e-05 9.99947762e-01 -2.79582151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.34, Y:-27.44, Z:-2.80 [[ 9.79383724e-01 2.01839183e-01 8.27442041e-03 1.99338839e+02] [-2.01832326e-01 9.79418676e-01 -1.66426745e-03 -2.74395942e+01] [-8.44003626e-03 -4.00890624e-05 9.99964381e-01 -2.79661715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.37, Y:-27.44, Z:-2.80 [[ 9.79378692e-01 2.01852946e-01 8.53028521e-03 1.99365736e+02] [-2.01845663e-01 9.79415839e-01 -1.71519290e-03 -2.74447223e+01] [-8.70091318e-03 -4.19776895e-05 9.99962145e-01 -2.79687094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:-27.45, Z:-2.80 [[ 9.79444044e-01 2.01493083e-01 9.48169510e-03 1.99393724e+02] [-2.01484080e-01 9.79489936e-01 -1.90525550e-03 -2.74490857e+01] [-9.67112073e-03 -4.43194614e-05 9.99953233e-01 -2.79740685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.42, Y:-27.45, Z:-2.80 [[ 9.79572498e-01 2.00841093e-01 1.00287476e-02 1.99421881e+02] [-2.00830995e-01 9.79623833e-01 -2.01441829e-03 -2.74533549e+01] [-1.02289781e-02 -4.08145975e-05 9.99947682e-01 -2.79811623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:-27.46, Z:-2.80 [[ 9.79719087e-01 2.00110274e-01 1.03145207e-02 1.99449550e+02] [-2.00099560e-01 9.79773380e-01 -2.07103487e-03 -2.74580086e+01] [-1.05203282e-02 -3.48986703e-05 9.99944659e-01 -2.79847856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.48, Y:-27.46, Z:-2.80 [[ 9.80109330e-01 1.98202857e-01 1.00661903e-02 1.99477177e+02] [-1.98192560e-01 9.80161021e-01 -2.02045389e-03 -2.74640097e+01] [-1.02669471e-02 -1.47783078e-05 9.99947293e-01 -2.80024613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.50, Y:-27.47, Z:-2.80 [[ 9.80393196e-01 1.96842438e-01 9.06841006e-03 1.99504516e+02] [-1.96834028e-01 9.80435135e-01 -1.81960009e-03 -2.74705119e+01] [-9.24916236e-03 -1.04812842e-06 9.99957226e-01 -2.80124220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.53, Y:-27.48, Z:-2.80 [[ 9.80648787e-01 1.95612670e-01 7.97748332e-03 1.99531083e+02] [-1.95606124e-01 9.80681234e-01 -1.60027401e-03 -2.74769603e+01] [-8.13640206e-03 8.86217204e-06 9.99966899e-01 -2.80231678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.56, Y:-27.48, Z:-2.80 [[ 9.80908038e-01 1.94345359e-01 7.02153947e-03 1.99558528e+02] [-1.94340259e-01 9.80933169e-01 -1.40797028e-03 -2.74846674e+01] [-7.16129345e-03 1.65215692e-05 9.99974357e-01 -2.80257385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.59, Y:-27.49, Z:-2.80 [[ 9.80834740e-01 1.94701837e-01 7.37615370e-03 1.99585930e+02] [-1.94696224e-01 9.80862475e-01 -1.47849483e-03 -2.74911446e+01] [-7.52285804e-03 1.40498160e-05 9.99971703e-01 -2.80164033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.61, Y:-27.50, Z:-2.80 [[ 9.80506865e-01 1.96300668e-01 8.50497605e-03 1.99612951e+02] [-1.96293271e-01 9.80543751e-01 -1.70411770e-03 -2.74959537e+01] [-8.67402057e-03 1.42953567e-06 9.99962380e-01 -2.80099384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.64, Y:-27.50, Z:-2.80 [[ 9.80258041e-01 1.97534291e-01 8.62416712e-03 1.99640554e+02] [-1.97526743e-01 9.80295978e-01 -1.72695166e-03 -2.75003618e+01] [-8.79536851e-03 -1.06453878e-05 9.99961320e-01 -2.80110532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.67, Y:-27.50, Z:-2.80 [[ 9.80014465e-01 1.98731280e-01 8.80488391e-03 1.99668418e+02] [-1.98723466e-01 9.80054018e-01 -1.76248191e-03 -2.75047581e+01] [-8.97952214e-03 -2.24792832e-05 9.99959683e-01 -2.80175368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:-27.51, Z:-2.80 [[ 9.79702186e-01 2.00271997e-01 8.64608502e-03 1.99696166e+02] [-2.00264528e-01 9.79740336e-01 -1.73008980e-03 -2.75099757e+01] [-8.81740678e-03 -3.65313722e-05 9.99961125e-01 -2.80208681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.72, Y:-27.52, Z:-2.80 [[ 9.79795553e-01 1.99827331e-01 8.34939040e-03 1.99723639e+02] [-1.99820354e-01 9.79831127e-01 -1.67013353e-03 -2.75157690e+01] [-8.51473093e-03 -3.19887484e-05 9.99963749e-01 -2.80208029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.75, Y:-27.52, Z:-2.80 [[ 9.79997186e-01 1.98858636e-01 7.79481370e-03 1.99750498e+02] [-1.98852528e-01 9.80028185e-01 -1.55868538e-03 -2.75217708e+01] [-7.94909517e-03 -2.25111217e-05 9.99968405e-01 -2.80210086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.78, Y:-27.53, Z:-2.80 [[ 9.80433074e-01 1.96665058e-01 8.59312737e-03 1.99778769e+02] [-1.96657558e-01 9.80470731e-01 -1.71749905e-03 -2.75285291e+01] [-8.76308193e-03 -6.01057166e-06 9.99961603e-01 -2.80125472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.81, Y:-27.53, Z:-2.80 [[ 9.80529657e-01 1.96118237e-01 9.96141127e-03 1.99806452e+02] [-1.96108137e-01 9.80580255e-01 -1.99040096e-03 -2.75343542e+01] [-1.01583171e-02 -1.86663962e-06 9.99948403e-01 -2.80115275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.83, Y:-27.54, Z:-2.80 [[ 9.80517930e-01 1.96088000e-01 1.15794865e-02 1.99833673e+02] [-1.96074359e-01 9.80586302e-01 -2.31286073e-03 -2.75396923e+01] [-1.18082101e-02 -2.63898925e-06 9.99930281e-01 -2.80087942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:199.86, Y:-27.55, Z:-2.80 [[ 9.80328282e-01 1.97076708e-01 1.08273099e-02 1.99861857e+02] [-1.97064851e-01 9.80388072e-01 -2.16187713e-03 -2.75451527e+01] [-1.10410211e-02 -1.43329147e-05 9.99939046e-01 -2.80153910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.89, Y:-27.55, Z:-2.80 [[ 9.79949485e-01 1.99084270e-01 8.02876417e-03 1.99889643e+02] [-1.99077820e-01 9.79982374e-01 -1.60285947e-03 -2.75516652e+01] [-8.18715147e-03 -2.76275537e-05 9.99966484e-01 -2.80377536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.92, Y:-27.56, Z:-2.80 [[ 9.79818618e-01 1.99759242e-01 7.19166706e-03 1.99916391e+02] [-1.99754086e-01 9.79845010e-01 -1.43563402e-03 -2.75579685e+01] [-7.33350025e-03 -2.99039376e-05 9.99973109e-01 -2.80398539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.705769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:199.94, Y:-27.56, Z:-2.80 [[ 9.79703725e-01 2.00313507e-01 7.42358622e-03 1.99943285e+02] [-2.00308034e-01 9.79731850e-01 -1.48118941e-03 -2.75645301e+01] [-7.56982610e-03 -3.58771703e-05 9.99971348e-01 -2.80460786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.735769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:199.97, Y:-27.57, Z:-2.80 [[ 9.79646126e-01 2.00523632e-01 9.15103481e-03 1.99970436e+02] [-2.00515332e-01 9.79688864e-01 -1.82497888e-03 -2.75716242e+01] [-9.33111830e-03 -4.70892978e-05 9.99956463e-01 -2.80469059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.00, Y:-27.58, Z:-2.80 [[ 9.79645835e-01 2.00492888e-01 9.83056565e-03 1.99997388e+02] [-2.00483317e-01 9.79695156e-01 -1.95971114e-03 -2.75776610e+01] [-1.00238657e-02 -5.10415471e-05 9.99949758e-01 -2.80499664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.02, Y:-27.58, Z:-2.81 [[ 9.79319760e-01 2.02071123e-01 1.00034286e-02 2.00024057e+02] [-2.02061302e-01 9.79370847e-01 -1.99344734e-03 -2.75826524e+01] [-1.01998845e-02 -6.90834464e-05 9.99947977e-01 -2.80595720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.05, Y:-27.59, Z:-2.81 [[ 9.79070046e-01 2.03264118e-01 1.02734084e-02 2.00052815e+02] [-2.03253835e-01 9.79123941e-01 -2.04627700e-03 -2.75872878e+01] [-1.04748748e-02 -8.46611495e-05 9.99945133e-01 -2.80701051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.855769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.08, Y:-27.59, Z:-2.81 [[ 9.78870283e-01 2.04227897e-01 1.01948719e-02 2.00080880e+02] [-2.04217828e-01 9.78923366e-01 -2.03014536e-03 -2.75910793e+01] [-1.03946106e-02 -9.47256356e-05 9.99945970e-01 -2.80710079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.11, Y:-27.59, Z:-2.81 [[ 9.78602440e-01 2.05473108e-01 1.08658078e-02 2.00109310e+02] [-2.05461755e-01 9.78662755e-01 -2.16303047e-03 -2.75935220e+01] [-1.10784060e-02 -1.15761034e-04 9.99938626e-01 -2.80803300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.14, Y:-27.60, Z:-2.81 [[ 9.78574257e-01 2.05613255e-01 1.07523623e-02 2.00137550e+02] [-2.05602155e-01 9.78633320e-01 -2.13961755e-03 -2.75975024e+01] [-1.09625538e-02 -1.16934219e-04 9.99939903e-01 -2.80864415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.16, Y:-27.60, Z:-2.81 [[ 9.78623761e-01 2.05404660e-01 1.02205470e-02 2.00164679e+02] [-2.05394624e-01 9.78677124e-01 -2.03338002e-03 -2.75987689e+01] [-1.04202813e-02 -1.09331404e-04 9.99945701e-01 -2.80880020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.19, Y:-27.60, Z:-2.81 [[ 9.78631441e-01 2.05360902e-01 1.03635534e-02 2.00191579e+02] [-2.05350591e-01 9.78686307e-01 -2.06089561e-03 -2.76004162e+01] [-1.05658952e-02 -1.11304566e-04 9.99944173e-01 -2.80901837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.22, Y:-27.60, Z:-2.81 [[ 9.78619337e-01 2.05431273e-01 1.01086996e-02 2.00219791e+02] [-2.05421475e-01 9.78671538e-01 -2.00935361e-03 -2.76023132e+01] [-1.03058807e-02 -1.10151683e-04 9.99946887e-01 -2.80898492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.25, Y:-27.60, Z:-2.81 [[ 9.78431451e-01 2.06258523e-01 1.13717824e-02 2.00248536e+02] [-2.06246191e-01 9.78497523e-01 -2.25951781e-03 -2.76012184e+01] [-1.15933058e-02 -1.34603517e-04 9.99932786e-01 -2.80920421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.28, Y:-27.60, Z:-2.81 [[ 9.78401330e-01 2.06364398e-01 1.20238729e-02 2.00276650e+02] [-2.06350630e-01 9.78475199e-01 -2.38815004e-03 -2.76032908e+01] [-1.22578905e-02 -1.44564567e-04 9.99924859e-01 -2.80897455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.30, Y:-27.60, Z:-2.81 [[ 9.78705192e-01 2.04882549e-01 1.26209069e-02 2.00304714e+02] [-2.04867269e-01 9.78786557e-01 -2.50575603e-03 -2.76012881e+01] [-1.28665597e-02 -1.33214284e-04 9.99917214e-01 -2.80946287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.33, Y:-27.60, Z:-2.81 [[ 9.79012237e-01 2.03450319e-01 1.19585590e-02 2.00331737e+02] [-2.03436505e-01 9.79085265e-01 -2.37328695e-03 -2.76032923e+01] [-1.21912949e-02 -1.09330487e-04 9.99925677e-01 -2.81026883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.36, Y:-27.61, Z:-2.81 [[ 9.79394676e-01 2.01652805e-01 1.10551276e-02 2.00360064e+02] [-2.01640894e-01 9.79457064e-01 -2.19314893e-03 -2.76061018e+01] [-1.12702775e-02 -8.12074402e-05 9.99936485e-01 -2.81104747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.39, Y:-27.61, Z:-2.81 [[ 9.80240515e-01 1.97562467e-01 9.87950505e-03 2.00387895e+02] [-1.97552754e-01 9.80290299e-01 -1.95931937e-03 -2.76066654e+01] [-1.00718709e-02 -3.11191949e-05 9.99949277e-01 -2.81132551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.41, Y:-27.61, Z:-2.81 [[ 9.80606793e-01 1.95700463e-01 1.05662644e-02 2.00414737e+02] [-1.95689255e-01 9.80663718e-01 -2.09453203e-03 -2.76093386e+01] [-1.07718530e-02 -1.37920697e-05 9.99941982e-01 -2.81099736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:200.44, Y:-27.61, Z:-2.81 [[ 9.81254284e-01 1.92311786e-01 1.24982851e-02 2.00442967e+02] [-1.92295845e-01 9.81333876e-01 -2.47624844e-03 -2.76107887e+01] [-1.27412024e-02 2.64610929e-05 9.99918827e-01 -2.81078787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.47, Y:-27.61, Z:-2.81 [[ 9.81634543e-01 1.90341117e-01 1.28016900e-02 2.00469980e+02] [-1.90324238e-01 9.81718013e-01 -2.53539049e-03 -2.76139715e+01] [-1.30502388e-02 5.23549910e-05 9.99914841e-01 -2.81173958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.50, Y:-27.62, Z:-2.81 [[ 9.82056558e-01 1.88158307e-01 1.27031102e-02 2.00497402e+02] [-1.88141523e-01 9.82138710e-01 -2.51439762e-03 -2.76174468e+01] [-1.29493211e-02 7.92981667e-05 9.99916151e-01 -2.81260665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.52, Y:-27.62, Z:-2.81 [[ 9.82871686e-01 1.83863170e-01 1.25532426e-02 2.00524355e+02] [-1.83846441e-01 9.82951838e-01 -2.48380322e-03 -2.76212351e+01] [-1.27959128e-02 1.33390874e-04 9.99918120e-01 -2.81389820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.55, Y:-27.63, Z:-2.81 [[ 9.83197008e-01 1.82126063e-01 1.23992332e-02 2.00551809e+02] [-1.82109617e-01 9.83275177e-01 -2.45226990e-03 -2.76267776e+01] [-1.26384805e-02 1.53044810e-04 9.99920120e-01 -2.81444716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.58, Y:-27.63, Z:-2.81 [[ 9.83534312e-01 1.80269297e-01 1.27764858e-02 2.00578088e+02] [-1.80251691e-01 9.83617277e-01 -2.52589419e-03 -2.76322534e+01] [-1.30225133e-02 1.81320440e-04 9.99915187e-01 -2.81427012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.60, Y:-27.64, Z:-2.81 [[ 9.84288189e-01 1.75993331e-01 1.42515930e-02 2.00604238e+02] [-1.75970996e-01 9.84391323e-01 -2.81616840e-03 -2.76381218e+01] [-1.45247713e-02 2.64054277e-04 9.99894475e-01 -2.81438910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.63, Y:-27.64, Z:-2.82 [[ 9.84695141e-01 1.73662076e-01 1.47296287e-02 2.00632002e+02] [-1.73637975e-01 9.84805254e-01 -2.90939725e-03 -2.76445336e+01] [-1.50110677e-02 3.07246436e-04 9.99887280e-01 -2.81515127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.66, Y:-27.65, Z:-2.82 [[ 9.85457631e-01 1.69255235e-01 1.50307611e-02 2.00658119e+02] [-1.69229642e-01 9.85572179e-01 -2.96783580e-03 -2.76534928e+01] [-1.53162218e-02 3.81026106e-04 9.99882627e-01 -2.81684671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.69, Y:-27.66, Z:-2.82 [[ 9.85819747e-01 1.67142083e-01 1.49315089e-02 2.00685804e+02] [-1.67116598e-01 9.85932734e-01 -2.94740474e-03 -2.76612897e+01] [-1.52140987e-02 4.10306836e-04 9.99884175e-01 -2.81787876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.71, Y:-27.67, Z:-2.82 [[ 9.86039472e-01 1.65808509e-01 1.52872120e-02 2.00713854e+02] [-1.65781645e-01 9.86157870e-01 -3.01688920e-03 -2.76698816e+01] [-1.55758303e-02 4.40432679e-04 9.99878592e-01 -2.81851729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.74, Y:-27.68, Z:-2.82 [[ 9.86319662e-01 1.64108842e-01 1.55503327e-02 2.00739883e+02] [-1.64080848e-01 9.86442123e-01 -3.06798125e-03 -2.76818537e+01] [-1.58429861e-02 4.74498450e-04 9.99874379e-01 -2.81829324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.77, Y:-27.69, Z:-2.82 [[ 9.86325052e-01 1.64076424e-01 1.55505088e-02 2.00768673e+02] [-1.64048440e-01 9.86447516e-01 -3.06708849e-03 -2.76874452e+01] [-1.58429977e-02 4.74109494e-04 9.99874379e-01 -2.81866053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.80, Y:-27.70, Z:-2.82 [[ 9.86363997e-01 1.63864551e-01 1.53125836e-02 2.00796423e+02] [-1.63837400e-01 9.86482736e-01 -3.01961143e-03 -2.76963725e+01] [-1.56004066e-02 4.69662113e-04 9.99878196e-01 -2.81846591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.82, Y:-27.71, Z:-2.82 [[ 9.86113021e-01 1.65537934e-01 1.33529671e-02 2.00824243e+02] [-1.65517448e-01 9.86203348e-01 -2.63264494e-03 -2.77061021e+01] [-1.36045435e-02 3.85936418e-04 9.99907379e-01 -2.81818824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.85, Y:-27.71, Z:-2.82 [[ 9.85840169e-01 1.67202399e-01 1.27483256e-02 2.00851085e+02] [-1.67183873e-01 9.85922531e-01 -2.51287620e-03 -2.77132667e+01] [-1.29890203e-02 3.45979853e-04 9.99915579e-01 -2.81869974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.88, Y:-27.72, Z:-2.82 [[ 9.85135958e-01 1.71229852e-01 1.36924165e-02 2.00877195e+02] [-1.71208881e-01 9.85231059e-01 -2.69814593e-03 -2.77230094e+01] [-1.39521971e-02 3.13777284e-04 9.99902614e-01 -2.81864147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.91, Y:-27.73, Z:-2.82 [[ 9.84897794e-01 1.72549927e-01 1.42428530e-02 2.00905154e+02] [-1.72527385e-01 9.85000725e-01 -2.80580270e-03 -2.77302880e+01] [-1.45133616e-02 3.06146694e-04 9.99894629e-01 -2.81850036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.93, Y:-27.74, Z:-2.82 [[ 9.84442822e-01 1.75164943e-01 1.37685722e-02 2.00933081e+02] [-1.75144142e-01 9.84539068e-01 -2.71175432e-03 -2.77381932e+01] [-1.40307015e-02 2.58082312e-04 9.99901532e-01 -2.81785514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.96, Y:-27.74, Z:-2.82 [[ 9.84076530e-01 1.77235150e-01 1.34567591e-02 2.00960426e+02] [-1.77215480e-01 9.84168508e-01 -2.64982246e-03 -2.77441662e+01] [-1.37133602e-02 2.22882071e-04 9.99905943e-01 -2.81784340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.99, Y:-27.75, Z:-2.82 [[ 9.83503155e-01 1.80366465e-01 1.37652705e-02 2.00989010e+02] [-1.80346202e-01 9.83599464e-01 -2.70972010e-03 -2.77501821e+01] [-1.40282554e-02 1.82504003e-04 9.99901583e-01 -2.81824951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.02, Y:-27.76, Z:-2.82 [[ 9.82801179e-01 1.84138782e-01 1.39553096e-02 2.01016626e+02] [-1.84118345e-01 9.82900245e-01 -2.74641539e-03 -2.77553499e+01] [-1.42223989e-02 1.29751773e-04 9.99898848e-01 -2.81851156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.05, Y:-27.76, Z:-2.82 [[ 9.81364835e-01 1.91665241e-01 1.36929444e-02 2.01045366e+02] [-1.91646308e-01 9.81460358e-01 -2.69397632e-03 -2.77585362e+01] [-1.39554238e-02 1.95713804e-05 9.99902618e-01 -2.81847689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.07, Y:-27.76, Z:-2.82 [[ 9.80731714e-01 1.94887606e-01 1.35693391e-02 2.01071833e+02] [-1.94869331e-01 9.80825581e-01 -2.66895054e-03 -2.77620329e+01] [-1.38293003e-02 -2.67236053e-05 9.99904370e-01 -2.81860741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.10, Y:-27.76, Z:-2.82 [[ 9.79632049e-01 2.00384780e-01 1.29224233e-02 2.01099738e+02] [-2.00368698e-01 9.79717270e-01 -2.54066063e-03 -2.77637684e+01] [-1.31694310e-02 -1.00336558e-04 9.99913274e-01 -2.82016069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.13, Y:-27.77, Z:-2.82 [[ 9.79152035e-01 2.02742385e-01 1.25226564e-02 2.01126503e+02] [-2.02727486e-01 9.79232102e-01 -2.46118418e-03 -2.77674918e+01] [-1.27615735e-02 -1.28813152e-04 9.99918560e-01 -2.82064733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.15, Y:-27.77, Z:-2.82 [[ 9.78584399e-01 2.05452627e-01 1.27197609e-02 2.01154167e+02] [-2.05437499e-01 9.78667048e-01 -2.49884398e-03 -2.77703198e+01] [-1.29618049e-02 -1.67786125e-04 9.99915978e-01 -2.82164226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:-27.78, Z:-2.82 [[ 9.78539407e-01 2.05635765e-01 1.32121476e-02 2.01181424e+02] [-2.05619472e-01 9.78628582e-01 -2.59460882e-03 -2.77750633e+01] [-1.34633297e-02 -1.77747844e-04 9.99909349e-01 -2.82266786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.21, Y:-27.78, Z:-2.82 [[ 9.78770134e-01 2.04476778e-01 1.40809026e-02 2.01209280e+02] [-2.04458167e-01 9.78871400e-01 -2.76416577e-03 -2.77801793e+01] [-1.43486005e-02 -1.73472631e-04 9.99897038e-01 -2.82325395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.24, Y:-27.79, Z:-2.82 [[ 9.79766409e-01 1.99594376e-01 1.48279395e-02 2.01236124e+02] [-1.99573195e-01 9.79878601e-01 -2.90972921e-03 -2.77870008e+01] [-1.51103462e-02 -1.08404331e-04 9.99885826e-01 -2.82406756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.26, Y:-27.79, Z:-2.82 [[ 9.80319294e-01 1.96867768e-01 1.47364498e-02 2.01263701e+02] [-1.96846555e-01 9.80430047e-01 -2.89074782e-03 -2.77940275e+01] [-1.50171533e-02 -6.69635230e-05 9.99887234e-01 -2.82439307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.29, Y:-27.80, Z:-2.83 [[ 9.81307424e-01 1.91963845e-01 1.36243328e-02 2.01290514e+02] [-1.91945252e-01 9.81401998e-01 -2.67171345e-03 -2.78040973e+01] [-1.38838198e-02 6.64626115e-06 9.99903615e-01 -2.82539049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.32, Y:-27.81, Z:-2.83 [[ 9.81680115e-01 1.90038321e-01 1.37691138e-02 2.01317862e+02] [-1.90019153e-01 9.81776673e-01 -2.69930412e-03 -2.78123079e+01] [-1.40311660e-02 3.34578366e-05 9.99901558e-01 -2.82612050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.34, Y:-27.82, Z:-2.83 [[ 9.81935446e-01 1.88709900e-01 1.38330684e-02 2.01344191e+02] [-1.88690431e-01 9.82032877e-01 -2.71111938e-03 -2.78203073e+01] [-1.40961430e-02 5.19765689e-05 9.99900643e-01 -2.82604099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.37, Y:-27.83, Z:-2.82 [[ 9.81901915e-01 1.88819161e-01 1.46953717e-02 2.01371120e+02] [-1.88797216e-01 9.82011874e-01 -2.87918117e-03 -2.78320166e+01] [-1.49746741e-02 5.26282328e-05 9.99887872e-01 -2.82468128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.40, Y:-27.84, Z:-2.82 [[ 9.81773046e-01 1.89441087e-01 1.52892125e-02 2.01398060e+02] [-1.89417420e-01 9.81892088e-01 -2.99472386e-03 -2.78403633e+01] [-1.55796805e-02 4.40959714e-05 9.99878628e-01 -2.82418929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.43, Y:-27.85, Z:-2.82 [[ 9.81239278e-01 1.92023946e-01 1.72129111e-02 2.01425033e+02] [-1.91994363e-01 9.81390241e-01 -3.37049593e-03 -2.78519795e+01] [-1.75397989e-02 2.48108001e-06 9.99846166e-01 -2.82377136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.45, Y:-27.86, Z:-2.82 [[ 9.80899522e-01 1.93708246e-01 1.76986935e-02 2.01452215e+02] [-1.93677258e-01 9.81059180e-01 -3.46479973e-03 -2.78592210e+01] [-1.80346260e-02 -2.92140398e-05 9.99837362e-01 -2.82390454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.48, Y:-27.87, Z:-2.82 [[ 9.80558756e-01 1.95433740e-01 1.76118919e-02 2.01479821e+02] [-1.95403353e-01 9.80716906e-01 -3.44677340e-03 -2.78659182e+01] [-1.79458960e-02 -6.16589059e-05 9.99838958e-01 -2.82454741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.51, Y:-27.87, Z:-2.83 [[ 9.79708628e-01 1.99829493e-01 1.54654060e-02 2.01506861e+02] [-1.99806620e-01 9.79830678e-01 -3.02596229e-03 -2.78716575e+01] [-1.57581558e-02 -1.25529141e-04 9.99875825e-01 -2.82558937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.54, Y:-27.88, Z:-2.83 [[ 9.79289603e-01 2.01986925e-01 1.38980695e-02 2.01535087e+02] [-2.01968682e-01 9.79388208e-01 -2.71854049e-03 -2.78767771e+01] [-1.41607150e-02 -1.44736328e-04 9.99899722e-01 -2.82646927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.56, Y:-27.88, Z:-2.83 [[ 9.78694860e-01 2.04928998e-01 1.26679632e-02 2.01563433e+02] [-2.04914095e-01 9.78776827e-01 -2.47735833e-03 -2.78818655e+01] [-1.29067914e-02 -1.71266345e-04 9.99916689e-01 -2.82741814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.59, Y:-27.89, Z:-2.83 [[ 9.78609426e-01 2.05308212e-01 1.31198250e-02 2.01591373e+02] [-2.05292270e-01 9.78697351e-01 -2.56504732e-03 -2.78865382e+01] [-1.33669633e-02 -1.83219171e-04 9.99910641e-01 -2.82712003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.62, Y:-27.89, Z:-2.83 [[ 9.78604655e-01 2.05307145e-01 1.34872618e-02 2.01619636e+02] [-2.05290309e-01 9.78697574e-01 -2.63599683e-03 -2.78904671e+01] [-1.37411394e-02 -1.89205372e-04 9.99905568e-01 -2.82766789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.65, Y:-27.89, Z:-2.83 [[ 9.78708072e-01 2.04827729e-01 1.32706897e-02 2.01648156e+02] [-2.04811395e-01 9.78798023e-01 -2.59301069e-03 -2.78940325e+01] [-1.35204453e-02 -1.80187975e-04 9.99908578e-01 -2.82825018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.68, Y:-27.90, Z:-2.83 [[ 9.79011462e-01 2.03388451e-01 1.30266722e-02 2.01675472e+02] [-2.03372593e-01 9.79098112e-01 -2.54467799e-03 -2.78972058e+01] [-1.32719483e-02 -1.57999200e-04 9.99911911e-01 -2.82977700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.70, Y:-27.90, Z:-2.83 [[ 9.79136701e-01 2.02743216e-01 1.36568346e-02 2.01703667e+02] [-2.02725736e-01 9.79231925e-01 -2.66690478e-03 -2.79023288e+01] [-1.39139053e-02 -1.57327494e-04 9.99903185e-01 -2.83004426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.73, Y:-27.91, Z:-2.83 [[ 9.79320836e-01 2.01828777e-01 1.39944862e-02 2.01732832e+02] [-2.01810338e-01 9.79420810e-01 -2.73214585e-03 -2.79059225e+01] [-1.42579166e-02 -1.48584626e-04 9.99898340e-01 -2.83025368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.76, Y:-27.91, Z:-2.83 [[ 9.79335851e-01 2.01812801e-01 1.31485624e-02 2.01760548e+02] [-2.01796531e-01 9.79424103e-01 -2.56637071e-03 -2.79092559e+01] [-1.33959454e-02 -1.39995430e-04 9.99910260e-01 -2.83068675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:201.79, Y:-27.91, Z:-2.83 [[ 9.79140143e-01 2.02830723e-01 1.20116187e-02 2.01788833e+02] [-2.02817230e-01 9.79213806e-01 -2.34378616e-03 -2.79119579e+01] [-1.22373347e-02 -1.41268107e-04 9.99925111e-01 -2.83186310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.82, Y:-27.92, Z:-2.83 [[ 9.79080977e-01 2.03128138e-01 1.18067688e-02 2.01815649e+02] [-2.03115133e-01 9.79152153e-01 -2.30296468e-03 -2.79170983e+01] [-1.20284200e-02 -1.43344511e-04 9.99927646e-01 -2.83211656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.84, Y:-27.92, Z:-2.83 [[ 9.79026212e-01 2.03372094e-01 1.21436123e-02 2.01841869e+02] [-2.03358369e-01 9.79101511e-01 -2.36759689e-03 -2.79215780e+01] [-1.23713322e-02 -1.51565767e-04 9.99923461e-01 -2.83215844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.87, Y:-27.92, Z:-2.83 [[ 9.79024912e-01 2.03272994e-01 1.37953584e-02 2.01869870e+02] [-2.03255288e-01 9.79122087e-01 -2.68839230e-03 -2.79249722e+01] [-1.40538177e-02 -1.71976513e-04 9.99901225e-01 -2.83228600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.90, Y:-27.93, Z:-2.83 [[ 9.79086277e-01 2.02919823e-01 1.46152906e-02 2.01897885e+02] [-2.02899927e-01 9.79195340e-01 -2.84706435e-03 -2.79300720e+01] [-1.48889502e-02 -1.77919758e-04 9.99889138e-01 -2.83266943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.93, Y:-27.94, Z:-2.83 [[ 9.79434684e-01 2.01269029e-01 1.40882347e-02 2.01925501e+02] [-2.01250386e-01 9.79535990e-01 -2.74344253e-03 -2.79369030e+01] [-1.43521029e-02 -1.48239890e-04 9.99896992e-01 -2.83252311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.95, Y:-27.94, Z:-2.83 [[ 9.79770619e-01 1.99696781e-01 1.30663565e-02 2.01952795e+02] [-1.99680612e-01 9.79857736e-01 -2.54383305e-03 -2.79424980e+01] [-1.33111658e-02 -1.16725188e-04 9.99911396e-01 -2.83344543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.925769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.98, Y:-27.95, Z:-2.83 [[ 9.80488896e-01 1.96148498e-01 1.29340979e-02 2.01980690e+02] [-1.96132358e-01 9.80574200e-01 -2.51722938e-03 -2.79474777e+01] [-1.31765935e-02 -6.86796640e-05 9.99913183e-01 -2.83390824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.955769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:202.01, Y:-27.95, Z:-2.83 [[ 9.80817717e-01 1.94407908e-01 1.42186784e-02 2.02009132e+02] [-1.94388234e-01 9.80920773e-01 -2.76617905e-03 -2.79544107e+01] [-1.44851641e-02 -5.08263664e-05 9.99895083e-01 -2.83405233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.04, Y:-27.96, Z:-2.83 [[ 9.81092893e-01 1.92932048e-01 1.52957568e-02 2.02037455e+02] [-1.92909113e-01 9.81212120e-01 -2.97492314e-03 -2.79622474e+01] [-1.55823400e-02 -3.20149446e-05 9.99878587e-01 -2.83357305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.07, Y:-27.97, Z:-2.83 [[ 9.81466440e-01 1.91026479e-01 1.52483460e-02 2.02065220e+02] [-1.91003468e-01 9.81584884e-01 -2.96495687e-03 -2.79730707e+01] [-1.55339312e-02 -2.48129719e-06 9.99879341e-01 -2.83246826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.09, Y:-27.98, Z:-2.83 [[ 9.81558237e-01 1.90653009e-01 1.39591699e-02 2.02093677e+02] [-1.90633695e-01 9.81657491e-01 -2.71365002e-03 -2.79798581e+01] [-1.42204892e-02 2.51738849e-06 9.99898884e-01 -2.83285921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.12, Y:-27.99, Z:-2.83 [[ 9.81516623e-01 1.90946846e-01 1.28226702e-02 2.02121491e+02] [-1.90930582e-01 9.81600378e-01 -2.49213064e-03 -2.79864992e+01] [-1.30626024e-02 -2.17224454e-06 9.99914681e-01 -2.83379119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.105769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.15, Y:-28.00, Z:-2.84 [[ 9.81276743e-01 1.92199293e-01 1.24653368e-02 2.02148088e+02] [-1.92184032e-01 9.81355915e-01 -2.42207930e-03 -2.79963091e+01] [-1.26984539e-02 -1.89085938e-05 9.99919371e-01 -2.83517532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.18, Y:-28.00, Z:-2.84 [[ 9.81162288e-01 1.92735656e-01 1.31731029e-02 2.02175752e+02] [-1.92718672e-01 9.81250715e-01 -2.55875835e-03 -2.80048922e+01] [-1.34192806e-02 -2.81457075e-05 9.99909957e-01 -2.83566492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.20, Y:-28.02, Z:-2.84 [[ 9.80976228e-01 1.93623310e-01 1.39876480e-02 2.02203698e+02] [-1.93604260e-01 9.81075946e-01 -2.71631097e-03 -2.80159717e+01] [-1.42488861e-02 -4.34317462e-05 9.99898479e-01 -2.83558799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.195769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.23, Y:-28.02, Z:-2.84 [[ 9.80919737e-01 1.93937883e-01 1.35855173e-02 2.02231078e+02] [-1.93919949e-01 9.81013810e-01 -2.63786429e-03 -2.80237020e+01] [-1.38391619e-02 -4.69696668e-05 9.99904233e-01 -2.83616822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.26, Y:-28.03, Z:-2.84 [[ 9.80821866e-01 1.94501430e-01 1.25562974e-02 2.02258881e+02] [-1.94486161e-01 9.80902233e-01 -2.43758334e-03 -2.80342690e+01] [-1.27906136e-02 -5.11910460e-05 9.99918195e-01 -2.83673505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.29, Y:-28.04, Z:-2.84 [[ 9.80801747e-01 1.94632026e-01 1.20957913e-02 2.02286467e+02] [-1.94617870e-01 9.80876329e-01 -2.34789800e-03 -2.80416892e+01] [-1.23214515e-02 -5.12346751e-05 9.99924087e-01 -2.83751305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.32, Y:-28.05, Z:-2.84 [[ 9.80670301e-01 1.95316656e-01 1.17117090e-02 2.02315099e+02] [-1.95303440e-01 9.80740231e-01 -2.27291785e-03 -2.80496200e+01] [-1.19300829e-02 -5.83540132e-05 9.99928832e-01 -2.83781967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.34, Y:-28.06, Z:-2.84 [[ 9.80294157e-01 1.97173894e-01 1.20756120e-02 2.02343354e+02] [-1.97159988e-01 9.80368527e-01 -2.34323446e-03 -2.80588771e+01] [-1.23005746e-02 -8.37684668e-05 9.99924342e-01 -2.83850339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.37, Y:-28.07, Z:-2.84 [[ 9.80070262e-01 1.98258147e-01 1.24895312e-02 2.02371509e+02] [-1.98243364e-01 9.80149834e-01 -2.42322694e-03 -2.80663811e+01] [-1.27220364e-02 -1.01034005e-04 9.99919067e-01 -2.83860710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.40, Y:-28.08, Z:-2.84 [[ 9.79707597e-01 2.00049995e-01 1.23702533e-02 2.02398645e+02] [-2.00035641e-01 9.79785683e-01 -2.39962601e-03 -2.80752231e+01] [-1.26002422e-02 -1.23559707e-04 9.99920606e-01 -2.83937471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:202.43, Y:-28.08, Z:-2.84 [[ 9.79589809e-01 2.00638757e-01 1.21612225e-02 2.02427760e+02] [-2.00624934e-01 9.79665286e-01 -2.35863480e-03 -2.80824066e+01] [-1.23871611e-02 -1.29349864e-04 9.99923268e-01 -2.83954285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.46, Y:-28.09, Z:-2.84 [[ 9.79460637e-01 2.01259929e-01 1.23004865e-02 2.02456274e+02] [-2.01245841e-01 9.79537861e-01 -2.38534184e-03 -2.80888859e+01] [-1.25288660e-02 -1.39073314e-04 9.99921501e-01 -2.84000837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.49, Y:-28.09, Z:-2.84 [[ 9.78747743e-01 2.04725845e-01 1.18399263e-02 2.02485411e+02] [-2.04713048e-01 9.78819338e-01 -2.29575191e-03 -2.80948063e+01] [-1.20591486e-02 -1.76825411e-04 9.99927270e-01 -2.83953320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.51, Y:-28.10, Z:-2.84 [[ 9.78174031e-01 2.07448764e-01 1.18564792e-02 2.02514047e+02] [-2.07436135e-01 9.78245862e-01 -2.29867852e-03 -2.80989257e+01] [-1.20754097e-02 -2.10954592e-04 9.99927067e-01 -2.83930071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.54, Y:-28.10, Z:-2.84 [[ 9.78181242e-01 2.07414753e-01 1.18565595e-02 2.02542858e+02] [-2.07402127e-01 9.78253073e-01 -2.29826424e-03 -2.81044246e+01] [-1.20754097e-02 -2.10956698e-04 9.99927067e-01 -2.83966800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.57, Y:-28.11, Z:-2.84 [[ 9.76888222e-01 2.13363066e-01 1.28687383e-02 2.02570946e+02] [-2.13348714e-01 9.76972930e-01 -2.49394829e-03 -2.81059073e+01] [-1.31045254e-02 -3.09220054e-04 9.99914084e-01 -2.83999411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.60, Y:-28.11, Z:-2.84 [[ 9.76439396e-01 2.15412701e-01 1.27857115e-02 2.02599632e+02] [-2.15398719e-01 9.76523044e-01 -2.47710384e-03 -2.81092194e+01] [-1.30191415e-02 -3.35284096e-04 9.99915191e-01 -2.83992772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.63, Y:-28.11, Z:-2.84 [[ 9.76177843e-01 2.16608035e-01 1.25610108e-02 2.02628793e+02] [-2.16594646e-01 9.76258593e-01 -2.43298842e-03 -2.81122474e+01] [-1.27897996e-02 -3.45618306e-04 9.99918147e-01 -2.84022321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.66, Y:-28.11, Z:-2.84 [[ 9.76251525e-01 2.16308499e-01 1.19830734e-02 2.02658246e+02] [-2.16296298e-01 9.76325011e-01 -2.32050958e-03 -2.81116600e+01] [-1.22013202e-02 -3.26493395e-04 9.99925508e-01 -2.84142329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.69, Y:-28.11, Z:-2.84 [[ 9.76645575e-01 2.14533509e-01 1.17811484e-02 2.02686064e+02] [-2.14521593e-01 9.76716583e-01 -2.28087171e-03 -2.81147077e+01] [-1.19961665e-02 -2.99707461e-04 9.99927998e-01 -2.84222623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.705769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:202.72, Y:-28.12, Z:-2.84 [[ 9.78015623e-01 2.08164501e-01 1.23686090e-02 2.02715025e+02] [-2.08150868e-01 9.78093802e-01 -2.39378972e-03 -2.81180806e+01] [-1.25959619e-02 -2.33372958e-04 9.99920640e-01 -2.84245135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.74, Y:-28.12, Z:-2.84 [[ 9.78893718e-01 2.03960752e-01 1.29267441e-02 2.02742255e+02] [-2.03945502e-01 9.78979048e-01 -2.50115222e-03 -2.81219241e+01] [-1.31651485e-02 -1.87989127e-04 9.99913318e-01 -2.84294480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.77, Y:-28.13, Z:-2.84 [[ 9.79762259e-01 1.99752444e-01 1.28404704e-02 2.02770357e+02] [-1.99737045e-01 9.79846388e-01 -2.48370201e-03 -2.81260536e+01] [-1.30778141e-02 -1.31280126e-04 9.99914473e-01 -2.84302193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.80, Y:-28.13, Z:-2.84 [[ 9.81095958e-01 1.93159287e-01 1.18410560e-02 2.02797638e+02] [-1.93145718e-01 9.81167411e-01 -2.28988810e-03 -2.81313087e+01] [-1.20603714e-02 -4.04492936e-05 9.99927270e-01 -2.84499418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.83, Y:-28.14, Z:-2.85 [[ 9.81628111e-01 1.90474911e-01 1.12053443e-02 2.02825769e+02] [-1.90462591e-01 9.81692064e-01 -2.16633167e-03 -2.81369914e+01] [-1.14128294e-02 -7.66683926e-06 9.99934872e-01 -2.84542801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.85, Y:-28.14, Z:-2.85 [[ 9.81976276e-01 1.88743720e-01 9.91971497e-03 2.02853029e+02] [-1.88733981e-01 9.82026379e-01 -1.91739759e-03 -2.81421765e+01] [-1.01033185e-02 1.06516524e-05 9.99948960e-01 -2.84565296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.88, Y:-28.15, Z:-2.85 [[ 9.81867600e-01 1.89340206e-01 9.28993238e-03 2.02881173e+02] [-1.89331696e-01 9.81911547e-01 -1.79511672e-03 -2.81470240e+01] [-9.46177964e-03 3.68828463e-06 9.99955236e-01 -2.84515703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.91, Y:-28.15, Z:-2.85 [[ 9.81509136e-01 1.91148653e-01 1.00999338e-02 2.02908590e+02] [-1.91138696e-01 9.81561100e-01 -1.95111736e-03 -2.81519982e+01] [-1.02866556e-02 -1.54486612e-05 9.99947091e-01 -2.84573029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.94, Y:-28.16, Z:-2.85 [[ 9.81426062e-01 1.91551931e-01 1.05233893e-02 2.02936965e+02] [-1.91541151e-01 9.81482479e-01 -2.03222505e-03 -2.81573181e+01] [-1.07177989e-02 -2.11834768e-05 9.99942563e-01 -2.84703996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.96, Y:-28.16, Z:-2.85 [[ 9.81464019e-01 1.91373133e-01 1.02324498e-02 2.02964968e+02] [-1.91362937e-01 9.81517358e-01 -1.97559378e-03 -2.81625971e+01] [-1.04214026e-02 -1.91374271e-05 9.99945696e-01 -2.84750051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.99, Y:-28.17, Z:-2.85 [[ 9.81719189e-01 1.90040852e-01 1.05786971e-02 2.02991877e+02] [-1.90029882e-01 9.81776183e-01 -2.04197096e-03 -2.81701104e+01] [-1.07739708e-02 -5.62648841e-06 9.99941959e-01 -2.84853289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.02, Y:-28.18, Z:-2.85 [[ 9.81944846e-01 1.88871833e-01 1.05712246e-02 2.03019689e+02] [-1.88860817e-01 9.82001747e-01 -2.03992799e-03 -2.81767612e+01] [-1.07662460e-02 6.60666011e-06 9.99942042e-01 -2.84773275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.05, Y:-28.18, Z:-2.85 [[ 9.82248189e-01 1.87254510e-01 1.11465092e-02 2.03048192e+02] [-1.87242164e-01 9.82311431e-01 -2.15033566e-03 -2.81844772e+01] [-1.13520035e-02 2.50667977e-05 9.99935564e-01 -2.84638129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.08, Y:-28.19, Z:-2.85 [[ 9.82258578e-01 1.87210684e-01 1.09656338e-02 2.03076941e+02] [-1.87198737e-01 9.82319785e-01 -2.11517801e-03 -2.81913458e+01] [-1.11677429e-02 2.48989567e-05 9.99937639e-01 -2.84621954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.10, Y:-28.20, Z:-2.85 [[ 9.82167599e-01 1.87658773e-01 1.14452043e-02 2.03104806e+02] [-1.87645791e-01 9.82234282e-01 -2.20739438e-03 -2.81981920e+01] [-1.16561089e-02 2.03868282e-05 9.99932065e-01 -2.84653413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.13, Y:-28.20, Z:-2.85 [[ 9.81703511e-01 1.89962820e-01 1.31280090e-02 2.03133698e+02] [-1.89945953e-01 9.81791285e-01 -2.53140750e-03 -2.82047718e+01] [-1.33698381e-02 -8.52054820e-06 9.99910620e-01 -2.84616020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.16, Y:-28.21, Z:-2.85 [[ 9.81339723e-01 1.91761124e-01 1.41428586e-02 2.03161867e+02] [-1.91741740e-01 9.81441629e-01 -2.72670036e-03 -2.82101594e+01] [-1.44032653e-02 -3.59569475e-05 9.99896267e-01 -2.84604054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.19, Y:-28.22, Z:-2.85 [[ 9.80968423e-01 1.93569613e-01 1.52236316e-02 2.03189547e+02] [-1.93547380e-01 9.81086541e-01 -2.93451161e-03 -2.82161515e+01] [-1.55037324e-02 -6.78307881e-05 9.99879808e-01 -2.84550233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.22, Y:-28.22, Z:-2.84 [[ 9.80518249e-01 1.95823298e-01 1.54012674e-02 2.03217992e+02] [-1.95800827e-01 9.80639192e-01 -2.96837490e-03 -2.82248579e+01] [-1.56843634e-02 -1.05035125e-04 9.99876987e-01 -2.84481845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.25, Y:-28.23, Z:-2.85 [[ 9.80499956e-01 1.95982550e-01 1.45147132e-02 2.03245945e+02] [-1.95962614e-01 9.80607378e-01 -2.79714172e-03 -2.82311685e+01] [-1.47814258e-02 -1.01743798e-04 9.99890744e-01 -2.84521831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:-28.24, Z:-2.85 [[ 9.80503206e-01 1.96069353e-01 1.30488537e-02 2.03275146e+02] [-1.96053255e-01 9.80590026e-01 -2.51423547e-03 -2.82367073e+01] [-1.32885403e-02 -9.30542885e-05 9.99911699e-01 -2.84654734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.30, Y:-28.24, Z:-2.85 [[ 9.80485526e-01 1.96160720e-01 1.30040182e-02 2.03304124e+02] [-1.96144744e-01 9.80571753e-01 -2.50528883e-03 -2.82428389e+01] [-1.32428122e-02 -9.42703780e-05 9.99912306e-01 -2.84730066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.33, Y:-28.25, Z:-2.85 [[ 9.80414893e-01 1.96478520e-01 1.35214484e-02 2.03331897e+02] [-1.96461282e-01 9.80508124e-01 -2.60461473e-03 -2.82494975e+01] [-1.37696408e-02 -1.02838016e-04 9.99905189e-01 -2.84825332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.36, Y:-28.26, Z:-2.85 [[ 9.80322944e-01 1.96947417e-01 1.33656440e-02 2.03359591e+02] [-1.96930624e-01 9.80414047e-01 -2.57412488e-03 -2.82563487e+01] [-1.36108324e-02 -1.08630936e-04 9.99907362e-01 -2.84843393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.39, Y:-28.26, Z:-2.85 [[ 9.80353439e-01 1.96817429e-01 1.30397204e-02 2.03387614e+02] [-1.96801438e-01 9.80440151e-01 -2.51097861e-03 -2.82618005e+01] [-1.32788698e-02 -1.04589212e-04 9.99911826e-01 -2.84906545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.42, Y:-28.27, Z:-2.85 [[ 9.80312684e-01 1.97103972e-01 1.17074770e-02 2.03415027e+02] [-1.97091107e-01 9.80382586e-01 -2.25406649e-03 -2.82685404e+01] [-1.19220920e-02 -9.77496321e-05 9.99928925e-01 -2.84942882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:-28.27, Z:-2.85 [[ 9.80264474e-01 1.97369303e-01 1.12658426e-02 2.03444013e+02] [-1.97357412e-01 9.80329204e-01 -2.16864822e-03 -2.82745766e+01] [-1.14722591e-02 -9.75487340e-05 9.99934187e-01 -2.85060384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.47, Y:-28.28, Z:-2.85 [[ 9.80203975e-01 1.97734956e-01 1.00525903e-02 2.03473053e+02] [-1.97725510e-01 9.80255517e-01 -1.93489047e-03 -2.82801451e+01] [-1.02367026e-02 -9.10662191e-05 9.99947599e-01 -2.85237450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.50, Y:-28.29, Z:-2.85 [[ 9.80127614e-01 1.98133006e-01 9.65260483e-03 2.03501635e+02] [-1.98124318e-01 9.80175139e-01 -1.85771216e-03 -2.82855334e+01] [-9.82931738e-03 -9.16207691e-05 9.99951687e-01 -2.85251575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.53, Y:-28.29, Z:-2.85 [[ 9.80079041e-01 1.98380486e-01 9.50033171e-03 2.03530372e+02] [-1.98372086e-01 9.80125081e-01 -1.82803599e-03 -2.82909695e+01] [-9.67416005e-03 -9.29808504e-05 9.99953200e-01 -2.85222664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:-28.30, Z:-2.85 [[ 9.80133104e-01 1.98127468e-01 9.19806081e-03 2.03558312e+02] [-1.98119583e-01 9.80176259e-01 -1.76969704e-03 -2.82960912e+01] [-9.36634643e-03 -8.77773213e-05 9.99956131e-01 -2.85166251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.59, Y:-28.30, Z:-2.85 [[ 9.80120138e-01 1.98172133e-01 9.60835417e-03 2.03587729e+02] [-1.98163535e-01 9.80167229e-01 -1.84823405e-03 -2.83013723e+01] [-9.78406237e-03 -9.25340187e-05 9.99952131e-01 -2.85189994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.62, Y:-28.31, Z:-2.85 [[ 9.79968186e-01 1.98796576e-01 1.19279787e-02 2.03616288e+02] [-1.98783377e-01 9.80040768e-01 -2.29407489e-03 -2.83065577e+01] [-1.21459596e-02 -1.22963465e-04 9.99926228e-01 -2.85148248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.65, Y:-28.31, Z:-2.85 [[ 9.79922402e-01 1.98969418e-01 1.27772118e-02 2.03645482e+02] [-1.98954293e-01 9.80005690e-01 -2.45691812e-03 -2.83111685e+01] [-1.30105918e-02 -1.34492035e-04 9.99915350e-01 -2.85108329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.67, Y:-28.32, Z:-2.85 [[ 9.79977780e-01 1.98663346e-01 1.32825301e-02 2.03673690e+02] [-1.98646978e-01 9.80067782e-01 -2.55373682e-03 -2.83156033e+01] [-1.35251137e-02 -1.35929132e-04 9.99908522e-01 -2.85109452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.70, Y:-28.32, Z:-2.85 [[ 9.80403710e-01 1.96607814e-01 1.24069277e-02 2.03703752e+02] [-1.96593374e-01 9.80482206e-01 -2.38496925e-03 -2.83183964e+01] [-1.26336754e-02 -1.00887074e-04 9.99920187e-01 -2.85153312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.73, Y:-28.32, Z:-2.85 [[ 9.80913700e-01 1.94139114e-01 1.08773782e-02 2.03733431e+02] [-1.94127865e-01 9.80974006e-01 -2.09072052e-03 -2.83228759e+01] [-1.10763159e-02 -6.07858117e-05 9.99938654e-01 -2.85198831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.76, Y:-28.33, Z:-2.85 [[ 9.81248391e-01 1.92438258e-01 1.09138782e-02 2.03762552e+02] [-1.92426831e-01 9.81309082e-01 -2.09746919e-03 -2.83274131e+01] [-1.11135211e-02 -4.19847283e-05 9.99938242e-01 -2.85188154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.79, Y:-28.33, Z:-2.85 [[ 9.81499165e-01 1.91136632e-01 1.12328745e-02 2.03790392e+02] [-1.91124446e-01 9.81563440e-01 -2.15850373e-03 -2.83319737e+01] [-1.14383481e-02 -2.83073021e-05 9.99934580e-01 -2.85203876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:-28.34, Z:-2.85 [[ 9.82174098e-01 1.87626638e-01 1.14142751e-02 2.03820006e+02] [-1.87613823e-01 9.82240421e-01 -2.19290388e-03 -2.83394471e+01] [-1.16230096e-02 1.23375964e-05 9.99932450e-01 -2.85270695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.85, Y:-28.35, Z:-2.85 [[ 9.82600592e-01 1.85381286e-01 1.13954383e-02 2.03848658e+02] [-1.85368362e-01 9.82666666e-01 -2.18929625e-03 -2.83469419e+01] [-1.16037720e-02 3.88500466e-05 9.99932673e-01 -2.85340568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.88, Y:-28.35, Z:-2.85 [[ 9.83461602e-01 1.80707359e-01 1.21707505e-02 2.03878576e+02] [-1.80692261e-01 9.83536903e-01 -2.33808213e-03 -2.83548172e+01] [-1.23928909e-02 1.00253574e-04 9.99923200e-01 -2.85341530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.91, Y:-28.36, Z:-2.85 [[ 9.83734117e-01 1.79182378e-01 1.26831491e-02 2.03908663e+02] [-1.79165850e-01 9.83815867e-01 -2.43683550e-03 -2.83616291e+01] [-1.29145213e-02 1.24811032e-04 9.99916596e-01 -2.85425771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.94, Y:-28.37, Z:-2.85 [[ 9.83951784e-01 1.77972710e-01 1.28296750e-02 2.03937886e+02] [-1.77955695e-01 9.84035413e-01 -2.46499433e-03 -2.83689945e+01] [-1.30635563e-02 1.42321830e-04 9.99914658e-01 -2.85468011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.97, Y:-28.38, Z:-2.86 [[ 9.84254671e-01 1.76369635e-01 1.16831222e-02 2.03967279e+02] [-1.76355411e-01 9.84323996e-01 -2.24483515e-03 -2.83786783e+01] [-1.18958983e-02 1.49107669e-04 9.99929230e-01 -2.85549198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.00, Y:-28.39, Z:-2.86 [[ 9.84361983e-01 1.75783413e-01 1.14750700e-02 2.03998325e+02] [-1.75769652e-01 9.84428854e-01 -2.20485917e-03 -2.83857488e+01] [-1.16839677e-02 1.53410480e-04 9.99931728e-01 -2.85630057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.03, Y:-28.39, Z:-2.86 [[ 9.84372865e-01 1.75703377e-01 1.17637603e-02 2.04028169e+02] [-1.75688884e-01 9.84443141e-01 -2.26241042e-03 -2.83933920e+01] [-1.19782663e-02 1.60293493e-04 9.99928245e-01 -2.85617575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.06, Y:-28.40, Z:-2.86 [[ 9.84171899e-01 1.76782492e-01 1.23945090e-02 2.04058405e+02] [-1.76766462e-01 9.84249931e-01 -2.38578689e-03 -2.84008311e+01] [-1.26210600e-02 1.57090904e-04 9.99920339e-01 -2.85631272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.09, Y:-28.41, Z:-2.86 [[ 9.83896187e-01 1.78274169e-01 1.29079055e-02 2.04088803e+02] [-1.78256886e-01 9.83980843e-01 -2.48662280e-03 -2.84083333e+01] [-1.31444324e-02 1.45655655e-04 9.99913598e-01 -2.85682510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.12, Y:-28.41, Z:-2.86 [[ 9.83228759e-01 1.81905883e-01 1.30942074e-02 2.04118679e+02] [-1.81888414e-01 9.83315941e-01 -2.52282308e-03 -2.84144437e+01] [-1.33346593e-02 9.88275760e-05 9.99911085e-01 -2.85785788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.15, Y:-28.42, Z:-2.86 [[ 9.82870782e-01 1.83859247e-01 1.26807911e-02 2.04149882e+02] [-1.83843025e-01 9.82952579e-01 -2.44332364e-03 -2.84199876e+01] [-1.29138439e-02 7.01964244e-05 9.99916610e-01 -2.85848156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.18, Y:-28.43, Z:-2.86 [[ 9.82307390e-01 1.86945213e-01 1.11210849e-02 2.04179408e+02] [-1.86932931e-01 9.82370341e-01 -2.14299496e-03 -2.84250796e+01] [-1.13256466e-02 2.61827897e-05 9.99935862e-01 -2.85956596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.21, Y:-28.43, Z:-2.86 [[ 9.82175364e-01 1.87677663e-01 1.04234696e-02 2.04208934e+02] [-1.87666909e-01 9.82230673e-01 -2.00920928e-03 -2.84306345e+01] [-1.06153353e-02 1.72555301e-05 9.99943656e-01 -2.85955039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.24, Y:-28.44, Z:-2.86 [[ 9.82175707e-01 1.87738916e-01 9.21841183e-03 2.04238833e+02] [-1.87730508e-01 9.82218967e-01 -1.77688763e-03 -2.84351334e+01] [-9.38808990e-03 1.46387302e-05 9.99955931e-01 -2.85961509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.27, Y:-28.44, Z:-2.86 [[ 9.82323766e-01 1.86961152e-01 9.24908541e-03 2.04267888e+02] [-1.86952651e-01 9.82367308e-01 -1.78301911e-03 -2.84396530e+01] [-9.41935444e-03 2.23610085e-05 9.99955637e-01 -2.86030512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.30, Y:-28.45, Z:-2.86 [[ 9.82394077e-01 1.86563709e-01 9.79077679e-03 2.04297157e+02] [-1.86554165e-01 9.82442864e-01 -1.88719945e-03 -2.84452423e+01] [-9.97096172e-03 2.74633701e-05 9.99950288e-01 -2.86015584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.33, Y:-28.45, Z:-2.86 [[ 9.82303289e-01 1.86925328e-01 1.17970673e-02 2.04325977e+02] [-1.86911503e-01 9.82374125e-01 -2.27358357e-03 -2.84506600e+01] [-1.20141241e-02 2.83410265e-05 9.99927827e-01 -2.85912982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.36, Y:-28.46, Z:-2.86 [[ 9.82305378e-01 1.86914345e-01 1.17971193e-02 2.04355604e+02] [-1.86900522e-01 9.82376215e-01 -2.27331379e-03 -2.84563282e+01] [-1.20141244e-02 2.82005985e-05 9.99927827e-01 -2.85950756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.39, Y:-28.46, Z:-2.86 [[ 9.82231014e-01 1.87254451e-01 1.25700130e-02 2.04386395e+02] [-1.87238787e-01 9.82311442e-01 -2.42210596e-03 -2.84609456e+01] [-1.28012177e-02 2.54736090e-05 9.99918061e-01 -2.85971151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.42, Y:-28.46, Z:-2.86 [[ 9.81986778e-01 1.88519088e-01 1.27484136e-02 2.04415412e+02] [-1.88503079e-01 9.82069526e-01 -2.45679008e-03 -2.84640516e+01] [-1.29829804e-02 9.42015256e-06 9.99915718e-01 -2.86024172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.44, Y:-28.47, Z:-2.86 [[ 9.81920757e-01 1.88902939e-01 1.21369799e-02 2.04444471e+02] [-1.88888460e-01 9.81995764e-01 -2.33881512e-03 -2.84694992e+01] [-1.23602719e-02 3.99567005e-06 9.99923609e-01 -2.86086323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.47, Y:-28.48, Z:-2.86 [[ 9.81961449e-01 1.88727721e-01 1.15568254e-02 2.04472136e+02] [-1.88714584e-01 9.82029453e-01 -2.22676900e-03 -2.84752733e+01] [-1.17693960e-02 5.65981324e-06 9.99930738e-01 -2.86171163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.50, Y:-28.48, Z:-2.86 [[ 9.82115176e-01 1.87967321e-01 1.08658763e-02 2.04501321e+02] [-1.87955666e-01 9.82175283e-01 -2.09326506e-03 -2.84802647e+01] [-1.10656605e-02 1.35243787e-05 9.99938774e-01 -2.86230056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.53, Y:-28.49, Z:-2.86 [[ 9.82072213e-01 1.88183178e-01 1.10118037e-02 2.04529431e+02] [-1.88171224e-01 9.82133948e-01 -2.12111930e-03 -2.84853502e+01] [-1.12142252e-02 1.09877496e-05 9.99937119e-01 -2.86274196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.56, Y:-28.49, Z:-2.86 [[ 9.82000689e-01 1.88535377e-01 1.13603889e-02 2.04557826e+02] [-1.88522681e-01 9.82066399e-01 -2.18794685e-03 -2.84910181e+01] [-1.15691616e-02 6.87434675e-06 9.99933075e-01 -2.86353366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.59, Y:-28.50, Z:-2.86 [[ 9.81857052e-01 1.89299088e-01 1.10718041e-02 2.04586248e+02] [-1.89287082e-01 9.81919475e-01 -2.13198180e-03 -2.84982485e+01] [-1.12752023e-02 -2.44813781e-06 9.99936433e-01 -2.86358527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.62, Y:-28.50, Z:-2.86 [[ 9.81740227e-01 1.89887965e-01 1.13440217e-02 2.04616165e+02] [-1.89875404e-01 9.81805765e-01 -2.18410961e-03 -2.85043143e+01] [-1.15523621e-02 -9.72244156e-06 9.99933269e-01 -2.86477372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.65, Y:-28.51, Z:-2.87 [[ 9.81431071e-01 1.91415806e-01 1.23710217e-02 2.04645193e+02] [-1.91400989e-01 9.81509036e-01 -2.38184021e-03 -2.85099043e+01] [-1.25981915e-02 -3.02137972e-05 9.99920639e-01 -2.86541607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.67, Y:-28.52, Z:-2.87 [[ 9.81227168e-01 1.92452989e-01 1.24535567e-02 2.04674067e+02] [-1.92438060e-01 9.81306193e-01 -2.39743064e-03 -2.85159911e+01] [-1.26821450e-02 -4.41142064e-05 9.99919577e-01 -2.86561651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.70, Y:-28.52, Z:-2.87 [[ 9.81057196e-01 1.93347788e-01 1.19754595e-02 2.04703257e+02] [-1.93334052e-01 9.81130282e-01 -2.30525794e-03 -2.85226174e+01] [-1.21952025e-02 -5.36742323e-05 9.99925634e-01 -2.86601377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.73, Y:-28.53, Z:-2.87 [[ 9.80774874e-01 1.94901980e-01 9.68836626e-03 2.04731819e+02] [-1.94893068e-01 9.80822723e-01 -1.86483055e-03 -2.85301690e+01] [-9.86602895e-03 -5.92164697e-05 9.99951328e-01 -2.86691870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.76, Y:-28.54, Z:-2.87 [[ 9.80356948e-01 1.97006113e-01 9.42583607e-03 2.04759766e+02] [-1.96997776e-01 9.80402257e-01 -1.81412351e-03 -2.85377791e+01] [-9.59850437e-03 -7.83801591e-05 9.99953930e-01 -2.86785359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.79, Y:-28.54, Z:-2.87 [[ 9.80122806e-01 1.98113236e-01 1.05086202e-02 2.04788921e+02] [-1.98102941e-01 9.80179135e-01 -2.02209418e-03 -2.85434735e+01] [-1.07009339e-02 -9.98879547e-05 9.99942738e-01 -2.86800484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.82, Y:-28.55, Z:-2.87 [[ 9.79774066e-01 1.99776609e-01 1.14928350e-02 2.04816799e+02] [-1.99764413e-01 9.79841462e-01 -2.21118698e-03 -2.85486392e+01] [-1.17028996e-02 -1.29395777e-04 9.99931510e-01 -2.86750959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.85, Y:-28.55, Z:-2.87 [[ 9.79311801e-01 2.01974930e-01 1.24307918e-02 2.04845963e+02] [-2.01960844e-01 9.79390677e-01 -2.39129023e-03 -2.85534972e+01] [-1.26575823e-02 -1.68714463e-04 9.99919875e-01 -2.86654564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.87, Y:-28.56, Z:-2.87 [[ 9.78201006e-01 2.07265063e-01 1.28056783e-02 2.04874830e+02] [-2.07250572e-01 9.78284792e-01 -2.46308759e-03 -2.85580616e+01] [-1.30381123e-02 -2.44589388e-04 9.99914970e-01 -2.86655456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.90, Y:-28.56, Z:-2.87 [[ 9.77154462e-01 2.12261450e-01 1.06880833e-02 2.04902364e+02] [-2.12251657e-01 9.77212878e-01 -2.05539757e-03 -2.85639532e+01] [-1.08808143e-02 -2.60122492e-04 9.99940768e-01 -2.86844806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.93, Y:-28.57, Z:-2.87 [[ 9.76674408e-01 2.14476025e-01 1.03506543e-02 2.04930050e+02] [-2.14466971e-01 9.76729215e-01 -1.98993226e-03 -2.85688700e+01] [-1.05365792e-02 -2.76357552e-04 9.99944451e-01 -2.86931976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.96, Y:-28.57, Z:-2.87 [[ 9.76256452e-01 2.16368739e-01 1.03878793e-02 2.04958782e+02] [-2.16359733e-01 9.76311671e-01 -1.99647192e-03 -2.85736680e+01] [-1.05737819e-02 -2.98450204e-04 9.99944051e-01 -2.86971467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.99, Y:-28.58, Z:-2.87 [[ 9.75479220e-01 2.19815898e-01 1.10119022e-02 2.04986324e+02] [-2.19806004e-01 9.75541308e-01 -2.11588021e-03 -2.85774683e+01] [-1.12076696e-02 -3.56485031e-04 9.99937129e-01 -2.86950885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.01, Y:-28.58, Z:-2.87 [[ 9.75173448e-01 2.21138595e-01 1.15960770e-02 2.05014781e+02] [-2.21127724e-01 9.75242313e-01 -2.22742287e-03 -2.85819560e+01] [-1.18015541e-02 -3.92090481e-04 9.99930282e-01 -2.86970228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.04, Y:-28.59, Z:-2.87 [[ 9.74856116e-01 2.22521549e-01 1.18200724e-02 2.05041932e+02] [-2.22510363e-01 9.74927682e-01 -2.26989704e-03 -2.85858063e+01] [-1.20288168e-02 -4.17265590e-04 9.99927564e-01 -2.87029343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.07, Y:-28.59, Z:-2.87 [[ 9.74189983e-01 2.25401616e-01 1.21650823e-02 2.05071321e+02] [-2.25390000e-01 9.74265823e-01 -2.33539810e-03 -2.85875366e+01] [-1.23784264e-02 -4.66766463e-04 9.99923275e-01 -2.87103209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.10, Y:-28.59, Z:-2.87 [[ 9.73865511e-01 2.26804292e-01 1.20739546e-02 2.05100278e+02] [-2.26792965e-01 9.73940235e-01 -2.31731337e-03 -2.85911528e+01] [-1.22848868e-02 -4.81536399e-04 9.99924422e-01 -2.87154941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.13, Y:-28.59, Z:-2.87 [[ 9.73690708e-01 2.27547100e-01 1.21951446e-02 2.05128320e+02] [-2.27535610e-01 9.73766949e-01 -2.33996923e-03 -2.85939720e+01] [-1.24076820e-02 -4.96423366e-04 9.99922899e-01 -2.87251455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.16, Y:-28.60, Z:-2.87 [[ 9.73884460e-01 2.26759035e-01 1.13753337e-02 2.05156409e+02] [-2.26748992e-01 9.73950786e-01 -2.18202717e-03 -2.85985864e+01] [-1.15738096e-02 -4.54303092e-04 9.99932918e-01 -2.87280464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.18, Y:-28.60, Z:-2.87 [[ 9.74193484e-01 2.25479606e-01 1.02958123e-02 2.05184470e+02] [-2.25471313e-01 9.74247807e-01 -1.97430189e-03 -2.86036555e+01] [-1.04758374e-02 -3.98058284e-04 9.99945048e-01 -2.87366586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.21, Y:-28.61, Z:-2.88 [[ 9.74831927e-01 2.22778958e-01 8.50003902e-03 2.05211644e+02] [-2.22773205e-01 9.74868936e-01 -1.62968668e-03 -2.86090527e+01] [-8.64948390e-03 -3.04910334e-04 9.99962546e-01 -2.87521036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.24, Y:-28.61, Z:-2.88 [[ 9.75164137e-01 2.21334031e-01 8.13341423e-03 2.05239072e+02] [-2.21328718e-01 9.75198015e-01 -1.55891723e-03 -2.86138798e+01] [-8.27673085e-03 -2.79957966e-04 9.99965708e-01 -2.87563669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.27, Y:-28.62, Z:-2.87 [[ 9.75734164e-01 2.18748488e-01 9.58859202e-03 2.05267252e+02] [-2.18740985e-01 9.75781229e-01 -1.83720156e-03 -2.86164539e+01] [-9.75825317e-03 -3.04797742e-04 9.99952341e-01 -2.87492692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.30, Y:-28.62, Z:-2.87 [[ 9.75861021e-01 2.18166308e-01 9.93633582e-03 2.05295430e+02] [-2.18158228e-01 9.75911556e-01 -1.90311828e-03 -2.86200672e+01] [-1.01121812e-02 -3.10514460e-04 9.99948822e-01 -2.87436268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.32, Y:-28.62, Z:-2.87 [[ 9.75789287e-01 2.18496087e-01 9.73276928e-03 2.05323029e+02] [-2.18488356e-01 9.75837776e-01 -1.86370639e-03 -2.86240685e+01] [-9.90481648e-03 -3.07912025e-04 9.99950899e-01 -2.87464006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.35, Y:-28.63, Z:-2.88 [[ 9.75342348e-01 2.20540779e-01 8.31080824e-03 2.05351375e+02] [-2.20535219e-01 9.75377714e-01 -1.59098440e-03 -2.86277079e+01] [-8.45705409e-03 -2.81071454e-04 9.99964199e-01 -2.87544465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.38, Y:-28.63, Z:-2.88 [[ 9.75144405e-01 2.21378371e-01 9.21987532e-03 2.05379302e+02] [-2.21371570e-01 9.75187938e-01 -1.76455039e-03 -2.86301225e+01] [-9.38174449e-03 -3.20326833e-04 9.99955939e-01 -2.87543864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.41, Y:-28.63, Z:-2.88 [[ 9.75179938e-01 2.21180591e-01 1.01604109e-02 2.05406861e+02] [-2.21172328e-01 9.75232804e-01 -1.94388714e-03 -2.86346428e+01] [-1.03387162e-02 -3.51561991e-04 9.99946492e-01 -2.87524832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.43, Y:-28.64, Z:-2.87 [[ 9.75167855e-01 2.21216593e-01 1.05296936e-02 2.05434455e+02] [-2.21207727e-01 9.75224633e-01 -2.01392285e-03 -2.86396446e+01] [-1.07143298e-02 -3.65336769e-04 9.99942533e-01 -2.87499950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.46, Y:-28.64, Z:-2.88 [[ 9.75230141e-01 2.20928425e-01 1.08075345e-02 2.05462354e+02] [-2.20919077e-01 9.75289953e-01 -2.06628971e-03 -2.86441229e+01] [-1.09969820e-02 -3.72482544e-04 9.99939462e-01 -2.87520523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.49, Y:-28.65, Z:-2.88 [[ 9.75312445e-01 2.20592000e-01 1.02373552e-02 2.05489357e+02] [-2.20583600e-01 9.75366109e-01 -1.95667623e-03 -2.86458247e+01] [-1.04167964e-02 -3.49821982e-04 9.99945683e-01 -2.87592768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.52, Y:-28.65, Z:-2.88 [[ 9.75357602e-01 2.20438220e-01 9.19452297e-03 2.05516331e+02] [-2.20431445e-01 9.75400888e-01 -1.75650732e-03 -2.86466048e+01] [-9.35554722e-03 -3.13539215e-04 9.99956187e-01 -2.87737134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.54, Y:-28.65, Z:-2.88 [[ 9.75503018e-01 2.19772004e-01 9.70195544e-03 2.05543882e+02] [-2.19764436e-01 9.75551209e-01 -1.85258855e-03 -2.86500990e+01] [-9.87190146e-03 -3.24939045e-04 9.99951219e-01 -2.87719773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.57, Y:-28.65, Z:-2.88 [[ 9.75696837e-01 2.18848507e-01 1.10005938e-02 2.05570638e+02] [-2.18838728e-01 9.75758783e-01 -2.09971139e-03 -2.86536826e+01] [-1.11934447e-02 -3.58674193e-04 9.99937287e-01 -2.87702345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.60, Y:-28.66, Z:-2.88 [[ 9.75821765e-01 2.18237809e-01 1.20059140e-02 2.05599022e+02] [-2.18226128e-01 9.75895543e-01 -2.29054855e-03 -2.86583868e+01] [-1.22164022e-02 -3.84836994e-04 9.99925303e-01 -2.87712766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.63, Y:-28.66, Z:-2.88 [[ 9.76211033e-01 2.16464993e-01 1.24469214e-02 2.05627420e+02] [-2.16452302e-01 9.76290308e-01 -2.37406325e-03 -2.86630895e+01] [-1.26657103e-02 -3.76578057e-04 9.99919716e-01 -2.87788148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.66, Y:-28.67, Z:-2.88 [[ 9.76533675e-01 2.15008769e-01 1.23778575e-02 2.05656066e+02] [-2.14996109e-01 9.76612053e-01 -2.36029292e-03 -2.86686748e+01] [-1.25958485e-02 -3.56285683e-04 9.99920606e-01 -2.87948080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.68, Y:-28.67, Z:-2.88 [[ 9.76638838e-01 2.14586496e-01 1.13673325e-02 2.05682885e+02] [-2.14575796e-01 9.76704936e-01 -2.16710371e-03 -2.86744268e+01] [-1.15675609e-02 -3.22676760e-04 9.99933041e-01 -2.88025055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.71, Y:-28.68, Z:-2.88 [[ 9.76668677e-01 2.14499024e-01 1.04145993e-02 2.05711122e+02] [-2.14490043e-01 9.76724158e-01 -1.98488113e-03 -2.86808384e+01] [-1.05979458e-02 -2.95256620e-04 9.99943797e-01 -2.88068668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.74, Y:-28.69, Z:-2.88 [[ 9.76669538e-01 2.14549367e-01 9.22947981e-03 2.05737909e+02] [-2.14542320e-01 9.76713111e-01 -1.75866084e-03 -2.86884473e+01] [-9.39187350e-03 -2.62483536e-04 9.99955861e-01 -2.88053561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.77, Y:-28.70, Z:-2.88 [[ 9.76590559e-01 2.14909212e-01 9.21471265e-03 2.05765515e+02] [-2.14902209e-01 9.76633995e-01 -1.75530404e-03 -2.86951930e+01] [-9.37663263e-03 -2.66048749e-04 9.99956003e-01 -2.88047385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.79, Y:-28.70, Z:-2.88 [[ 9.76092009e-01 2.17206247e-01 8.11392121e-03 2.05793253e+02] [-2.17200900e-01 9.76125700e-01 -1.54504819e-03 -2.87025729e+01] [-8.25580114e-03 -2.54241801e-04 9.99965888e-01 -2.88067910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.82, Y:-28.71, Z:-2.88 [[ 9.75709054e-01 2.18923495e-01 8.02159695e-03 2.05821042e+02] [-2.18918331e-01 9.75741991e-01 -1.52709099e-03 -2.87081088e+01] [-8.16132507e-03 -2.66078112e-04 9.99966660e-01 -2.88101692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.85, Y:-28.71, Z:-2.88 [[ 9.75245857e-01 2.20957232e-01 8.56856864e-03 2.05848352e+02] [-2.20951421e-01 9.75283451e-01 -1.63081083e-03 -2.87130907e+01] [-8.71712264e-03 -3.02795909e-04 9.99961959e-01 -2.88070259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.88, Y:-28.72, Z:-2.88 [[ 9.74397730e-01 2.24603446e-01 1.01170607e-02 2.05876014e+02] [-2.24595549e-01 9.74450170e-01 -1.92478776e-03 -2.87170326e+01] [-1.02908855e-02 -3.96737978e-04 9.99946969e-01 -2.87995571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.90, Y:-28.72, Z:-2.88 [[ 9.74100249e-01 2.25882914e-01 1.02769073e-02 2.05903868e+02] [-2.25874843e-01 9.74154369e-01 -1.95459649e-03 -2.87215475e+01] [-1.04528041e-02 -4.17321891e-04 9.99945281e-01 -2.88082315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.93, Y:-28.72, Z:-2.88 [[ 9.73661411e-01 2.27786811e-01 9.82981062e-03 2.05931959e+02] [-2.27779530e-01 9.73710939e-01 -1.86898261e-03 -2.87246753e+01] [-9.99712372e-03 -4.19273390e-04 9.99949940e-01 -2.88087476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.96, Y:-28.73, Z:-2.88 [[ 9.73401281e-01 2.28910146e-01 9.49164069e-03 2.05959295e+02] [-2.28903416e-01 9.73447467e-01 -1.80405378e-03 -2.87285427e+01] [-9.65257981e-03 -4.16600717e-04 9.99953326e-01 -2.88130440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.99, Y:-28.73, Z:-2.88 [[ 9.73008535e-01 2.30593402e-01 9.00407274e-03 2.05987239e+02] [-2.30587423e-01 9.73050109e-01 -1.71080390e-03 -2.87299914e+01] [-9.15591405e-03 -4.11599133e-04 9.99957999e-01 -2.88073392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.02, Y:-28.73, Z:-2.88 [[ 9.72895705e-01 2.31064626e-01 9.11517193e-03 2.06015556e+02] [-2.31058525e-01 9.72938313e-01 -1.73127273e-03 -2.87331646e+01] [-9.26853588e-03 -4.21790376e-04 9.99956957e-01 -2.88108647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.04, Y:-28.74, Z:-2.88 [[ 9.72870450e-01 2.31178749e-01 8.91475601e-03 2.06043738e+02] [-2.31172924e-01 9.72911206e-01 -1.69262001e-03 -2.87363349e+01] [-9.06456379e-03 -4.14150226e-04 9.99958830e-01 -2.88169309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.07, Y:-28.74, Z:-2.88 [[ 9.72954557e-01 2.30780121e-01 9.99827341e-03 2.06071264e+02] [-2.30772781e-01 9.73005819e-01 -1.89753756e-03 -2.87398220e+01] [-1.01662922e-02 -4.61111546e-04 9.99948216e-01 -2.88184114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.10, Y:-28.74, Z:-2.88 [[ 9.73059900e-01 2.30259540e-01 1.16179161e-02 2.06097812e+02] [-2.30249603e-01 9.73129109e-01 -2.20391817e-03 -2.87439909e+01] [-1.18132056e-02 -5.30476190e-04 9.99930081e-01 -2.88135125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:-28.75, Z:-2.88 [[ 9.73236556e-01 2.29447780e-01 1.28188105e-02 2.06125591e+02] [-2.29435629e-01 9.73320803e-01 -2.43052008e-03 -2.87458619e+01] [-1.30344924e-02 -5.75620857e-04 9.99914882e-01 -2.88202693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.15, Y:-28.75, Z:-2.88 [[ 9.73249381e-01 2.29393367e-01 1.28189727e-02 2.06153612e+02] [-2.29381222e-01 9.73333628e-01 -2.42966471e-03 -2.87510428e+01] [-1.30344861e-02 -5.75761934e-04 9.99914882e-01 -2.88238376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:-28.75, Z:-2.88 [[ 9.73390270e-01 2.28833128e-01 1.21153135e-02 2.06180732e+02] [-2.28822245e-01 9.73465516e-01 -2.29563734e-03 -2.87540562e+01] [-1.23191578e-02 -5.37702178e-04 9.99923972e-01 -2.88389269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.21, Y:-28.76, Z:-2.88 [[ 9.73510189e-01 2.28368700e-01 1.12092903e-02 2.06208639e+02] [-2.28359362e-01 9.73574596e-01 -2.12312259e-03 -2.87577187e+01] [-1.13979350e-02 -4.92864906e-04 9.99934920e-01 -2.88476818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:-28.76, Z:-2.88 [[ 9.73339124e-01 2.29112040e-01 1.08913830e-02 2.06236082e+02] [-2.29103279e-01 9.73399936e-01 -2.06216286e-03 -2.87582911e+01] [-1.10741379e-02 -4.88067774e-04 9.99938561e-01 -2.88439079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.26, Y:-28.76, Z:-2.88 [[ 9.73181930e-01 2.29744456e-01 1.15937509e-02 2.06264407e+02] [-2.29734586e-01 9.73250844e-01 -2.19410105e-03 -2.87597195e+01] [-1.17877104e-02 -5.28226061e-04 9.99930383e-01 -2.88433728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.29, Y:-28.76, Z:-2.88 [[ 9.73332705e-01 2.29083451e-01 1.20090763e-02 2.06292363e+02] [-2.29072822e-01 9.73406637e-01 -2.27179810e-03 -2.87580996e+01] [-1.22101459e-02 -5.39737599e-04 9.99925308e-01 -2.88497206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.32, Y:-28.76, Z:-2.89 [[ 9.73822167e-01 2.27056976e-01 1.07479021e-02 2.06319840e+02] [-2.27048348e-01 9.73881367e-01 -2.03240324e-03 -2.87610485e+01] [-1.09286530e-02 -4.61094109e-04 9.99940174e-01 -2.88606940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.35, Y:-28.76, Z:-2.89 [[ 9.74553426e-01 2.23972715e-01 9.04668298e-03 2.06346561e+02] [-2.23966474e-01 9.74595349e-01 -1.71021866e-03 -2.87637561e+01] [-9.19989747e-03 -3.59454238e-04 9.99957615e-01 -2.88695644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.37, Y:-28.76, Z:-2.89 [[ 9.76399467e-01 2.15823517e-01 8.01807764e-03 2.06374173e+02] [-2.15818344e-01 9.76432356e-01 -1.51519232e-03 -2.87646681e+01] [-8.15612458e-03 -2.51015267e-04 9.99966707e-01 -2.88736126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.40, Y:-28.77, Z:-2.89 [[ 9.77404655e-01 2.11170372e-01 9.33884828e-03 2.06402118e+02] [-2.11163152e-01 9.77449238e-01 -1.76377084e-03 -2.87679124e+01] [-9.50070628e-03 -2.48102805e-04 9.99954836e-01 -2.88695724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.43, Y:-28.77, Z:-2.89 [[ 9.79195419e-01 2.02573819e-01 1.18397083e-02 2.06429705e+02] [-2.02561598e-01 9.79266973e-01 -2.23498436e-03 -2.87705666e+01] [-1.20469846e-02 -2.09783780e-04 9.99927410e-01 -2.88669423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.46, Y:-28.77, Z:-2.89 [[ 9.79946915e-01 1.98915520e-01 1.16901603e-02 2.06457205e+02] [-1.98903353e-01 9.80016627e-01 -2.20605812e-03 -2.87746971e+01] [-1.18953707e-02 -1.63392230e-04 9.99929234e-01 -2.88727577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.48, Y:-28.78, Z:-2.89 [[ 9.80936597e-01 1.94097871e-01 9.45564225e-03 2.06484549e+02] [-1.94089693e-01 9.80982165e-01 -1.78385977e-03 -2.87789261e+01] [-9.62205979e-03 -8.53893698e-05 9.99953703e-01 -2.88746603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.51, Y:-28.78, Z:-2.89 [[ 9.81252120e-01 1.92522568e-01 8.90719778e-03 2.06510521e+02] [-1.92515250e-01 9.81292544e-01 -1.67988893e-03 -2.87845293e+01] [-9.06398330e-03 -6.63768392e-05 9.99958919e-01 -2.88770237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.54, Y:-28.79, Z:-2.89 [[ 9.81543979e-01 1.91023653e-01 9.02111373e-03 2.06538275e+02] [-1.91016093e-01 9.81585432e-01 -1.70033395e-03 -2.87905189e+01] [-9.17979783e-03 -5.42253456e-05 9.99957863e-01 -2.88734720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.56, Y:-28.80, Z:-2.89 [[ 9.82114722e-01 1.87937135e-01 1.14151609e-02 2.06564381e+02] [-1.87924833e-01 9.82181059e-01 -2.15050518e-03 -2.87959244e+01] [-1.16159146e-02 -3.31494203e-05 9.99932532e-01 -2.88663323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.59, Y:-28.80, Z:-2.89 [[ 9.82341859e-01 1.86696510e-01 1.22018105e-02 2.06593099e+02] [-1.86682373e-01 9.82417637e-01 -2.29758462e-03 -2.88016082e+01] [-1.24162249e-02 -2.08494056e-05 9.99922915e-01 -2.88716935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.62, Y:-28.81, Z:-2.89 [[ 9.82535137e-01 1.85657568e-01 1.24888672e-02 2.06619778e+02] [-1.85642683e-01 9.82614506e-01 -2.35098244e-03 -2.88089412e+01] [-1.27082198e-02 -8.54395482e-06 9.99919247e-01 -2.88853244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.65, Y:-28.82, Z:-2.89 [[ 9.82514309e-01 1.85761376e-01 1.25834921e-02 2.06647997e+02] [-1.85746283e-01 9.82594887e-01 -2.36799583e-03 -2.88150999e+01] [-1.28043571e-02 -1.07470884e-05 9.99918021e-01 -2.88809095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.68, Y:-28.82, Z:-2.89 [[ 9.82487558e-01 1.85886293e-01 1.28251334e-02 2.06675856e+02] [-1.85870634e-01 9.82571262e-01 -2.41282104e-03 -2.88199108e+01] [-1.30501178e-02 -1.32490102e-05 9.99914843e-01 -2.88797254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.70, Y:-28.82, Z:-2.89 [[ 9.82104063e-01 1.87978068e-01 1.16556917e-02 2.06703153e+02] [-1.87965289e-01 9.82173225e-01 -2.19217461e-03 -2.88238266e+01] [-1.18599890e-02 -3.79218562e-05 9.99929667e-01 -2.88826005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.73, Y:-28.83, Z:-2.89 [[ 9.81835858e-01 1.89428829e-01 1.07268981e-02 2.06729258e+02] [-1.89418100e-01 9.81894453e-01 -2.01678238e-03 -2.88286152e+01] [-1.09147184e-02 -5.17193842e-05 9.99940431e-01 -2.88936017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.76, Y:-28.83, Z:-2.89 [[ 9.81372294e-01 1.91869793e-01 9.71612943e-03 2.06756758e+02] [-1.91861118e-01 9.81420388e-01 -1.82597052e-03 -2.88323485e+01] [-9.88595610e-03 -7.21905753e-05 9.99951130e-01 -2.88994523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.78, Y:-28.84, Z:-2.89 [[ 9.81283603e-01 1.92336820e-01 9.43603197e-03 2.06784107e+02] [-1.92328666e-01 9.81328967e-01 -1.77266969e-03 -2.88361165e+01] [-9.60080116e-03 -7.53277389e-05 9.99953908e-01 -2.89051694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.81, Y:-28.84, Z:-2.89 [[ 9.81268599e-01 1.92410298e-01 9.49811493e-03 2.06811734e+02] [-1.92402046e-01 9.81314563e-01 -1.78364434e-03 -2.88396965e+01] [-9.66383004e-03 -7.72225620e-05 9.99953301e-01 -2.89138588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.84, Y:-28.84, Z:-2.89 [[ 9.81509035e-01 1.91147078e-01 1.01395060e-02 2.06839058e+02] [-1.91137615e-01 9.81561404e-01 -1.90327942e-03 -2.88426663e+01] [-1.03163541e-02 -6.99550475e-05 9.99946783e-01 -2.89171964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.87, Y:-28.85, Z:-2.89 [[ 9.81654470e-01 1.90383177e-01 1.04282041e-02 2.06866251e+02] [-1.90373134e-01 9.81709856e-01 -1.95648745e-03 -2.88472562e+01] [-1.06099531e-02 -6.46552607e-05 9.99943711e-01 -2.89191966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:-28.85, Z:-2.89 [[ 9.81951618e-01 1.88918041e-01 8.99959839e-03 2.06893919e+02] [-1.88910505e-01 9.81992857e-01 -1.68793891e-03 -2.88526581e+01] [-9.15642345e-03 -4.26443370e-05 9.99958078e-01 -2.89262987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.92, Y:-28.86, Z:-2.89 [[ 9.82078755e-01 1.88268190e-01 8.74118969e-03 2.06920391e+02] [-1.88261060e-01 9.82117655e-01 -1.63889032e-03 -2.88581663e+01] [-8.89342763e-03 -3.61062660e-05 9.99960452e-01 -2.89302699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.95, Y:-28.86, Z:-2.89 [[ 9.82228790e-01 1.87457867e-01 9.28180927e-03 2.06947671e+02] [-1.87449800e-01 9.82272644e-01 -1.73934461e-03 -2.88633904e+01] [-9.44332116e-03 -3.14389426e-05 9.99955410e-01 -2.89311880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.97, Y:-28.87, Z:-2.89 [[ 9.82405989e-01 1.86446327e-01 1.07814913e-02 2.06974715e+02] [-1.86435392e-01 9.82465148e-01 -2.01945087e-03 -2.88668132e+01] [-1.09689587e-02 -2.61309296e-05 9.99939839e-01 -2.89291891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.00, Y:-28.87, Z:-2.89 [[ 9.82405889e-01 1.86406567e-01 1.14569305e-02 2.07001752e+02] [-1.86394229e-01 9.82472692e-01 -2.14490653e-03 -2.88718194e+01] [-1.16559460e-02 -2.83369217e-05 9.99932067e-01 -2.89326005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.03, Y:-28.88, Z:-2.89 [[ 9.82477118e-01 1.86020442e-01 1.16235618e-02 2.07029336e+02] [-1.86007725e-01 9.82545874e-01 -2.17523975e-03 -2.88787584e+01] [-1.18253217e-02 -2.49489956e-05 9.99930078e-01 -2.89273779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.06, Y:-28.88, Z:-2.89 [[ 9.82617848e-01 1.85262724e-01 1.18274647e-02 2.07055684e+02] [-1.85249513e-01 9.82689027e-01 -2.21251040e-03 -2.88836516e+01] [-1.20326155e-02 -1.69798617e-05 9.99927605e-01 -2.89291335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.08, Y:-28.89, Z:-2.89 [[ 9.82766367e-01 1.84443368e-01 1.22846310e-02 2.07083681e+02] [-1.84429066e-01 9.82843143e-01 -2.29693467e-03 -2.88884503e+01] [-1.24975197e-02 -8.29287122e-06 9.99921903e-01 -2.89327009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.11, Y:-28.89, Z:-2.89 [[ 9.82872870e-01 1.83753461e-01 1.39852556e-02 2.07110831e+02] [-1.83734870e-01 9.82972363e-01 -2.61375215e-03 -2.88930984e+01] [-1.42274057e-02 -5.93043655e-07 9.99898785e-01 -2.89351626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.14, Y:-28.90, Z:-2.89 [[ 9.82876499e-01 1.83772243e-01 1.34740479e-02 2.07137862e+02] [-1.83755001e-01 9.82968851e-01 -2.51726496e-03 -2.88975491e+01] [-1.37071728e-02 -1.76311811e-06 9.99906052e-01 -2.89404741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.16, Y:-28.90, Z:-2.90 [[ 9.82899942e-01 1.83761883e-01 1.18014650e-02 2.07164781e+02] [-1.83748664e-01 9.82970788e-01 -2.20416963e-03 -2.89006447e+01] [-1.20055377e-02 -2.02521266e-06 9.99927931e-01 -2.89540745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.19, Y:-28.91, Z:-2.90 [[ 9.82918321e-01 1.83700911e-01 1.12049093e-02 2.07191730e+02] [-1.83689001e-01 9.82982185e-01 -2.09184915e-03 -2.89059037e+01] [-1.13985008e-02 -2.10172781e-06 9.99935035e-01 -2.89647569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.22, Y:-28.91, Z:-2.90 [[ 9.82996955e-01 1.83301588e-01 1.08403630e-02 2.07218399e+02] [-1.83290426e-01 9.83056727e-01 -2.02290697e-03 -2.89117294e+01] [-1.10274938e-02 1.57663824e-06 9.99939195e-01 -2.89752403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.25, Y:-28.92, Z:-2.90 [[ 9.83210549e-01 1.82189794e-01 1.01929346e-02 2.07245932e+02] [-1.82179874e-01 9.83263382e-01 -1.90129837e-03 -2.89192939e+01] [-1.03687365e-02 1.24290818e-05 9.99946243e-01 -2.89777596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:-28.92, Z:-2.90 [[ 9.83280431e-01 1.81836865e-01 9.74418251e-03 2.07273297e+02] [-1.81827788e-01 9.83328711e-01 -1.81691724e-03 -2.89245430e+01] [-9.91211696e-03 1.47760186e-05 9.99950874e-01 -2.89802804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:-28.93, Z:-2.90 [[ 9.83148685e-01 1.82574733e-01 9.22655160e-03 2.07301075e+02] [-1.82566633e-01 9.83191979e-01 -1.71977290e-03 -2.89283196e+01] [-9.38545860e-03 6.33199956e-06 9.99955956e-01 -2.89767450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:-28.93, Z:-2.90 [[ 9.82936615e-01 1.83692126e-01 9.63403945e-03 2.07328216e+02] [-1.83683355e-01 9.82983826e-01 -1.79506291e-03 -2.89324786e+01] [-9.79984388e-03 -5.17962204e-06 9.99951980e-01 -2.89840117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:-28.94, Z:-2.90 [[ 9.82289968e-01 1.87015941e-01 1.14654239e-02 2.07355871e+02] [-1.87003763e-01 9.82356878e-01 -2.13476916e-03 -2.89384826e+01] [-1.16623739e-02 -4.71150848e-05 9.99931991e-01 -2.89949570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:-28.94, Z:-2.90 [[ 9.81978779e-01 1.88618123e-01 1.18693338e-02 2.07382878e+02] [-1.88605199e-01 9.82050507e-01 -2.20907812e-03 -2.89443881e+01] [-1.20729574e-02 -6.93502200e-05 9.99927117e-01 -2.89955136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:-28.95, Z:-2.90 [[ 9.81817839e-01 1.89469042e-01 1.16281392e-02 2.07409062e+02] [-1.89456707e-01 9.81886692e-01 -2.16336826e-03 -2.89493305e+01] [-1.18274064e-02 -7.89954093e-05 9.99930051e-01 -2.89902817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:-28.95, Z:-2.90 [[ 9.81716061e-01 1.90032579e-01 1.10088293e-02 2.07437161e+02] [-1.90021569e-01 9.81777781e-01 -2.04725768e-03 -2.89526049e+01] [-1.11972697e-02 -8.20892709e-05 9.99937305e-01 -2.89891134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:-28.96, Z:-2.90 [[ 9.81770376e-01 1.89762776e-01 1.08174744e-02 2.07464711e+02] [-1.89752137e-01 9.81829966e-01 -2.01090061e-03 -2.89557992e+01] [-1.10025146e-02 -7.83962375e-05 9.99939467e-01 -2.89907196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:-28.96, Z:-2.90 [[ 9.81764108e-01 1.89772371e-01 1.12108873e-02 2.07492756e+02] [-1.89760954e-01 9.81828112e-01 -2.08317936e-03 -2.89576923e+01] [-1.14024942e-02 -8.21979443e-05 9.99934986e-01 -2.90025414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:-28.96, Z:-2.90 [[ 9.81800042e-01 1.89608219e-01 1.08351918e-02 2.07519602e+02] [-1.89597554e-01 9.81859826e-01 -2.01261782e-03 -2.89615673e+01] [-1.10202484e-02 -7.83375968e-05 9.99939272e-01 -2.90042728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:-28.97, Z:-2.90 [[ 9.81905175e-01 1.89093147e-01 1.02960354e-02 2.07546861e+02] [-1.89083497e-01 9.81959152e-01 -1.91161395e-03 -2.89656475e+01] [-1.04717593e-02 -6.97867490e-05 9.99945167e-01 -2.90065921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.57, Y:-28.97, Z:-2.90 [[ 9.82026716e-01 1.88492976e-01 9.69159094e-03 2.07574279e+02] [-1.88484403e-01 9.82074536e-01 -1.79874118e-03 -2.89695115e+01] [-9.85691475e-03 -6.03018378e-05 9.99951418e-01 -2.90007924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.60, Y:-28.97, Z:-2.90 [[ 9.82148070e-01 1.87773421e-01 1.12387822e-02 2.07602389e+02] [-1.87761856e-01 9.82212369e-01 -2.08494254e-03 -2.89727893e+01] [-1.14303677e-02 -6.24923196e-05 9.99934669e-01 -2.89986106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:-28.98, Z:-2.90 [[ 9.82249875e-01 1.87190399e-01 1.20390233e-02 2.07629568e+02] [-1.87177096e-01 9.82323649e-01 -2.23243838e-03 -2.89767869e+01] [-1.22441083e-02 -6.06171002e-05 9.99925036e-01 -2.90042372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:-28.98, Z:-2.90 [[ 9.82669592e-01 1.84913174e-01 1.29456940e-02 2.07657736e+02] [-1.84897610e-01 9.82754861e-01 -2.39937679e-03 -2.89802918e+01] [-1.31661201e-02 -3.58332671e-05 9.99913322e-01 -2.90093124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:-28.98, Z:-2.90 [[ 9.82883924e-01 1.83755173e-01 1.31616212e-02 2.07684331e+02] [-1.83738996e-01 9.82972042e-01 -2.43835549e-03 -2.89848460e+01] [-1.33855661e-02 -2.16826429e-05 9.99910409e-01 -2.90123703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:-28.99, Z:-2.90 [[ 9.83019050e-01 1.83042517e-01 1.29993841e-02 2.07712188e+02] [-1.83026692e-01 9.83104998e-01 -2.40689973e-03 -2.89901709e+01] [-1.32203244e-02 -1.32059719e-05 9.99912608e-01 -2.90197800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:-29.00, Z:-2.90 [[ 9.83194212e-01 1.82210941e-01 1.13276301e-02 2.07738662e+02] [-1.82198878e-01 9.83259464e-01 -2.09666363e-03 -2.89962286e+01] [-1.15200345e-02 -2.45393695e-06 9.99933642e-01 -2.90343820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:-29.00, Z:-2.90 [[ 9.83263225e-01 1.81893964e-01 1.03930662e-02 2.07766486e+02] [-1.81883800e-01 9.83318151e-01 -1.92286761e-03 -2.90014425e+01] [-1.05694487e-02 3.54631476e-07 9.99944142e-01 -2.90354753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.79, Y:-29.01, Z:-2.90 [[ 9.83220605e-01 1.82069904e-01 1.13045381e-02 2.07792998e+02] [-1.82057901e-01 9.83285589e-01 -2.09059985e-03 -2.90065774e+01] [-1.14962247e-02 -2.55963268e-06 9.99933916e-01 -2.90447084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:-29.01, Z:-2.90 [[ 9.83241005e-01 1.81909505e-01 1.20854500e-02 2.07819276e+02] [-1.81895787e-01 9.83315276e-01 -2.23391516e-03 -2.90118820e+01] [-1.22901780e-02 -1.81546272e-06 9.99924473e-01 -2.90479956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:-29.02, Z:-2.90 [[ 9.83278425e-01 1.81705413e-01 1.21111934e-02 2.07846180e+02] [-1.81691638e-01 9.83353010e-01 -2.23737849e-03 -2.90199044e+01] [-1.23161223e-02 -5.36569688e-07 9.99924154e-01 -2.90429139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:-29.02, Z:-2.90 [[ 9.83299064e-01 1.81593686e-01 1.21113476e-02 2.07874225e+02] [-1.81579913e-01 9.83373649e-01 -2.23654362e-03 -2.90249200e+01] [-1.23161222e-02 1.38136813e-08 9.99924154e-01 -2.90464817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:-29.03, Z:-2.90 [[ 9.83254874e-01 1.81835961e-01 1.20637965e-02 2.07901931e+02] [-1.81822332e-01 9.83328878e-01 -2.22633673e-03 -2.90311938e+01] [-1.22675076e-02 -4.41116852e-06 9.99924751e-01 -2.90432800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:-29.04, Z:-2.90 [[ 9.83158253e-01 1.82373077e-01 1.18283902e-02 2.07928518e+02] [-1.82360021e-01 9.83229404e-01 -2.18219654e-03 -2.90371213e+01] [-1.20279950e-02 -1.15809467e-05 9.99927661e-01 -2.90459377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:-29.04, Z:-2.90 [[ 9.82778316e-01 1.84402256e-01 1.19411119e-02 2.07955839e+02] [-1.84389112e-01 9.82850857e-01 -2.20195460e-03 -2.90421865e+01] [-1.21423774e-02 -3.77777841e-05 9.99926278e-01 -2.90494277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:-29.05, Z:-2.91 [[ 9.82478842e-01 1.85971431e-01 1.22454434e-02 2.07982575e+02] [-1.85957742e-01 9.82555150e-01 -2.25716953e-03 -2.90460461e+01] [-1.24515925e-02 -5.95136980e-05 9.99922474e-01 -2.90512646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.01, Y:-29.05, Z:-2.90 [[ 9.81726415e-01 1.89892786e-01 1.24086732e-02 2.08011077e+02] [-1.89879056e-01 9.81804827e-01 -2.28620262e-03 -2.90483258e+01] [-1.26170286e-02 -1.11721645e-04 9.99920396e-01 -2.90452079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:-29.05, Z:-2.90 [[ 9.81279547e-01 1.92236776e-01 1.16393081e-02 2.08038680e+02] [-1.92224870e-01 9.81348564e-01 -2.14366143e-03 -2.90511417e+01] [-1.18343089e-02 -1.33833375e-04 9.99929963e-01 -2.90441273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.07, Y:-29.05, Z:-2.91 [[ 9.80509782e-01 1.96259460e-01 9.09903303e-03 2.08066801e+02] [-1.96252360e-01 9.80551989e-01 -1.67549509e-03 -2.90499437e+01] [-9.25090670e-03 -1.42867383e-04 9.99957199e-01 -2.90512318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:-29.05, Z:-2.91 [[ 9.80204213e-01 1.97817216e-01 8.24926302e-03 2.08094740e+02] [-1.97811444e-01 9.80238914e-01 -1.51795600e-03 -2.90502990e+01] [-8.38652645e-03 -1.43891765e-04 9.99964822e-01 -2.90572196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:-29.05, Z:-2.91 [[ 9.79924853e-01 1.99210617e-01 7.90019526e-03 2.08123548e+02] [-1.99205373e-01 9.79956687e-01 -1.45319198e-03 -2.90509779e+01] [-8.03134044e-03 -1.49742407e-04 9.99967737e-01 -2.90602590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:-29.05, Z:-2.91 [[ 9.80055771e-01 1.98487889e-01 9.65632894e-03 2.08152210e+02] [-1.98480027e-01 9.80103325e-01 -1.77535479e-03 -2.90464197e+01] [-9.81658652e-03 -1.76641722e-04 9.99951801e-01 -2.90666155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:-29.05, Z:-2.91 [[ 9.80454205e-01 1.96420113e-01 1.13442426e-02 2.08181018e+02] [-1.96409138e-01 9.80519814e-01 -2.08454133e-03 -2.90467111e+01] [-1.15327005e-02 -1.84315592e-04 9.99933479e-01 -2.90678479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:-29.04, Z:-2.91 [[ 9.81529652e-01 1.90814931e-01 1.37551646e-02 2.08209862e+02] [-1.90798260e-01 9.81626019e-01 -2.52635625e-03 -2.90444869e+01] [-1.39844940e-02 -1.44767914e-04 9.99902202e-01 -2.90687848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:-29.05, Z:-2.91 [[ 9.82189054e-01 1.87393222e-01 1.37274551e-02 2.08237044e+02] [-1.87376300e-01 9.82284974e-01 -2.52017329e-03 -2.90468694e+01] [-1.39565363e-02 -9.69131240e-05 9.99902598e-01 -2.90792672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:-29.05, Z:-2.91 [[ 9.83610306e-01 1.79939976e-01 1.15052637e-02 2.08264675e+02] [-1.79927594e-01 9.83677592e-01 -2.11090637e-03 -2.90490856e+01] [-1.16973065e-02 6.19485206e-06 9.99931584e-01 -2.90844458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:-29.05, Z:-2.91 [[ 9.84116679e-01 1.77225389e-01 1.02724780e-02 2.08291846e+02] [-1.77215377e-01 9.84170290e-01 -1.88409065e-03 -2.90526999e+01] [-1.04437764e-02 3.37239544e-05 9.99945462e-01 -2.90937713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:-29.06, Z:-2.91 [[ 9.84544929e-01 1.74856785e-01 9.81771878e-03 2.08318659e+02] [-1.74847530e-01 9.84593876e-01 -1.79988566e-03 -2.90560182e+01] [-9.98118802e-03 5.54644135e-05 9.99950185e-01 -2.90979667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:-29.06, Z:-2.91 [[ 9.84876512e-01 1.72976971e-01 9.86020158e-03 2.08346405e+02] [-1.72967550e-01 9.84925866e-01 -1.80685258e-03 -2.90593460e+01] [-1.00241115e-02 7.40317605e-05 9.99949755e-01 -2.91006209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.37, Y:-29.06, Z:-2.91 [[ 9.85305336e-01 1.70479939e-01 1.04873936e-02 2.08374531e+02] [-1.70469148e-01 9.85361142e-01 -1.92096991e-03 -2.90624824e+01] [-1.06613570e-02 1.04964845e-04 9.99943161e-01 -2.91048936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.795769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.40, Y:-29.07, Z:-2.91 [[ 9.85481504e-01 1.69443061e-01 1.07356127e-02 2.08401396e+02] [-1.69431700e-01 9.85539971e-01 -1.96566144e-03 -2.90670881e+01] [-1.09134431e-02 1.18169876e-04 9.99940440e-01 -2.91051459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.43, Y:-29.07, Z:-2.91 [[ 9.85963331e-01 1.66616954e-01 1.07284769e-02 2.08428054e+02] [-1.66605450e-01 9.86021688e-01 -1.96351847e-03 -2.90736986e+01] [-1.09056664e-02 1.48534490e-04 9.99940520e-01 -2.91112413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:-29.08, Z:-2.91 [[ 9.86314630e-01 1.64513012e-01 1.09050491e-02 2.08455025e+02] [-1.64501013e-01 9.86374898e-01 -1.99445088e-03 -2.90796251e+01] [-1.10845798e-02 1.73264472e-04 9.99938549e-01 -2.91186992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:-29.09, Z:-2.91 [[ 9.86653323e-01 1.62474014e-01 1.08358032e-02 2.08482159e+02] [-1.62462053e-01 9.86712804e-01 -1.98103174e-03 -2.90855974e+01] [-1.10136919e-02 1.94184724e-04 9.99939329e-01 -2.91196949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:-29.09, Z:-2.91 [[ 9.87274039e-01 1.58787934e-01 8.73863749e-03 2.08508889e+02] [-1.58780014e-01 9.87312694e-01 -1.59717391e-03 -2.90913932e+01] [-8.88137967e-03 1.89327354e-04 9.99960542e-01 -2.91247480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.54, Y:-29.10, Z:-2.91 [[ 9.87467342e-01 1.57602618e-01 8.34651756e-03 2.08536268e+02] [-1.57595355e-01 9.87502597e-01 -1.52496406e-03 -2.90970013e+01] [-8.48254609e-03 1.90479807e-04 9.99964004e-01 -2.91248869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:-29.10, Z:-2.91 [[ 9.87699040e-01 1.56030016e-01 1.02586541e-02 2.08562104e+02] [-1.56018968e-01 9.87752283e-01 -1.87343796e-03 -2.91039232e+01] [-1.04253216e-02 2.49848240e-04 9.99945624e-01 -2.91175535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:-29.11, Z:-2.91 [[ 9.87835704e-01 1.55108160e-01 1.10489758e-02 2.08588897e+02] [-1.55095298e-01 9.87897455e-01 -2.01679400e-03 -2.91111631e+01] [-1.12280763e-02 2.78616922e-04 9.99936924e-01 -2.91171652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:-29.12, Z:-2.91 [[ 9.87991067e-01 1.54094186e-01 1.13416854e-02 2.08614530e+02] [-1.54080576e-01 9.88056119e-01 -2.06940489e-03 -2.91188814e+01] [-1.15251049e-02 2.97020126e-04 9.99933540e-01 -2.91230625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:-29.13, Z:-2.91 [[ 9.88304775e-01 1.52138592e-01 1.03692128e-02 2.08640459e+02] [-1.52127119e-01 9.88359127e-01 -1.89097686e-03 -2.91319052e+01] [-1.05361966e-02 2.91422990e-04 9.99944450e-01 -2.91394602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:-29.14, Z:-2.91 [[ 9.88369482e-01 1.51720591e-01 1.03261717e-02 2.08668527e+02] [-1.51709198e-01 9.88423379e-01 -1.88239235e-03 -2.91407966e+01] [-1.04922272e-02 2.93923935e-04 9.99944912e-01 -2.91453852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:-29.15, Z:-2.91 [[ 9.88341235e-01 1.51857779e-01 1.09917023e-02 2.08696651e+02] [-1.51844885e-01 9.88402306e-01 -2.00315416e-03 -2.91491112e+01] [-1.11684185e-02 3.10766077e-04 9.99937583e-01 -2.91392011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.72, Y:-29.16, Z:-2.91 [[ 9.88068246e-01 1.53578701e-01 1.16070853e-02 2.08722816e+02] [-1.53564447e-01 9.88136371e-01 -2.11472625e-03 -2.91595683e+01] [-1.17941601e-02 3.07058214e-04 9.99930399e-01 -2.91415006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:-29.17, Z:-2.92 [[ 9.87875035e-01 1.54880231e-01 1.07251646e-02 2.08750977e+02] [-1.54868144e-01 9.87933217e-01 -1.95345075e-03 -2.91676552e+01] [-1.08982972e-02 2.68778900e-04 9.99940576e-01 -2.91518579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:-29.18, Z:-2.92 [[ 9.87347433e-01 1.58329838e-01 8.75834505e-03 2.08777624e+02] [-1.58321916e-01 9.87386260e-01 -1.59497074e-03 -2.91783272e+01] [-8.90040103e-03 1.88152300e-04 9.99960373e-01 -2.91697761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:-29.19, Z:-2.92 [[ 9.86971092e-01 1.60663587e-01 8.67613945e-03 2.08804103e+02] [-1.60655908e-01 9.87009212e-01 -1.57944144e-03 -2.91863270e+01] [-8.81718829e-03 1.64989987e-04 9.99961114e-01 -2.91691835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:-29.20, Z:-2.92 [[ 9.86261420e-01 1.64854377e-01 1.05567777e-02 2.08831531e+02] [-1.64843257e-01 9.86317905e-01 -1.92101000e-03 -2.91964877e+01] [-1.07290258e-02 1.54404431e-04 9.99942430e-01 -2.91596569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:-29.20, Z:-2.92 [[ 9.85957891e-01 1.66610585e-01 1.13115187e-02 2.08858189e+02] [-1.66597939e-01 9.86022765e-01 -2.05779326e-03 -2.92029772e+01] [-1.14962651e-02 1.44421800e-04 9.99933905e-01 -2.91603959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:-29.21, Z:-2.92 [[ 9.85626166e-01 1.68548469e-01 1.15097811e-02 2.08885495e+02] [-1.68535516e-01 9.85693359e-01 -2.09318029e-03 -2.92092417e+01] [-1.16979172e-02 1.23286361e-04 9.99931569e-01 -2.91683608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:-29.22, Z:-2.92 [[ 9.85173920e-01 1.71333248e-01 8.79010274e-03 2.08912375e+02] [-1.71325807e-01 9.85213131e-01 -1.59828008e-03 -2.92160129e+01] [-8.93396316e-03 6.86124063e-05 9.99960089e-01 -2.91849269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:-29.22, Z:-2.92 [[ 9.85083982e-01 1.71909114e-01 7.53694007e-03 2.08939868e+02] [-1.71903663e-01 9.85112813e-01 -1.37002437e-03 -2.92218696e+01] [-7.66025590e-03 5.39614519e-05 9.99970658e-01 -2.91916135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.97, Y:-29.23, Z:-2.92 [[ 9.85044915e-01 1.72113773e-01 7.96017705e-03 2.08967504e+02] [-1.72107705e-01 9.85077076e-01 -1.44632209e-03 -2.92280998e+01] [-8.09031989e-03 5.46844158e-05 9.99967271e-01 -2.91900073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:-29.23, Z:-2.92 [[ 9.85113931e-01 1.71651780e-01 9.28485407e-03 2.08995321e+02] [-1.71643510e-01 9.85157684e-01 -1.68630924e-03 -2.92341406e+01] [-9.43650332e-03 6.75217842e-05 9.99955473e-01 -2.91887154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:-29.24, Z:-2.92 [[ 9.85280673e-01 1.70530995e-01 1.18817184e-02 2.09022363e+02] [-1.70517379e-01 9.85352308e-01 -2.15720332e-03 -2.92411932e+01] [-1.20755487e-02 9.94112625e-05 9.99927083e-01 -2.91827280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.515769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.05, Y:-29.25, Z:-2.92 [[ 9.85372517e-01 1.69986806e-01 1.20618493e-02 2.09050547e+02] [-1.69972744e-01 9.85446332e-01 -2.18909659e-03 -2.92477111e+01] [-1.22584227e-02 1.06890006e-04 9.99924857e-01 -2.91883528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:-29.25, Z:-2.92 [[ 9.85541599e-01 1.69053298e-01 1.13463253e-02 2.09078408e+02] [-1.69040798e-01 9.85606904e-01 -2.05874434e-03 -2.92543604e+01] [-1.15310541e-02 1.10986298e-04 9.99933509e-01 -2.91959027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:-29.26, Z:-2.92 [[ 9.86032173e-01 1.66252373e-01 1.00350742e-02 2.09105279e+02] [-1.66242454e-01 9.86083228e-01 -1.82043525e-03 -2.92646702e+01] [-1.01980700e-02 1.26752364e-04 9.99947990e-01 -2.92118828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:-29.27, Z:-2.92 [[ 9.86298856e-01 1.64675467e-01 9.82631086e-03 2.09132931e+02] [-1.64665885e-01 9.86347794e-01 -1.78195961e-03 -2.92732786e+01] [-9.98560508e-03 1.39486556e-04 9.99950133e-01 -2.92136002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.635769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.16, Y:-29.29, Z:-2.92 [[ 9.86810288e-01 1.61618196e-01 9.22029196e-03 2.09160633e+02] [-1.61609630e-01 9.86853350e-01 -1.67158275e-03 -2.92863053e+01] [-9.36923419e-03 1.59447084e-04 9.99956095e-01 -2.92121195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:-29.30, Z:-2.92 [[ 9.86954036e-01 1.60754437e-01 8.92987840e-03 2.09189422e+02] [-1.60746369e-01 9.86994420e-01 -1.61872648e-03 -2.92951500e+01] [-9.07395761e-03 1.62163104e-04 9.99958818e-01 -2.92148855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:-29.30, Z:-2.92 [[ 9.86998708e-01 1.60487209e-01 8.79804253e-03 2.09217885e+02] [-1.60479368e-01 9.87037907e-01 -1.59462543e-03 -2.93031827e+01] [-8.93991847e-03 1.61988931e-04 9.99960025e-01 -2.92145059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:-29.31, Z:-2.92 [[ 9.86625432e-01 1.62687103e-01 1.01569107e-02 2.09245037e+02] [-1.62676773e-01 9.86677698e-01 -1.84061786e-03 -2.93135269e+01] [-1.03210421e-02 1.63706929e-04 9.99946723e-01 -2.92192360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:-29.32, Z:-2.92 [[ 9.86299549e-01 1.64591193e-01 1.10878109e-02 2.09273928e+02] [-1.64579006e-01 9.86361858e-01 -2.00898465e-03 -2.93217928e+01] [-1.12672549e-02 1.56639761e-04 9.99936510e-01 -2.92246731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.30, Y:-29.33, Z:-2.92 [[ 9.85811880e-01 1.67463896e-01 1.14359124e-02 2.09302658e+02] [-1.67451129e-01 9.85878201e-01 -2.07178193e-03 -2.93314993e+01] [-1.16213654e-02 1.27430805e-04 9.99932462e-01 -2.92303311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:-29.34, Z:-2.92 [[ 9.85699849e-01 1.68175234e-01 1.06253945e-02 2.09331338e+02] [-1.68164256e-01 9.85757109e-01 -1.92469290e-03 -2.93377950e+01] [-1.07977439e-02 1.10357945e-04 9.99941697e-01 -2.92407013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.36, Y:-29.34, Z:-2.93 [[ 9.85632419e-01 1.68640502e-01 9.44011747e-03 2.09361571e+02] [-1.68631859e-01 9.85677621e-01 -1.70986123e-03 -2.93445695e+01] [-9.59326439e-03 9.33901015e-05 9.99953979e-01 -2.92539970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:-29.35, Z:-2.93 [[ 9.85821810e-01 1.67630631e-01 7.43846026e-03 2.09390754e+02] [-1.67625236e-01 9.85849869e-01 -1.34730684e-03 -2.93534696e+01] [-7.55905497e-03 8.13308089e-05 9.99971427e-01 -2.92640217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:-29.36, Z:-2.93 [[ 9.86041738e-01 1.66329052e-01 7.50576104e-03 2.09420294e+02] [-1.66323522e-01 9.86070301e-01 -1.35949684e-03 -2.93605071e+01] [-7.62733187e-03 9.21360140e-05 9.99970907e-01 -2.92727130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:-29.37, Z:-2.93 [[ 9.86244620e-01 1.65015300e-01 9.56557392e-03 2.09448965e+02] [-1.65006256e-01 9.86290998e-01 -1.73261909e-03 -2.93676336e+01] [-9.72034811e-03 1.30406722e-04 9.99952748e-01 -2.92656123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:-29.37, Z:-2.93 [[ 9.86078420e-01 1.65947362e-01 1.05272084e-02 2.09478566e+02] [-1.65936462e-01 9.86134603e-01 -1.90663191e-03 -2.93733303e+01] [-1.06976450e-02 1.33240860e-04 9.99942770e-01 -2.92664408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:-29.38, Z:-2.93 [[ 9.85772390e-01 1.67734344e-01 1.08620998e-02 2.09508160e+02] [-1.67722848e-01 9.85832225e-01 -1.96728565e-03 -2.93784637e+01] [-1.10381894e-02 1.17473574e-04 9.99939070e-01 -2.92683049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:-29.38, Z:-2.93 [[ 9.85378064e-01 1.70038239e-01 1.08197915e-02 2.09537243e+02] [-1.70026971e-01 9.85437461e-01 -1.95964134e-03 -2.93835474e+01] [-1.09954418e-02 9.13312212e-05 9.99939544e-01 -2.92685966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:-29.39, Z:-2.93 [[ 9.84635645e-01 1.74292608e-01 1.07113201e-02 2.09567271e+02] [-1.74281818e-01 9.84693904e-01 -1.93988553e-03 -2.93869595e+01] [-1.08854793e-02 4.32921040e-05 9.99940750e-01 -2.92661790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:-29.39, Z:-2.93 [[ 9.84165707e-01 1.76953263e-01 1.02666238e-02 2.09595335e+02] [-1.76943497e-01 9.84219255e-01 -1.85913641e-03 -2.93908942e+01] [-1.04335891e-02 1.30859852e-05 9.99945569e-01 -2.92669915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:-29.40, Z:-2.93 [[ 9.84171718e-01 1.76919824e-01 1.02666897e-02 2.09624212e+02] [-1.76910060e-01 9.84225267e-01 -1.85877242e-03 -2.93960334e+01] [-1.04335891e-02 1.30705622e-05 9.99945569e-01 -2.92706644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:-29.40, Z:-2.93 [[ 9.84020402e-01 1.77735617e-01 1.06723833e-02 2.09653318e+02] [-1.77725118e-01 9.84078275e-01 -1.93181201e-03 -2.94013538e+01] [-1.08458124e-02 4.19184266e-06 9.99941182e-01 -2.92761017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:-29.41, Z:-2.93 [[ 9.83957254e-01 1.78097790e-01 1.04546180e-02 2.09682851e+02] [-1.78087738e-01 9.84012793e-01 -1.89215498e-03 -2.94067394e+01] [-1.06244665e-02 -3.96614779e-08 9.99943559e-01 -2.92731998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:-29.41, Z:-2.93 [[ 9.84002090e-01 1.77861631e-01 1.02531303e-02 2.09711727e+02] [-1.77851953e-01 9.84055507e-01 -1.85545492e-03 -2.94119856e+01] [-1.04196636e-02 2.23227028e-06 9.99945714e-01 -2.92808899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:-29.42, Z:-2.93 [[ 9.84326528e-01 1.76071945e-01 9.99780687e-03 2.09739497e+02] [-1.76062652e-01 9.84377301e-01 -1.80901878e-03 -2.94178560e+01] [-1.01601316e-02 2.04247849e-05 9.99948384e-01 -2.92806232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:-29.42, Z:-2.93 [[ 9.84348537e-01 1.75895754e-01 1.08922238e-02 2.09767189e+02] [-1.75884717e-01 9.84408799e-01 -1.97056829e-03 -2.94233432e+01] [-1.10690156e-02 2.39503006e-05 9.99938736e-01 -2.92807393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:-29.43, Z:-2.93 [[ 9.84120910e-01 1.77050008e-01 1.26225679e-02 2.09795303e+02] [-1.77035285e-01 9.84201857e-01 -2.28326401e-03 -2.94293956e+01] [-1.28274067e-02 1.23679513e-05 9.99917725e-01 -2.92663012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:-29.44, Z:-2.93 [[ 9.84030665e-01 1.77517158e-01 1.30885344e-02 2.09825449e+02] [-1.77501375e-01 9.84117706e-01 -2.36710211e-03 -2.94352655e+01] [-1.33008597e-02 6.06820938e-06 9.99911540e-01 -2.92762164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:-29.44, Z:-2.93 [[ 9.83959825e-01 1.77942553e-01 1.26297459e-02 2.09855221e+02] [-1.77927893e-01 9.84040877e-01 -2.28412878e-03 -2.94412733e+01] [-1.28346299e-02 3.06888213e-07 9.99917633e-01 -2.92892251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:-29.45, Z:-2.93 [[ 9.84020810e-01 1.77657715e-01 1.18651222e-02 2.09883417e+02] [-1.77644755e-01 9.84092341e-01 -2.14583858e-03 -2.94500658e+01] [-1.20576007e-02 3.77309124e-06 9.99927304e-01 -2.93058780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:-29.46, Z:-2.93 [[ 9.84126717e-01 1.77070575e-01 1.18581575e-02 2.09911837e+02] [-1.77057586e-01 9.84198157e-01 -2.14473623e-03 -2.94577656e+01] [-1.20505464e-02 1.11154824e-05 9.99927389e-01 -2.93086425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:-29.47, Z:-2.93 [[ 9.84432941e-01 1.75381307e-01 1.15404334e-02 2.09940484e+02] [-1.75368890e-01 9.84500582e-01 -2.08712602e-03 -2.94686344e+01] [-1.17276063e-02 3.08026124e-05 9.99931229e-01 -2.93143206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:-29.48, Z:-2.93 [[ 9.84584786e-01 1.74576112e-01 1.07693741e-02 2.09969348e+02] [-1.74565252e-01 9.84643682e-01 -1.94765868e-03 -2.94769865e+01] [-1.09440109e-02 3.76766008e-05 9.99940112e-01 -2.93175643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:-29.49, Z:-2.93 [[ 9.84717084e-01 1.73850680e-01 1.04022036e-02 2.09998902e+02] [-1.73840508e-01 9.84772024e-01 -1.88110086e-03 -2.94901905e+01] [-1.05708298e-02 4.40277904e-05 9.99944126e-01 -2.93296872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:-29.50, Z:-2.93 [[ 9.84700374e-01 1.73944823e-01 1.04101812e-02 2.10029053e+02] [-1.73934621e-01 9.84755399e-01 -1.88440966e-03 -2.94996389e+01] [-1.05792654e-02 4.48879806e-05 9.99944037e-01 -2.93388364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:-29.51, Z:-2.93 [[ 9.84550629e-01 1.74784325e-01 1.05118575e-02 2.10059352e+02] [-1.74773971e-01 9.84606743e-01 -1.90283191e-03 -2.95087597e+01] [-1.06826310e-02 3.62352723e-05 9.99942938e-01 -2.93385495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.09, Y:-29.52, Z:-2.93 [[ 9.83835511e-01 1.78769543e-01 1.04468691e-02 2.10089164e+02] [-1.78759523e-01 9.83890975e-01 -1.89266694e-03 -2.95209562e+01] [-1.06169315e-02 -5.40439907e-06 9.99943639e-01 -2.93444944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.12, Y:-29.53, Z:-2.93 [[ 9.83343881e-01 1.81449445e-01 1.05313915e-02 2.10119908e+02] [-1.81439399e-01 9.83400273e-01 -1.90959359e-03 -2.95305401e+01] [-1.07030679e-02 -3.30221675e-05 9.99942720e-01 -2.93342685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:-29.54, Z:-2.93 [[ 9.82317551e-01 1.86874144e-01 1.14142020e-02 2.10150738e+02] [-1.86862686e-01 9.82383858e-01 -2.07169897e-03 -2.95424221e+01] [-1.16002748e-02 -9.78221962e-05 9.99932710e-01 -2.93258020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:-29.55, Z:-2.93 [[ 9.81731903e-01 1.89936923e-01 1.12443606e-02 2.10181640e+02] [-1.89925983e-01 9.81796287e-01 -2.04270132e-03 -2.95492037e+01] [-1.14276559e-02 -1.30211189e-04 9.99934694e-01 -2.93317691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:-29.56, Z:-2.93 [[ 9.81111282e-01 1.93147157e-01 1.07157505e-02 2.10214185e+02] [-1.93137393e-01 9.81169787e-01 -1.94843908e-03 -2.95554459e+01] [-1.08903061e-02 -1.57976548e-04 9.99940686e-01 -2.93443377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:-29.56, Z:-2.93 [[ 9.80172713e-01 1.97856724e-01 1.06849705e-02 2.10243841e+02] [-1.97847271e-01 9.80230929e-01 -1.94516093e-03 -2.95608712e+01] [-1.08586017e-02 -2.07398581e-04 9.99941022e-01 -2.93411968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:-29.57, Z:-2.93 [[ 9.79848333e-01 1.99445485e-01 1.08969352e-02 2.10276743e+02] [-1.99435752e-01 9.79908897e-01 -1.98362170e-03 -2.95663020e+01] [-1.10736281e-02 -2.29590058e-04 9.99938659e-01 -2.93436663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:-29.57, Z:-2.94 [[ 9.79485671e-01 2.01221088e-01 1.08578530e-02 2.10308259e+02] [-2.01211511e-01 9.79545820e-01 -1.97865306e-03 -2.95683576e+01] [-1.10339112e-02 -2.46662694e-04 9.99939094e-01 -2.93502424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:-29.57, Z:-2.94 [[ 9.79516614e-01 2.01079997e-01 1.06788955e-02 2.10340735e+02] [-2.01070706e-01 9.79574794e-01 -1.94765948e-03 -2.95722184e+01] [-1.08524122e-02 -2.39448236e-04 9.99941082e-01 -2.93587019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:-29.58, Z:-2.94 [[ 9.79572838e-01 2.00796479e-01 1.08548701e-02 2.10371127e+02] [-2.00786841e-01 9.79632950e-01 -1.98174895e-03 -2.95765774e+01] [-1.10317166e-02 -2.38247626e-04 9.99939120e-01 -2.93692989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:-29.58, Z:-2.94 [[ 9.80013192e-01 1.98635042e-01 1.08749466e-02 2.10401512e+02] [-1.98625222e-01 9.80073505e-01 -1.98659047e-03 -2.95784715e+01] [-1.10528535e-02 -2.13153821e-04 9.99938893e-01 -2.93785986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:-29.58, Z:-2.94 [[ 9.80670040e-01 1.95406113e-01 1.01353063e-02 2.10431855e+02] [-1.95397410e-01 9.80722399e-01 -1.85158660e-03 -2.95800524e+01] [-1.03017332e-02 -1.64617085e-04 9.99946922e-01 -2.93884683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:-29.58, Z:-2.94 [[ 9.80917081e-01 1.94185978e-01 9.66878678e-03 2.10461792e+02] [-1.94177998e-01 9.80964722e-01 -1.76646791e-03 -2.95838519e+01] [-9.82776203e-03 -1.44707108e-04 9.99951696e-01 -2.93938310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:-29.59, Z:-2.94 [[ 9.81077635e-01 1.93396465e-01 9.19143585e-03 2.10493239e+02] [-1.93389217e-01 9.81120681e-01 -1.67931712e-03 -2.95884927e+01] [-9.34268180e-03 -1.29984119e-04 9.99956348e-01 -2.93960275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:-29.59, Z:-2.94 [[ 9.81196287e-01 1.92795148e-01 9.15847832e-03 2.10523183e+02] [-1.92787924e-01 9.81239021e-01 -1.67355704e-03 -2.95927829e+01] [-9.30930998e-03 -1.23556066e-04 9.99956660e-01 -2.94014654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:-29.60, Z:-2.94 [[ 9.81128497e-01 1.93124619e-01 9.47387545e-03 2.10553271e+02] [-1.93116902e-01 9.81174227e-01 -1.73134557e-03 -2.95962687e+01] [-9.62988788e-03 -1.30893002e-04 9.99953623e-01 -2.94033233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:-29.60, Z:-2.94 [[ 9.80782911e-01 1.94877732e-01 9.35682007e-03 2.10582842e+02] [-1.94870285e-01 9.80827532e-01 -1.70998950e-03 -2.95998072e+01] [-9.51066561e-03 -1.46237707e-04 9.99954762e-01 -2.94074398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:-29.60, Z:-2.94 [[ 9.80572146e-01 1.95946726e-01 9.11854798e-03 2.10612306e+02] [-1.95939700e-01 9.80614530e-01 -1.66637595e-03 -2.96041555e+01] [-9.26830155e-03 -1.52683713e-04 9.99957037e-01 -2.94110790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:-29.61, Z:-2.94 [[ 9.80351702e-01 1.97051641e-01 9.01057154e-03 2.10642180e+02] [-1.97044828e-01 9.80393097e-01 -1.64643215e-03 -2.96082235e+01] [-9.15833430e-03 -1.61403958e-04 9.99958049e-01 -2.94130990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:-29.61, Z:-2.94 [[ 9.80080302e-01 1.98407187e-01 8.78580142e-03 2.10671097e+02] [-1.98400766e-01 9.80119666e-01 -1.60520136e-03 -2.96116481e+01] [-8.92962024e-03 -1.69883503e-04 9.99960116e-01 -2.94117699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:-29.61, Z:-2.94 [[ 9.79584693e-01 2.00846181e-01 8.63947721e-03 2.10700633e+02] [-2.00840070e-01 9.79622772e-01 -1.57812759e-03 -2.96130191e+01] [-8.78038951e-03 -1.89243581e-04 9.99961434e-01 -2.94105391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.73, Y:-29.61, Z:-2.94 [[ 9.79369352e-01 2.01849268e-01 9.62006484e-03 2.10729381e+02] [-2.01841742e-01 9.79416573e-01 -1.75697432e-03 -2.96144465e+01] [-9.77669492e-03 -2.21003852e-04 9.99952183e-01 -2.94139375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.76, Y:-29.62, Z:-2.94 [[ 9.79449289e-01 2.01409957e-01 1.06358031e-02 2.10758366e+02] [-2.01400736e-01 9.79507004e-01 -1.94219051e-03 -2.96191716e+01] [-1.08090202e-02 -2.39781459e-04 9.99941552e-01 -2.94172323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:-29.62, Z:-2.94 [[ 9.79689585e-01 2.00163815e-01 1.19483805e-02 2.10786334e+02] [-2.00152088e-01 9.79762411e-01 -2.18155385e-03 -2.96241772e+01] [-1.21432422e-02 -2.54247713e-04 9.99926236e-01 -2.94206731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:-29.63, Z:-2.94 [[ 9.79980100e-01 1.98672251e-01 1.29746359e-02 2.10815633e+02] [-1.98658299e-01 9.80065952e-01 -2.36842509e-03 -2.96298962e+01] [-1.31865392e-02 -2.56509637e-04 9.99913021e-01 -2.94188016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:-29.64, Z:-2.94 [[ 9.80797636e-01 1.94558087e-01 1.35332312e-02 2.10845910e+02] [-1.94542519e-01 9.80890976e-01 -2.47008573e-03 -2.96357436e+01] [-1.37551995e-02 -2.10134654e-04 9.99905371e-01 -2.94234170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:-29.64, Z:-2.94 [[ 9.81178345e-01 1.92626110e-01 1.35733874e-02 2.10875924e+02] [-1.92610264e-01 9.81272209e-01 -2.47748658e-03 -2.96412350e+01] [-1.37964164e-02 -1.83517551e-04 9.99904808e-01 -2.94213058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:-29.65, Z:-2.94 [[ 9.81170006e-01 1.92712785e-01 1.29306344e-02 2.10906200e+02] [-1.92698403e-01 9.81255192e-01 -2.36083728e-03 -2.96465920e+01] [-1.31432157e-02 -1.75329865e-04 9.99913609e-01 -2.94263114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:-29.65, Z:-2.94 [[ 9.81132711e-01 1.92995098e-01 1.14671471e-02 2.10936614e+02] [-1.92983807e-01 9.81199708e-01 -2.09363808e-03 -2.96520050e+01] [-1.16556233e-02 -1.58836910e-04 9.99932058e-01 -2.94339899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:-29.66, Z:-2.94 [[ 9.81247275e-01 1.92499074e-01 9.89401012e-03 2.10966260e+02] [-1.92490643e-01 9.81297146e-01 -1.80644887e-03 -2.96559387e+01] [-1.00567036e-02 -1.31931337e-04 9.99949421e-01 -2.94456977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:-29.66, Z:-2.94 [[ 9.81352785e-01 1.91930522e-01 1.04588092e-02 2.10995566e+02] [-1.91921070e-01 9.81408507e-01 -1.90945682e-03 -2.96611285e+01] [-1.06308473e-02 -1.33415078e-04 9.99943482e-01 -2.94494852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:-29.67, Z:-2.95 [[ 9.81475825e-01 1.91240789e-01 1.14963194e-02 2.11024866e+02] [-1.91229325e-01 9.81543143e-01 -2.09855275e-03 -2.96670504e+01] [-1.16854624e-02 -1.38754604e-04 9.99931713e-01 -2.94544828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:-29.67, Z:-2.95 [[ 9.81940656e-01 1.88855946e-01 1.12240841e-02 2.11054534e+02] [-1.88844865e-01 9.82004796e-01 -2.04871298e-03 -2.96733858e+01] [-1.14090160e-02 -1.07896077e-04 9.99934909e-01 -2.94633315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:-29.68, Z:-2.95 [[ 9.82304406e-01 1.87032118e-01 9.85093411e-03 2.11083529e+02] [-1.87023491e-01 9.82353796e-01 -1.79804249e-03 -2.96788940e+01] [-1.00133942e-02 -7.61310259e-05 9.99949862e-01 -2.94696821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:-29.68, Z:-2.95 [[ 9.83125598e-01 1.82766410e-01 7.77807510e-03 2.11112988e+02] [-1.82760897e-01 9.83156365e-01 -1.41981891e-03 -2.96848709e+01] [-7.90655925e-03 -2.56676685e-05 9.99968742e-01 -2.94867702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:-29.69, Z:-2.95 [[ 9.83449868e-01 1.81026099e-01 7.47718182e-03 2.11141715e+02] [-1.81020953e-01 9.83478292e-01 -1.36495292e-03 -2.96903499e+01] [-7.60073811e-03 -1.11638110e-05 9.99971114e-01 -2.94846416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:-29.69, Z:-2.95 [[ 9.83536912e-01 1.80467494e-01 9.30729442e-03 2.11172056e+02] [-1.80459498e-01 9.83580949e-01 -1.69885015e-03 -2.96949349e+01] [-9.46106471e-03 -8.70784000e-06 9.99955243e-01 -2.94817952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:-29.70, Z:-2.95 [[ 9.83428563e-01 1.81005124e-01 1.02667766e-02 2.11201100e+02] [-1.80995423e-01 9.83482153e-01 -1.87400853e-03 -2.96993787e+01] [-1.04363967e-02 -1.52860578e-05 9.99945539e-01 -2.94786970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:-29.70, Z:-2.95 [[ 9.83277101e-01 1.81813387e-01 1.04897296e-02 2.11231461e+02] [-1.81803308e-01 9.83333052e-01 -1.91455015e-03 -2.97038863e+01] [-1.06629887e-02 -2.45342151e-05 9.99943148e-01 -2.94799797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:-29.71, Z:-2.95 [[ 9.82748605e-01 1.84690794e-01 9.72060982e-03 2.11261150e+02] [-1.84682280e-01 9.82796677e-01 -1.77420459e-03 -2.97064339e+01] [-9.88106228e-03 -5.16272930e-05 9.99951180e-01 -2.94816280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:-29.71, Z:-2.95 [[ 9.82520327e-01 1.85910221e-01 9.54973088e-03 2.11290510e+02] [-1.85902061e-01 9.82566734e-01 -1.74293557e-03 -2.97104760e+01] [-9.70727742e-03 -6.28450273e-05 9.99952881e-01 -2.94884459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:-29.71, Z:-2.95 [[ 9.82367931e-01 1.86657533e-01 1.05930974e-02 2.11320627e+02] [-1.86647540e-01 9.82425040e-01 -1.93307348e-03 -2.97134503e+01] [-1.07677469e-02 -7.81861707e-05 9.99942023e-01 -2.94910261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:-29.72, Z:-2.95 [[ 9.82500371e-01 1.85946053e-01 1.08206450e-02 2.11350579e+02] [-1.85935585e-01 9.82559952e-01 -1.97432841e-03 -2.97172208e+01] [-1.09990510e-02 -7.21645587e-05 9.99939506e-01 -2.94974608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:-29.72, Z:-2.95 [[ 9.82894093e-01 1.83884201e-01 1.02860707e-02 2.11380179e+02] [-1.83874631e-01 9.82947912e-01 -1.87655655e-03 -2.97192148e+01] [-1.04557409e-02 -4.68911131e-05 9.99945336e-01 -2.94969644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:-29.72, Z:-2.95 [[ 9.83046743e-01 1.83094507e-01 9.77258102e-03 2.11409947e+02] [-1.83085832e-01 9.83095316e-01 -1.78265293e-03 -2.97233300e+01] [-9.93377258e-03 -3.67899722e-05 9.99950658e-01 -2.94993990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:-29.73, Z:-2.95 [[ 9.83117038e-01 1.82724070e-01 9.63351077e-03 2.11439371e+02] [-1.82715625e-01 9.83164235e-01 -1.75705491e-03 -2.97277235e+01] [-9.79237947e-03 -3.28023225e-05 9.99952053e-01 -2.95017683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:-29.73, Z:-2.95 [[ 9.83095335e-01 1.82773288e-01 1.08391642e-02 2.11468504e+02] [-1.82762603e-01 9.83155086e-01 -1.97665181e-03 -2.97314100e+01] [-1.10178586e-02 -3.77567025e-05 9.99939301e-01 -2.94956954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:-29.74, Z:-2.95 [[ 9.83050549e-01 1.82961597e-01 1.16907062e-02 2.11497492e+02] [-1.82949184e-01 9.83120060e-01 -2.13159246e-03 -2.97360171e+01] [-1.18833674e-02 -4.33420361e-05 9.99929389e-01 -2.94996877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:-29.74, Z:-2.95 [[ 9.83052699e-01 1.82950044e-01 1.16906774e-02 2.11527174e+02] [-1.82937629e-01 9.83122210e-01 -2.13175059e-03 -2.97413890e+01] [-1.18833685e-02 -4.30416376e-05 9.99929389e-01 -2.95034654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:-29.75, Z:-2.95 [[ 9.82878973e-01 1.83879613e-01 1.17137753e-02 2.11556800e+02] [-1.83867216e-01 9.82948770e-01 -2.13582744e-03 -2.97458104e+01] [-1.19067761e-02 -5.45193666e-05 9.99929110e-01 -2.95082471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:-29.75, Z:-2.95 [[ 9.82758937e-01 1.84544038e-01 1.13300681e-02 2.11585166e+02] [-1.84532487e-01 9.82824244e-01 -2.06559425e-03 -2.97507445e+01] [-1.15166587e-02 -6.07844424e-05 9.99933679e-01 -2.95160685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:-29.76, Z:-2.95 [[ 9.82643532e-01 1.85191273e-01 1.07648305e-02 2.11613163e+02] [-1.85180887e-01 9.82702492e-01 -1.96232968e-03 -2.97551222e+01] [-1.09420321e-02 -6.51703034e-05 9.99940132e-01 -2.95283377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:-29.76, Z:-2.95 [[ 9.82642822e-01 1.85231454e-01 1.01189539e-02 2.11641417e+02] [-1.85222284e-01 9.82694919e-01 -1.84417465e-03 -2.97575497e+01] [-1.02854438e-02 -6.20907740e-05 9.99947101e-01 -2.95345034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:-29.76, Z:-2.95 [[ 9.82799926e-01 1.84390339e-01 1.02229346e-02 2.11668732e+02] [-1.84380941e-01 9.82853092e-01 -1.86251607e-03 -2.97612865e+01] [-1.03910728e-02 -5.44336327e-05 9.99946010e-01 -2.95394473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:-29.77, Z:-2.95 [[ 9.83341305e-01 1.81405775e-01 1.14814371e-02 2.11698254e+02] [-1.81393725e-01 9.83408330e-01 -2.09101695e-03 -2.97661321e+01] [-1.16702634e-02 -2.64773116e-05 9.99931900e-01 -2.95431508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:-29.77, Z:-2.95 [[ 9.83724795e-01 1.79252839e-01 1.24075148e-02 2.11726748e+02] [-1.79238600e-01 9.83803039e-01 -2.25934418e-03 -2.97708691e+01] [-1.26115446e-02 -1.33269582e-06 9.99920471e-01 -2.95407056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.76, Y:-29.77, Z:-2.95 [[ 9.84252577e-01 1.76412081e-01 1.12090740e-02 2.11756525e+02] [-1.76400280e-01 9.84316401e-01 -2.04073202e-03 -2.97749545e+01] [-1.13932851e-02 3.13119669e-05 9.99935094e-01 -2.95457268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.79, Y:-29.78, Z:-2.96 [[ 9.84411597e-01 1.75633724e-01 9.30610646e-03 2.11785621e+02] [-1.75625556e-01 9.84455583e-01 -1.69409985e-03 -2.97797027e+01] [-9.45898952e-03 3.33014145e-05 9.99955262e-01 -2.95535171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.81, Y:-29.78, Z:-2.96 [[ 9.84494158e-01 1.75253521e-01 7.58001799e-03 2.11814120e+02] [-1.75248093e-01 9.84523338e-01 -1.37974570e-03 -2.97845913e+01] [-7.70450991e-03 2.99678833e-05 9.99970319e-01 -2.95599479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.84, Y:-29.79, Z:-2.96 [[ 9.84410879e-01 1.75746710e-01 6.95092732e-03 2.11842821e+02] [-1.75742158e-01 9.84435419e-01 -1.26520991e-03 -2.97885293e+01] [-7.06509553e-03 2.39154362e-05 9.99975042e-01 -2.95594374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.87, Y:-29.79, Z:-2.96 [[ 9.84278035e-01 1.76433018e-01 8.25469398e-03 2.11870891e+02] [-1.76426626e-01 9.84312648e-01 -1.50201074e-03 -2.97927318e+01] [-8.39020398e-03 2.20483714e-05 9.99964801e-01 -2.95612398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.90, Y:-29.80, Z:-2.96 [[ 9.83792920e-01 1.79033328e-01 9.92758573e-03 2.11898057e+02] [-1.79024221e-01 9.83843009e-01 -1.80583887e-03 -2.97970140e+01] [-1.00904912e-02 -7.06808597e-07 9.99949090e-01 -2.95595445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.93, Y:-29.80, Z:-2.96 [[ 9.83565932e-01 1.80291291e-01 9.64926452e-03 2.11926550e+02] [-1.80282753e-01 9.83613263e-01 -1.75455464e-03 -2.98021659e+01] [-9.80747548e-03 -1.38758050e-05 9.99951905e-01 -2.95637742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.95, Y:-29.81, Z:-2.96 [[ 9.83356876e-01 1.81451076e-01 9.20654932e-03 2.11954881e+02] [-1.81443359e-01 9.83399973e-01 -1.67363100e-03 -2.98071934e+01] [-9.35740250e-03 -2.46906825e-05 9.99956218e-01 -2.95679408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.98, Y:-29.81, Z:-2.96 [[ 9.83025372e-01 1.83239178e-01 9.19355704e-03 2.11982739e+02] [-1.83231565e-01 9.83068361e-01 -1.67087639e-03 -2.98115205e+01] [-9.34406507e-03 -4.20359615e-05 9.99956342e-01 -2.95739429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.01, Y:-29.82, Z:-2.96 [[ 9.82877642e-01 1.84021394e-01 9.36307712e-03 2.12010850e+02] [-1.84013539e-01 9.82922237e-01 -1.70101384e-03 -2.98158323e+01] [-9.51619965e-03 -5.10444805e-05 9.99954719e-01 -2.95689355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.04, Y:-29.82, Z:-2.96 [[ 9.82566607e-01 1.85561740e-01 1.13887149e-02 2.12039602e+02] [-1.85550230e-01 9.82632604e-01 -2.06833927e-03 -2.98185188e+01] [-1.15747272e-02 -8.08975566e-05 9.99933007e-01 -2.95623388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:-29.82, Z:-2.96 [[ 9.82393542e-01 1.86378778e-01 1.28794450e-02 2.12068710e+02] [-1.86364137e-01 9.82477959e-01 -2.33837793e-03 -2.98223068e+01] [-1.30895948e-02 -1.03059264e-04 9.99914322e-01 -2.95629386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.10, Y:-29.83, Z:-2.96 [[ 9.82271787e-01 1.86943488e-01 1.39380289e-02 2.12097457e+02] [-1.86926408e-01 9.82370662e-01 -2.52985419e-03 -2.98260523e+01] [-1.41652505e-02 -1.20381277e-04 9.99899661e-01 -2.95689523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.13, Y:-29.83, Z:-2.96 [[ 9.82313251e-01 1.86693817e-01 1.43560471e-02 2.12125378e+02] [-1.86675681e-01 9.82418141e-01 -2.60497110e-03 -2.98279554e+01] [-1.45899731e-02 -1.21027249e-04 9.99893553e-01 -2.95807584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:-29.83, Z:-2.96 [[ 9.82429912e-01 1.86085272e-01 1.42737578e-02 2.12154600e+02] [-1.86067292e-01 9.82533592e-01 -2.58918808e-03 -2.98309973e+01] [-1.45062563e-02 -1.12183651e-04 9.99894772e-01 -2.95879355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:-29.83, Z:-2.96 [[ 9.82574713e-01 1.85379264e-01 1.34707738e-02 2.12183542e+02] [-1.85363192e-01 9.82667044e-01 -2.44291630e-03 -2.98306736e+01] [-1.36901515e-02 -9.66378622e-05 9.99906281e-01 -2.95800656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:-29.83, Z:-2.96 [[ 9.82614978e-01 1.85258164e-01 1.21333458e-02 2.12211940e+02] [-1.85245123e-01 9.82689883e-01 -2.19983060e-03 -2.98327515e+01] [-1.23308527e-02 -8.60566260e-05 9.99923968e-01 -2.95832882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:-29.84, Z:-2.96 [[ 9.82584755e-01 1.85515572e-01 1.05438154e-02 2.12239716e+02] [-1.85505744e-01 9.82641321e-01 -1.91108209e-03 -2.98358252e+01] [-1.07153242e-02 -7.81381933e-05 9.99942586e-01 -2.95910135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.27, Y:-29.84, Z:-2.96 [[ 9.82621130e-01 1.85357629e-01 9.91282118e-03 2.12268500e+02] [-1.85348940e-01 9.82671127e-01 -1.79618444e-03 -2.98367001e+01] [-1.00739796e-02 -7.23621129e-05 9.99949254e-01 -2.96019992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:-29.84, Z:-2.96 [[ 9.82977879e-01 1.83387689e-01 1.11105412e-02 2.12297350e+02] [-1.83376658e-01 9.83040667e-01 -2.01230546e-03 -2.98378941e+01] [-1.12911459e-02 -5.93621494e-05 9.99936251e-01 -2.96082968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.32, Y:-29.84, Z:-2.96 [[ 9.83366484e-01 1.81312380e-01 1.07786751e-02 2.12324967e+02] [-1.81301879e-01 9.83425554e-01 -1.95169153e-03 -2.98416211e+01] [-1.09538903e-02 -3.49660119e-05 9.99940004e-01 -2.96099999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.35, Y:-29.85, Z:-2.96 [[ 9.83812520e-01 1.78902559e-01 1.03344289e-02 2.12352933e+02] [-1.78892779e-01 9.83866797e-01 -1.87060497e-03 -2.98467553e+01] [-1.05023575e-02 -8.43012106e-06 9.99944849e-01 -2.96126935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.38, Y:-29.85, Z:-2.96 [[ 9.84739682e-01 1.73747476e-01 9.97861445e-03 2.12381485e+02] [-1.73738098e-01 9.84790238e-01 -1.80573154e-03 -2.98535057e+01] [-1.01405834e-02 4.45100098e-05 9.99948582e-01 -2.96231989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.41, Y:-29.86, Z:-2.96 [[ 9.85116863e-01 1.71577443e-01 1.02930509e-02 2.12408496e+02] [-1.71567352e-01 9.85170633e-01 -1.86213338e-03 -2.98585442e+01] [-1.04599116e-02 6.84675083e-05 9.99945291e-01 -2.96280455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.44, Y:-29.86, Z:-2.96 [[ 9.85350797e-01 1.70126856e-01 1.18600156e-02 2.12436138e+02] [-1.70113362e-01 9.85422165e-01 -2.14478039e-03 -2.98640780e+01] [-1.20520070e-02 9.58139313e-05 9.99927367e-01 -2.96202339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:-29.87, Z:-2.96 [[ 9.85218865e-01 1.70867588e-01 1.21677948e-02 2.12464904e+02] [-1.70853452e-01 9.85293997e-01 -2.19962407e-03 -2.98696535e+01] [-1.23646996e-02 8.82013906e-05 9.99923550e-01 -2.96203562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.49, Y:-29.87, Z:-2.96 [[ 9.85042734e-01 1.71929153e-01 1.14533422e-02 2.12492374e+02] [-1.71916706e-01 9.85109314e-01 -2.06994801e-03 -2.98745730e+01] [-1.16386785e-02 6.99663873e-05 9.99932266e-01 -2.96244256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.52, Y:-29.88, Z:-2.96 [[ 9.84827450e-01 1.73225336e-01 1.03863259e-02 2.12519712e+02] [-1.73215179e-01 9.84882217e-01 -1.87653519e-03 -2.98778291e+01] [-1.05543711e-02 4.89940798e-05 9.99944300e-01 -2.96492431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:-29.88, Z:-2.97 [[ 9.84796955e-01 1.73392858e-01 1.04821122e-02 2.12548521e+02] [-1.73382528e-01 9.84852738e-01 -1.89317060e-03 -2.98824679e+01] [-1.06515991e-02 4.69735298e-05 9.99943269e-01 -2.96560641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:-29.89, Z:-2.97 [[ 9.84940701e-01 1.72563548e-01 1.06600508e-02 2.12576290e+02] [-1.72552823e-01 9.84998385e-01 -1.92477622e-03 -2.98881911e+01] [-1.08322790e-02 5.63685920e-05 9.99941328e-01 -2.96509187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:-29.89, Z:-2.97 [[ 9.85033052e-01 1.72054296e-01 1.03540286e-02 2.12603509e+02] [-1.72044154e-01 9.85087466e-01 -1.86905740e-03 -2.98935216e+01] [-1.05212032e-02 5.97332140e-05 9.99944649e-01 -2.96538881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.63, Y:-29.90, Z:-2.97 [[ 9.85293711e-01 1.70488365e-01 1.14026564e-02 2.12632336e+02] [-1.70475969e-01 9.85359686e-01 -2.05757140e-03 -2.98965856e+01] [-1.15865100e-02 8.34332596e-05 9.99932871e-01 -2.96642733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.66, Y:-29.90, Z:-2.97 [[ 9.85333069e-01 1.70183907e-01 1.24972605e-02 2.12660406e+02] [-1.70169000e-01 9.85412314e-01 -2.25444943e-03 -2.99006997e+01] [-1.26986254e-02 9.47372635e-05 9.99919365e-01 -2.96666332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.69, Y:-29.91, Z:-2.97 [[ 9.85414860e-01 1.69662670e-01 1.31199117e-02 2.12688669e+02] [-1.69646204e-01 9.85502190e-01 -2.36611302e-03 -2.99053165e+01] [-1.33311428e-02 1.05859716e-04 9.99911131e-01 -2.96693768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.72, Y:-29.91, Z:-2.97 [[ 9.85753218e-01 1.67757274e-01 1.21692449e-02 2.12715494e+02] [-1.67742969e-01 9.85828323e-01 -2.19412587e-03 -2.99123315e+01] [-1.23648669e-02 1.21561371e-04 9.99923545e-01 -2.96760674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.74, Y:-29.92, Z:-2.97 [[ 9.85959377e-01 1.66603229e-01 1.12902933e-02 2.12742927e+02] [-1.66590847e-01 9.86024010e-01 -2.03503434e-03 -2.99187905e+01] [-1.14715436e-02 1.25601663e-04 9.99934192e-01 -2.96824013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.77, Y:-29.93, Z:-2.97 [[ 9.86535965e-01 1.63241341e-01 9.95262588e-03 2.12770922e+02] [-1.63231554e-01 9.86586156e-01 -1.79335675e-03 -2.99267903e+01] [-1.01118729e-02 1.44628342e-04 9.99948863e-01 -2.96919150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.80, Y:-29.93, Z:-2.97 [[ 9.86779085e-01 1.61811807e-01 9.16382934e-03 2.12798137e+02] [-1.61803451e-01 9.86821624e-01 -1.65087307e-03 -2.99338652e+01] [-9.31019571e-03 1.46307806e-04 9.99956648e-01 -2.96972687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.83, Y:-29.94, Z:-2.97 [[ 9.86983112e-01 1.60572552e-01 8.98843441e-03 2.12825945e+02] [-1.60564467e-01 9.87024028e-01 -1.61863801e-03 -2.99443706e+01] [-9.13170957e-03 1.54345199e-04 9.99958293e-01 -2.96981773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.85, Y:-29.95, Z:-2.97 [[ 9.86933245e-01 1.60822508e-01 9.94438760e-03 2.12853202e+02] [-1.60812631e-01 9.86983330e-01 -1.79026346e-03 -2.99509017e+01] [-1.01028594e-02 1.67687394e-04 9.99948951e-01 -2.96993779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.88, Y:-29.96, Z:-2.97 [[ 9.86781647e-01 1.61671909e-01 1.11433722e-02 2.12881727e+02] [-1.61659569e-01 9.86844548e-01 -2.00532994e-03 -2.99573368e+01] [-1.13209816e-02 1.77390035e-04 9.99935900e-01 -2.96920385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.91, Y:-29.97, Z:-2.97 [[ 9.86077116e-01 1.65882080e-01 1.16214103e-02 2.12908962e+02] [-1.65868957e-01 9.86145586e-01 -2.09075947e-03 -2.99653231e+01] [-1.18072220e-02 1.34018853e-04 9.99930283e-01 -2.96889124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.94, Y:-29.97, Z:-2.97 [[ 9.85647985e-01 1.68446482e-01 1.11280173e-02 2.12936699e+02] [-1.68434618e-01 9.85710796e-01 -2.00162588e-03 -2.99725542e+01] [-1.13061736e-02 9.85551755e-05 9.99936078e-01 -2.97045549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.96, Y:-29.98, Z:-2.97 [[ 9.84823002e-01 1.73275241e-01 9.96726875e-03 2.12964525e+02] [-1.73265975e-01 9.84873438e-01 -1.79242179e-03 -2.99818016e+01] [-1.01270806e-02 3.82296695e-05 9.99948719e-01 -2.97162225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.99, Y:-29.99, Z:-2.97 [[ 9.84462653e-01 1.75333625e-01 9.56054058e-03 2.12992878e+02] [-1.75325201e-01 9.84509075e-01 -1.71879804e-03 -2.99883622e+01] [-9.71380205e-03 1.58887809e-05 9.99952820e-01 -2.97197829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.02, Y:-30.00, Z:-2.97 [[ 9.84152196e-01 1.77067638e-01 9.56596551e-03 2.13020655e+02] [-1.77059289e-01 9.84198685e-01 -1.71945277e-03 -2.99950053e+01] [-9.71927012e-03 -1.53982988e-06 9.99952767e-01 -2.97205030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.05, Y:-30.00, Z:-2.97 [[ 9.83765684e-01 1.79142816e-01 1.06268832e-02 2.13048273e+02] [-1.79132640e-01 9.83823079e-01 -1.90956915e-03 -3.00038095e+01] [-1.07970586e-02 -2.50530488e-05 9.99941710e-01 -2.97301062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.08, Y:-30.01, Z:-2.97 [[ 9.83690878e-01 1.79524970e-01 1.10923767e-02 2.13077026e+02] [-1.79513914e-01 9.83753416e-01 -1.99261455e-03 -3.00110385e+01] [-1.12698876e-02 -3.11192120e-05 9.99936492e-01 -2.97420296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.11, Y:-30.02, Z:-2.97 [[ 9.83666195e-01 1.79693227e-01 1.05433238e-02 2.13105521e+02] [-1.79683251e-01 9.83722696e-01 -1.89370682e-03 -3.00188486e+01] [-1.07119932e-02 -3.16833119e-05 9.99942624e-01 -2.97461800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.13, Y:-30.02, Z:-2.97 [[ 9.83593949e-01 1.80119298e-01 9.99912195e-03 2.13133213e+02] [-1.80110348e-01 9.83644772e-01 -1.79589774e-03 -3.00247126e+01] [-1.01590599e-02 -3.45111853e-05 9.99948395e-01 -2.97438255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.16, Y:-30.03, Z:-2.97 [[ 9.83515920e-01 1.80544517e-01 1.00056373e-02 2.13160289e+02] [-1.80535581e-01 9.83566813e-01 -1.79675619e-03 -3.00298958e+01] [-1.01656073e-02 -3.92352218e-05 9.99948328e-01 -2.97475079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.19, Y:-30.03, Z:-2.97 [[ 9.83280536e-01 1.81710468e-01 1.18614417e-02 2.13188809e+02] [-1.81698004e-01 9.83352074e-01 -2.12917205e-03 -3.00348810e+01] [-1.20508661e-02 -6.16268463e-05 9.99927384e-01 -2.97469905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.22, Y:-30.04, Z:-2.97 [[ 9.83198986e-01 1.82095581e-01 1.26867408e-02 2.13218336e+02] [-1.82081362e-01 9.83280832e-01 -2.27667386e-03 -3.00393906e+01] [-1.28892013e-02 -7.15956138e-05 9.99916928e-01 -2.97482494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.25, Y:-30.04, Z:-2.98 [[ 9.83193814e-01 1.82118596e-01 1.27570396e-02 2.13246352e+02] [-1.82104225e-01 9.83276569e-01 -2.28897389e-03 -3.00433306e+01] [-1.29605629e-02 -7.26058456e-05 9.99916006e-01 -2.97575252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.28, Y:-30.05, Z:-2.98 [[ 9.83272201e-01 1.81732480e-01 1.22100261e-02 2.13275596e+02] [-1.81719291e-01 9.83348006e-01 -2.19040072e-03 -3.00481289e+01] [-1.24047718e-02 -6.50371448e-05 9.99923056e-01 -2.97544353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.925769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.31, Y:-30.05, Z:-2.98 [[ 9.83274356e-01 1.81720818e-01 1.22100783e-02 2.13305293e+02] [-1.81707632e-01 9.83350161e-01 -2.19010958e-03 -3.00534157e+01] [-1.24047710e-02 -6.51858332e-05 9.99923056e-01 -2.97582127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.33, Y:-30.06, Z:-2.98 [[ 9.83349391e-01 1.81334160e-01 1.19120408e-02 2.13333424e+02] [-1.81321583e-01 9.83421537e-01 -2.13651884e-03 -3.00576086e+01] [-1.21019813e-02 -5.89655962e-05 9.99926767e-01 -2.97631123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.36, Y:-30.06, Z:-2.98 [[ 9.83795502e-01 1.78925758e-01 1.14884275e-02 2.13363148e+02] [-1.78913900e-01 9.83862578e-01 -2.06012681e-03 -3.00602237e+01] [-1.16716437e-02 -2.86958902e-05 9.99931884e-01 -2.97696206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.015769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:213.39, Y:-30.06, Z:-2.98 [[ 9.84135324e-01 1.77057092e-01 1.13335533e-02 2.13392198e+02] [-1.77045431e-01 9.84200582e-01 -2.03207864e-03 -3.00644719e+01] [-1.15142836e-02 -6.71344535e-06 9.99933708e-01 -2.97763070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.045769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.42, Y:-30.07, Z:-2.98 [[ 9.85009534e-01 1.72056876e-01 1.23550975e-02 2.13421815e+02] [-1.72042629e-01 9.85087016e-01 -2.21490606e-03 -3.00694282e+01] [-1.25519359e-02 5.61001363e-05 9.99921220e-01 -2.97851810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.075769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:213.45, Y:-30.07, Z:-2.98 [[ 9.85497819e-01 1.69200448e-01 1.28552632e-02 2.13450486e+02] [-1.69184780e-01 9.85581655e-01 -2.30456447e-03 -3.00748193e+01] [-1.30598450e-02 9.62283695e-05 9.99914712e-01 -2.97870072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.105769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:213.48, Y:-30.08, Z:-2.98 [[ 9.85959769e-01 1.66478700e-01 1.29682924e-02 2.13480329e+02] [-1.66462522e-01 9.86045042e-01 -2.32467177e-03 -3.00806780e+01] [-1.31743288e-02 1.33298176e-04 9.99913206e-01 -2.97956835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.51, Y:-30.09, Z:-2.98 [[ 9.86568124e-01 1.62988973e-01 1.08596156e-02 2.13509374e+02] [-1.62977417e-01 9.86627879e-01 -1.94665652e-03 -3.00877751e+01] [-1.10316830e-02 1.50637183e-04 9.99939138e-01 -2.98058144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.165769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.54, Y:-30.09, Z:-2.98 [[ 9.86768000e-01 1.61811288e-01 1.02966404e-02 2.13539334e+02] [-1.61800834e-01 9.86821708e-01 -1.84588135e-03 -3.00939451e+01] [-1.04596327e-02 1.55451645e-04 9.99945284e-01 -2.98100687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.195769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:213.57, Y:-30.10, Z:-2.98 [[ 9.87125935e-01 1.59612826e-01 1.03020973e-02 2.13568351e+02] [-1.59602241e-01 9.87179676e-01 -1.84688432e-03 -3.01007562e+01] [-1.04648075e-02 1.78869595e-04 9.99945226e-01 -2.98022993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:213.60, Y:-30.11, Z:-2.98 [[ 9.87318422e-01 1.58381078e-01 1.08520983e-02 2.13597734e+02] [-1.58369259e-01 9.87378040e-01 -1.94532595e-03 -3.01075072e+01] [-1.10232263e-02 2.02017376e-04 9.99939222e-01 -2.98028548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:213.63, Y:-30.12, Z:-2.98 [[ 9.87486627e-01 1.57304733e-01 1.11974690e-02 2.13627191e+02] [-1.57292081e-01 9.87550086e-01 -2.00722268e-03 -3.01150814e+01] [-1.13738071e-02 2.20832354e-04 9.99935292e-01 -2.98009637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.66, Y:-30.13, Z:-2.98 [[ 9.87809286e-01 1.55217876e-01 1.18416724e-02 2.13656077e+02] [-1.55203575e-01 9.87880227e-01 -2.12285343e-03 -3.01252860e+01] [-1.20276588e-02 2.59104441e-04 9.99927632e-01 -2.98144737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:213.69, Y:-30.13, Z:-2.98 [[ 9.87843962e-01 1.54976792e-01 1.21037245e-02 2.13687586e+02] [-1.54961832e-01 9.87918075e-01 -2.16994521e-03 -3.01338113e+01] [-1.22937793e-02 2.67951966e-04 9.99924393e-01 -2.98269477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:213.72, Y:-30.14, Z:-2.98 [[ 9.87756516e-01 1.55506800e-01 1.24378782e-02 2.13717780e+02] [-1.55491016e-01 9.87834785e-01 -2.23202481e-03 -3.01427202e+01] [-1.26336637e-02 2.70718738e-04 9.99920155e-01 -2.98235127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.75, Y:-30.15, Z:-2.98 [[ 9.87440947e-01 1.57330932e-01 1.43997952e-02 2.13747485e+02] [-1.57309950e-01 9.87545895e-01 -2.58549886e-03 -3.01544172e+01] [-1.46272376e-02 2.87796384e-04 9.99892975e-01 -2.98121017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.78, Y:-30.16, Z:-2.98 [[ 9.87282902e-01 1.58312362e-01 1.44799094e-02 2.13779334e+02] [-1.58291240e-01 9.87389042e-01 -2.60059603e-03 -3.01626187e+01] [-1.47090104e-02 2.75481170e-04 9.99891779e-01 -2.98132384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:213.81, Y:-30.17, Z:-2.98 [[ 9.87018579e-01 1.60069608e-01 1.31166187e-02 2.13810966e+02] [-1.60052401e-01 9.87105703e-01 -2.35809529e-03 -3.01731068e+01] [-1.33249485e-02 2.28137544e-04 9.99911193e-01 -2.98284159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:213.84, Y:-30.18, Z:-2.98 [[ 9.86804000e-01 1.61394482e-01 1.30263724e-02 2.13842335e+02] [-1.61377592e-01 9.86889952e-01 -2.34438070e-03 -3.01815526e+01] [-1.32339661e-02 2.11279636e-04 9.99912405e-01 -2.98324338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.87, Y:-30.19, Z:-2.98 [[ 9.86543941e-01 1.62961313e-01 1.32159799e-02 2.13873640e+02] [-1.62944046e-01 9.86632440e-01 -2.38019783e-03 -3.01895076e+01] [-1.34271947e-02 1.94704512e-04 9.99909832e-01 -2.98325722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.91, Y:-30.20, Z:-2.98 [[ 9.86036803e-01 1.65877718e-01 1.46971287e-02 2.13905175e+02] [-1.65856644e-01 9.86146314e-01 -2.64982126e-03 -3.01980676e+01] [-1.49330656e-02 1.75204840e-04 9.99888480e-01 -2.98405779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.94, Y:-30.20, Z:-2.98 [[ 9.85766750e-01 1.67480768e-01 1.46323894e-02 2.13937605e+02] [-1.67460014e-01 9.85875331e-01 -2.64099961e-03 -3.02049397e+01] [-1.48680284e-02 1.53069485e-04 9.99889453e-01 -2.98466215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:213.97, Y:-30.21, Z:-2.99 [[ 9.85304831e-01 1.70382248e-01 1.20116375e-02 2.13969527e+02] [-1.70368454e-01 9.85378040e-01 -2.16991315e-03 -3.02114082e+01] [-1.22057185e-02 9.16217922e-05 9.99925503e-01 -2.98606259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.615769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:214.00, Y:-30.22, Z:-2.99 [[ 9.85043220e-01 1.71987780e-01 1.04908926e-02 2.14002428e+02] [-1.71977330e-01 9.85099081e-01 -1.89697417e-03 -3.02166143e+01] [-1.06608251e-02 6.44058369e-05 9.99943170e-01 -2.98678585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.645769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:214.03, Y:-30.22, Z:-2.99 [[ 9.84721854e-01 1.73883302e-01 9.35237633e-03 2.14034273e+02] [-1.73875067e-01 9.84766265e-01 -1.69277494e-03 -3.02217664e+01] [-9.50425000e-03 4.07674162e-05 9.99954833e-01 -2.98763212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.07, Y:-30.23, Z:-2.99 [[ 9.84179428e-01 1.76898799e-01 9.88269004e-03 2.14065493e+02] [-1.76889731e-01 9.84229046e-01 -1.79116588e-03 -3.02261743e+01] [-1.00436857e-02 1.46822303e-05 9.99949561e-01 -2.98720016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.705769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.10, Y:-30.23, Z:-2.99 [[ 9.84140548e-01 1.77057567e-01 1.08627658e-02 2.14097272e+02] [-1.77046621e-01 9.84200497e-01 -1.96886722e-03 -3.02306286e+01] [-1.10397423e-02 1.44260848e-05 9.99939060e-01 -2.98754831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.735769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:214.13, Y:-30.24, Z:-2.99 [[ 9.84664051e-01 1.74084975e-01 1.14511354e-02 2.14128638e+02] [-1.74072584e-01 9.84730632e-01 -2.07768227e-03 -3.02354326e+01] [-1.16379770e-02 5.24903178e-05 9.99932275e-01 -2.98909837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.765769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:214.16, Y:-30.24, Z:-2.99 [[ 9.85188561e-01 1.71093927e-01 1.14178271e-02 2.14160016e+02] [-1.71081382e-01 9.85254718e-01 -2.07384306e-03 -3.02430734e+01] [-1.16042899e-02 8.97488334e-05 9.99932664e-01 -2.99006974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.795769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.19, Y:-30.25, Z:-2.99 [[ 9.85845615e-01 1.67253401e-01 1.16070478e-02 2.14191703e+02] [-1.67240147e-01 9.85913932e-01 -2.11021273e-03 -3.02521191e+01] [-1.17964904e-02 1.39179578e-04 9.99930409e-01 -2.99057288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.825769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:214.22, Y:-30.27, Z:-2.99 [[ 9.87229131e-01 1.58849205e-01 1.20653466e-02 2.14221500e+02] [-1.58834224e-01 9.87302824e-01 -2.19598309e-03 -3.02653839e+01] [-1.22609809e-02 2.51548517e-04 9.99924800e-01 -2.99102911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.855769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.25, Y:-30.28, Z:-2.99 [[ 9.87756773e-01 1.55591277e-01 1.13098399e-02 2.14253459e+02] [-1.55577879e-01 9.87821481e-01 -2.06037816e-03 -3.02763256e+01] [-1.14926796e-02 2.75591586e-04 9.99933919e-01 -2.99158620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.885769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.28, Y:-30.29, Z:-2.99 [[ 9.88321887e-01 1.52022357e-01 1.04426968e-02 2.14283977e+02] [-1.52010715e-01 9.88377011e-01 -1.90422568e-03 -3.02940727e+01] [-1.06108064e-02 2.94586101e-04 9.99943660e-01 -2.99215684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.915769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.32, Y:-30.31, Z:-2.99 [[ 9.88293197e-01 1.52195247e-01 1.06378489e-02 2.14315754e+02] [-1.52183154e-01 9.88350402e-01 -1.94189871e-03 -3.03055281e+01] [-1.08094700e-02 3.00263892e-04 9.99941531e-01 -2.99164034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.35, Y:-30.32, Z:-2.99 [[ 9.88087926e-01 1.53457971e-01 1.15282784e-02 2.14347387e+02] [-1.53443826e-01 9.88155126e-01 -2.10691267e-03 -3.03157844e+01] [-1.17150500e-02 3.12871819e-04 9.99931327e-01 -2.99166852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.38, Y:-30.33, Z:-2.99 [[ 9.87040957e-01 1.59920344e-01 1.32526720e-02 2.14377528e+02] [-1.59902212e-01 9.87129885e-01 -2.42348553e-03 -3.03300490e+01] [-1.34696732e-02 2.72947907e-04 9.99909243e-01 -2.99168522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.41, Y:-30.34, Z:-2.99 [[ 9.86260254e-01 1.64646579e-01 1.34987533e-02 2.14409431e+02] [-1.64628175e-01 9.86352603e-01 -2.47107860e-03 -3.03407264e+01] [-1.37213851e-02 2.14851499e-04 9.99905834e-01 -2.99242126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.44, Y:-30.35, Z:-2.99 [[ 9.84355418e-01 1.75762094e-01 1.23327459e-02 2.14439701e+02] [-1.75747574e-01 9.84432671e-01 -2.25983609e-03 -3.03540857e+01] [-1.25379515e-02 5.70317118e-05 9.99921395e-01 -2.99205708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:214.47, Y:-30.36, Z:-2.99 [[ 9.83305058e-01 1.81575524e-01 1.18950405e-02 2.14470840e+02] [-1.81562417e-01 9.83377002e-01 -2.18173740e-03 -3.03610490e+01] [-1.20934594e-02 -1.43788872e-05 9.99926871e-01 -2.99237649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09576923100002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:214.50, Y:-30.37, Z:-2.99 [[ 9.82203216e-01 1.87443911e-01 1.19005143e-02 2.14503445e+02] [-1.87431196e-01 9.82275304e-01 -2.18485615e-03 -3.03672154e+01] [-1.20991193e-02 -8.45548925e-05 9.99926799e-01 -2.99285893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.54, Y:-30.37, Z:-2.99 [[ 9.80445866e-01 1.96347585e-01 1.31730994e-02 2.14535298e+02] [-1.96332772e-01 9.80534334e-01 -2.42118982e-03 -3.03707227e+01] [-1.33920710e-02 -2.12465569e-04 9.99910300e-01 -2.99279250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.57, Y:-30.38, Z:-2.99 [[ 9.79864985e-01 1.99198025e-01 1.35925365e-02 2.14567956e+02] [-1.99182503e-01 9.79959224e-01 -2.50002135e-03 -3.03752717e+01] [-1.38181309e-02 -2.57712059e-04 9.99904492e-01 -2.99341725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.60, Y:-30.38, Z:-2.99 [[ 9.79301731e-01 2.02006596e-01 1.27064964e-02 2.14600055e+02] [-2.01993240e-01 9.79384122e-01 -2.33926640e-03 -3.03755324e+01] [-1.29170880e-02 -2.75778737e-04 9.99916533e-01 -2.99427350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.63, Y:-30.38, Z:-2.99 [[ 9.79172537e-01 2.02695957e-01 1.16400828e-02 2.14631829e+02] [-2.02684783e-01 9.79241687e-01 -2.14414512e-03 -3.03776882e+01] [-1.18330639e-02 -2.59779634e-04 9.99929953e-01 -2.99485339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.67, Y:-30.38, Z:-2.99 [[ 9.79052347e-01 2.03332732e-01 1.05972984e-02 2.14665352e+02] [-2.03323490e-01 9.79109668e-01 -1.95366599e-03 -3.03802452e+01] [-1.07731616e-02 -2.41938430e-04 9.99941939e-01 -2.99480172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.70, Y:-30.38, Z:-2.99 [[ 9.78569846e-01 2.05667048e-01 1.01054861e-02 2.14698692e+02] [-2.05658749e-01 9.78621991e-01 -1.86488290e-03 -3.03769501e+01] [-1.02729959e-02 -2.53363463e-04 9.99947199e-01 -2.99497647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.73, Y:-30.38, Z:-2.99 [[ 9.78178752e-01 2.07492101e-01 1.06468877e-02 2.14730149e+02] [-2.07482972e-01 9.78236652e-01 -1.96711723e-03 -3.03768113e+01] [-1.08233371e-02 -2.84855631e-04 9.99941385e-01 -2.99495313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.76, Y:-30.37, Z:-3.00 [[ 9.77482565e-01 2.10660790e-01 1.22419792e-02 2.14762187e+02] [-2.10648964e-01 9.77559152e-01 -2.26215241e-03 -3.03710697e+01] [-1.24438056e-02 -3.67545695e-04 9.99922505e-01 -2.99569580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.79, Y:-30.37, Z:-3.00 [[ 9.77318775e-01 2.11398926e-01 1.25898967e-02 2.14793029e+02] [-2.11386480e-01 9.77399787e-01 -2.32644617e-03 -3.03714780e+01] [-1.27971706e-02 -3.87654421e-04 9.99918038e-01 -2.99631400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.82, Y:-30.37, Z:-3.00 [[ 9.77385487e-01 2.11083690e-01 1.26997863e-02 2.14822856e+02] [-2.11070998e-01 9.77467916e-01 -2.34689211e-03 -3.03719649e+01] [-1.29090243e-02 -3.86738280e-04 9.99916600e-01 -2.99631523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.425769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:214.85, Y:-30.37, Z:-3.00 [[ 9.77719859e-01 2.09519443e-01 1.28639353e-02 2.14852950e+02] [-2.09506289e-01 9.77804411e-01 -2.37692673e-03 -3.03729991e+01] [-1.30764250e-02 -3.71106867e-04 9.99914431e-01 -2.99654356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.88, Y:-30.37, Z:-3.00 [[ 9.78904624e-01 2.03832955e-01 1.40664279e-02 2.14884255e+02] [-2.03816643e-01 9.79005629e-01 -2.59879389e-03 -3.03697340e+01] [-1.43008319e-02 -3.23000758e-04 9.99897686e-01 -2.99705230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.91, Y:-30.37, Z:-3.00 [[ 9.79448820e-01 2.01138061e-01 1.49495664e-02 2.14913547e+02] [-2.01119324e-01 9.79562856e-01 -2.76186025e-03 -3.03708572e+01] [-1.51995552e-02 -3.01545926e-04 9.99884435e-01 -2.99688305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.94, Y:-30.37, Z:-3.00 [[ 9.80067479e-01 1.97981852e-01 1.64597449e-02 2.14944043e+02] [-1.97958703e-01 9.80205646e-01 -3.04027137e-03 -3.03687739e+01] [-1.67358534e-02 -2.78678649e-04 9.99859907e-01 -2.99662970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.545769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.97, Y:-30.37, Z:-3.00 [[ 9.80241856e-01 1.97131584e-01 1.62801056e-02 2.14973576e+02] [-1.97108827e-01 9.80377004e-01 -3.00670257e-03 -3.03707787e+01] [-1.65533572e-02 -2.61656810e-04 9.99862950e-01 -2.99685938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.00, Y:-30.37, Z:-3.00 [[ 9.80332858e-01 1.96737911e-01 1.55461028e-02 2.15002429e+02] [-1.96717116e-01 9.80456085e-01 -2.87078080e-03 -3.03726900e+01] [-1.58070625e-02 -2.43863767e-04 9.99875031e-01 -2.99739881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.605769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:215.03, Y:-30.38, Z:-3.00 [[ 9.80454570e-01 1.96219178e-01 1.43829997e-02 2.15031851e+02] [-1.96201327e-01 9.80560037e-01 -2.65567737e-03 -3.03751138e+01] [-1.46244896e-02 -2.18192613e-04 9.99893033e-01 -2.99813634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.06, Y:-30.38, Z:-3.00 [[ 9.80797326e-01 1.94618440e-01 1.26597107e-02 2.15060288e+02] [-1.94604481e-01 9.80879011e-01 -2.33720307e-03 -3.03762324e+01] [-1.28725073e-02 -1.71313910e-04 9.99917131e-01 -2.99851329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.09, Y:-30.38, Z:-3.00 [[ 9.80987999e-01 1.93660317e-01 1.25788278e-02 2.15089363e+02] [-1.93646467e-01 9.81068630e-01 -2.32151157e-03 -3.03799412e+01] [-1.27902780e-02 -1.58470578e-04 9.99918188e-01 -2.99829638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.12, Y:-30.38, Z:-3.00 [[ 9.81678156e-01 1.90003813e-01 1.43717924e-02 2.15116855e+02] [-1.89985353e-01 9.81783344e-01 -2.65159774e-03 -3.03818289e+01] [-1.46138001e-02 -1.27414481e-04 9.99893205e-01 -2.99765200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-30.39, Z:-3.00 [[ 9.82099978e-01 1.87767686e-01 1.49308506e-02 2.15145243e+02] [-1.87747517e-01 9.82213463e-01 -2.75381522e-03 -3.03857440e+01] [-1.51823600e-02 -9.87082569e-05 9.99884736e-01 -2.99780561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-30.39, Z:-3.00 [[ 9.82502624e-01 1.85637103e-01 1.50818068e-02 2.15173184e+02] [-1.85616281e-01 9.82618370e-01 -2.78109871e-03 -3.03903300e+01] [-1.53359355e-02 -6.69921151e-05 9.99882395e-01 -2.99899790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78576923100002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:215.20, Y:-30.40, Z:-3.00 [[ 9.83283302e-01 1.81581858e-01 1.34898983e-02 2.15201921e+02] [-1.81564824e-01 9.83375833e-01 -2.48711598e-03 -3.03969117e+01] [-1.37172552e-02 -3.75140311e-06 9.99905914e-01 -3.00104216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:215.23, Y:-30.40, Z:-3.00 [[ 9.83640055e-01 1.79730701e-01 1.22113834e-02 2.15229629e+02] [-1.79716604e-01 9.83715851e-01 -2.25112976e-03 -3.04035497e+01] [-1.24171285e-02 1.97130508e-05 9.99922904e-01 -3.00219647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:215.26, Y:-30.41, Z:-3.00 [[ 9.83646082e-01 1.79697707e-01 1.22114627e-02 2.15258489e+02] [-1.79683612e-01 9.83721878e-01 -2.25069954e-03 -3.04087800e+01] [-1.24171286e-02 1.96920554e-05 9.99922904e-01 -3.00256376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.29, Y:-30.42, Z:-3.00 [[ 9.84242522e-01 1.76573536e-01 9.40446482e-03 2.15286822e+02] [-1.76565037e-01 9.84287450e-01 -1.73308212e-03 -3.04171452e+01] [-9.56271314e-03 4.52734385e-05 9.99954275e-01 -3.00271241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.32, Y:-30.42, Z:-3.00 [[ 9.84476375e-01 1.75286429e-01 8.99638833e-03 2.15315474e+02] [-1.75278599e-01 9.84517478e-01 -1.65767618e-03 -3.04236617e+01] [-9.14766969e-03 5.50686942e-05 9.99958158e-01 -3.00302927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.34, Y:-30.43, Z:-3.00 [[ 9.84747476e-01 1.73687500e-01 1.02499268e-02 2.15342403e+02] [-1.73677252e-01 9.84800815e-01 -1.88838787e-03 -3.04337631e+01] [-1.04221256e-02 7.94060755e-05 9.99945685e-01 -3.00323171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:215.37, Y:-30.44, Z:-3.00 [[ 9.84877996e-01 1.72900058e-01 1.09955816e-02 2.15371531e+02] [-1.72888221e-01 9.84939369e-01 -2.02528611e-03 -3.04427099e+01] [-1.11801533e-02 9.36531948e-05 9.99937496e-01 -3.00363290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:215.40, Y:-30.45, Z:-3.00 [[ 9.84993905e-01 1.72205108e-01 1.15068659e-02 2.15399911e+02] [-1.72192097e-01 9.85061110e-01 -2.11947015e-03 -3.04515930e+01] [-1.16999497e-02 1.06273803e-04 9.99931548e-01 -3.00424920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.43, Y:-30.46, Z:-3.00 [[ 9.85213900e-01 1.70945310e-01 1.14573802e-02 2.15428592e+02] [-1.70932328e-01 9.85280512e-01 -2.11020205e-03 -3.04641904e+01] [-1.16494626e-02 1.20563718e-04 9.99932135e-01 -3.00468500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.46, Y:-30.47, Z:-3.01 [[ 9.85273518e-01 1.70606964e-01 1.13735765e-02 2.15458118e+02] [-1.70594149e-01 9.85339154e-01 -2.09476721e-03 -3.04741173e+01] [-1.15642121e-02 1.23653061e-04 9.99933125e-01 -3.00535031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.49, Y:-30.48, Z:-3.01 [[ 9.85274268e-01 1.70598190e-01 1.14400304e-02 2.15487122e+02] [-1.70585224e-01 9.85340673e-01 -2.10699624e-03 -3.04839095e+01] [-1.16317770e-02 1.24469041e-04 9.99932341e-01 -3.00590331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.115769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:215.52, Y:-30.50, Z:-3.01 [[ 9.84865081e-01 1.72898167e-01 1.21241814e-02 2.15517376e+02] [-1.72883776e-01 9.84939700e-01 -2.23312243e-03 -3.04976113e+01] [-1.23276903e-02 1.03250042e-04 9.99924006e-01 -3.00575155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.145769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:215.55, Y:-30.51, Z:-3.01 [[ 9.84508092e-01 1.74892058e-01 1.25134146e-02 2.15548198e+02] [-1.74876860e-01 9.84587610e-01 -2.30705162e-03 -3.05062381e+01] [-1.27240379e-02 8.30043389e-05 9.99919043e-01 -3.00535099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.175769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:215.58, Y:-30.51, Z:-3.01 [[ 9.84069780e-01 1.77325030e-01 1.27475815e-02 2.15579776e+02] [-1.77309432e-01 9.84152341e-01 -2.35263014e-03 -3.05147568e+01] [-1.29627424e-02 5.48858039e-05 9.99915979e-01 -3.00552259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.61, Y:-30.53, Z:-3.01 [[ 9.83255021e-01 1.81818854e-01 1.23072540e-02 2.15609915e+02] [-1.81804635e-01 9.83332042e-01 -2.27378927e-03 -3.05254486e+01] [-1.25155349e-02 -1.80110202e-06 9.99921678e-01 -3.00606775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.235769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:215.64, Y:-30.53, Z:-3.01 [[ 9.82830705e-01 1.84127005e-01 1.18765455e-02 2.15639074e+02] [-1.84113906e-01 9.82902460e-01 -2.19646624e-03 -3.05335456e+01] [-1.20779146e-02 -2.78827186e-05 9.99927059e-01 -3.00722182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.265769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:215.67, Y:-30.54, Z:-3.01 [[ 9.82017782e-01 1.88466006e-01 1.10291009e-02 2.15668242e+02] [-1.88454982e-01 9.82079711e-01 -2.03985487e-03 -3.05437572e+01] [-1.12158995e-02 -7.53152606e-05 9.99937097e-01 -3.00787114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.295769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:215.70, Y:-30.55, Z:-3.01 [[ 9.81521825e-01 1.91041747e-01 1.08608522e-02 2.15700004e+02] [-1.91031216e-01 9.81581907e-01 -2.00858345e-03 -3.05519910e+01] [-1.10445394e-02 -1.03293317e-04 9.99939002e-01 -3.00839890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.325769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:215.73, Y:-30.56, Z:-3.01 [[ 9.80993898e-01 1.93737704e-01 1.08015280e-02 2.15731282e+02] [-1.93727427e-01 9.81053355e-01 -1.99978086e-03 -3.05596738e+01] [-1.09843082e-02 -1.30779408e-04 9.99939662e-01 -3.00848237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.355769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:215.76, Y:-30.57, Z:-3.01 [[ 9.80509870e-01 1.96187409e-01 1.05306569e-02 2.15762245e+02] [-1.96177762e-01 9.80566406e-01 -1.95153970e-03 -3.05664818e+01] [-1.07088759e-02 -1.52376759e-04 9.99942647e-01 -3.00892381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.79, Y:-30.57, Z:-3.01 [[ 9.79457636e-01 2.01353063e-01 1.09399762e-02 2.15793370e+02] [-2.01342947e-01 9.79518707e-01 -2.02969481e-03 -3.05724990e+01] [-1.11245966e-02 -2.14686973e-04 9.99938097e-01 -3.00944909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.83, Y:-30.58, Z:-3.01 [[ 9.78818237e-01 2.04422456e-01 1.12391239e-02 2.15825239e+02] [-2.04411980e-01 9.78882727e-01 -2.08531407e-03 -3.05777327e+01] [-1.14280693e-02 -2.56268128e-04 9.99934665e-01 -3.00998740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.445769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:215.86, Y:-30.58, Z:-3.01 [[ 9.77427836e-01 2.10977542e-01 1.11041714e-02 2.15856122e+02] [-2.10967715e-01 9.77490854e-01 -2.06235584e-03 -3.05811797e+01] [-1.12893368e-02 -3.26817666e-04 9.99936220e-01 -3.01188365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.89, Y:-30.59, Z:-3.01 [[ 9.76758792e-01 2.14074190e-01 1.07005867e-02 2.15886052e+02] [-2.14065247e-01 9.76817342e-01 -1.98767106e-03 -3.05852319e+01] [-1.08780277e-02 -3.49148542e-04 9.99940772e-01 -3.01251668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.92, Y:-30.59, Z:-3.01 [[ 9.76160861e-01 2.16797856e-01 1.04241494e-02 2.15916546e+02] [-2.16789523e-01 9.76216448e-01 -1.93646870e-03 -3.05898051e+01] [-1.05960483e-02 -3.69541417e-04 9.99943792e-01 -3.01283549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:215.95, Y:-30.59, Z:-3.01 [[ 9.75586579e-01 2.19387004e-01 1.00084910e-02 2.15947029e+02] [-2.19379458e-01 9.75637841e-01 -1.85925286e-03 -3.05922797e+01] [-1.01725584e-02 -3.81795196e-04 9.99948185e-01 -3.01255724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.98, Y:-30.60, Z:-3.01 [[ 9.75541301e-01 2.19589878e-01 9.97278519e-03 2.15977324e+02] [-2.19582396e-01 9.75592199e-01 -1.85259138e-03 -3.05952424e+01] [-1.01361818e-02 -3.82568666e-04 9.99948554e-01 -3.01302903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59576923100002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:216.01, Y:-30.60, Z:-3.01 [[ 9.75497980e-01 2.19700172e-01 1.16415055e-02 2.16006891e+02] [-2.19689982e-01 9.75567340e-01 -2.16278020e-03 -3.05951608e+01] [-1.18322357e-02 -4.47734415e-04 9.99929896e-01 -3.01379777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:216.04, Y:-30.60, Z:-3.01 [[ 9.75482211e-01 2.19720523e-01 1.25438008e-02 2.16036509e+02] [-2.19708701e-01 9.75562739e-01 -2.32993034e-03 -3.05985921e+01] [-1.27491982e-02 -4.83176573e-04 9.99918609e-01 -3.01415193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:216.06, Y:-30.60, Z:-3.01 [[ 9.75532171e-01 2.19519442e-01 1.21736790e-02 2.16064783e+02] [-2.19508289e-01 9.75608014e-01 -2.26134775e-03 -3.06014347e+01] [-1.23731486e-02 -4.66205981e-04 9.99923341e-01 -3.01423114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68576923100002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:216.09, Y:-30.60, Z:-3.02 [[ 9.75964446e-01 2.17756709e-01 8.68418564e-03 2.16093605e+02] [-2.17750965e-01 9.76003030e-01 -1.61297088e-03 -3.06024761e+01] [-8.82702674e-03 -3.16787580e-04 9.99960991e-01 -3.01529384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71576923100002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:216.12, Y:-30.61, Z:-3.02 [[ 9.76308315e-01 2.16258962e-01 7.35765961e-03 2.16122631e+02] [-2.16254798e-01 9.76336005e-01 -1.36634767e-03 -3.06064901e+01] [-7.47903292e-03 -2.57152599e-04 9.99971999e-01 -3.01644385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74576923100003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:216.15, Y:-30.61, Z:-3.02 [[ 9.76681620e-01 2.14571369e-01 7.22078105e-03 2.16151460e+02] [-2.14567314e-01 9.76708283e-01 -1.34088174e-03 -3.06108658e+01] [-7.34031149e-03 -2.39729038e-04 9.99973031e-01 -3.01642394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:216.18, Y:-30.61, Z:-3.01 [[ 9.77287596e-01 2.11678402e-01 1.00602618e-02 2.16180634e+02] [-2.11670383e-01 9.77339328e-01 -1.86745184e-03 -3.06124018e+01] [-1.02275887e-02 -3.04421938e-04 9.99947651e-01 -3.01478330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:216.21, Y:-30.62, Z:-3.01 [[ 9.77495687e-01 2.10652915e-01 1.12929750e-02 2.16209194e+02] [-2.10642750e-01 9.77560863e-01 -2.09565134e-03 -3.06150047e+01] [-1.14810255e-02 -3.30293169e-04 9.99934036e-01 -3.01489257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83576923100003 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:216.24, Y:-30.62, Z:-3.02 [[ 9.77839838e-01 2.09050310e-01 1.12791548e-02 2.16238770e+02] [-2.09040067e-01 9.77904837e-01 -2.09269458e-03 -3.06158982e+01] [-1.14674185e-02 -3.11475148e-04 9.99934198e-01 -3.01535374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.865769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:216.27, Y:-30.62, Z:-3.02 [[ 9.78028002e-01 2.08193792e-01 1.07968415e-02 2.16267381e+02] [-2.08184360e-01 9.78087553e-01 -2.00273966e-03 -3.06194418e+01] [-1.09772142e-02 -2.88998062e-04 9.99939707e-01 -3.01626467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.895769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.30, Y:-30.62, Z:-3.02 [[ 9.78200555e-01 2.07382049e-01 1.07870330e-02 2.16295683e+02] [-2.07372590e-01 9.78259990e-01 -2.00041152e-03 -3.06230805e+01] [-1.09673722e-02 -2.80131304e-04 9.99939817e-01 -3.01710234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.925769231 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.32, Y:-30.63, Z:-3.02 [[ 9.78575051e-01 2.05577870e-01 1.13405737e-02 2.16323852e+02] [-2.05567301e-01 9.78640723e-01 -2.10249468e-03 -3.06261332e+01] [-1.15305737e-02 -2.73802291e-04 9.99933483e-01 -3.01719200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.955769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:216.35, Y:-30.63, Z:-3.02 [[ 9.78782257e-01 2.04589799e-01 1.13272684e-02 2.16352187e+02] [-2.04579197e-01 9.78847764e-01 -2.09933229e-03 -3.06308381e+01] [-1.15171733e-02 -2.62534267e-04 9.99933641e-01 -3.01759921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.985769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:216.38, Y:-30.64, Z:-3.02 [[ 9.78997756e-01 2.03594899e-01 1.06070761e-02 2.16380882e+02] [-2.03585549e-01 9.79055188e-01 -1.96538726e-03 -3.06362330e+01] [-1.07850557e-02 -2.35337691e-04 9.99941812e-01 -3.01831946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.015769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:216.41, Y:-30.64, Z:-3.02 [[ 9.79365055e-01 2.01915394e-01 8.61756981e-03 2.16408677e+02] [-2.01909160e-01 9.79402952e-01 -1.59649140e-03 -3.06415376e+01] [-8.76242950e-03 -1.76418388e-04 9.99961594e-01 -3.01885297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.045769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:216.44, Y:-30.65, Z:-3.02 [[ 9.79404162e-01 2.01740271e-01 8.26746200e-03 2.16436828e+02] [-2.01734531e-01 9.79439041e-01 -1.53111124e-03 -3.06458234e+01] [-8.40636185e-03 -1.68255848e-04 9.99964652e-01 -3.01964813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.075769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.46, Y:-30.65, Z:-3.02 [[ 9.79050542e-01 2.03420221e-01 8.95826176e-03 2.16464721e+02] [-2.03413556e-01 9.79091504e-01 -1.65861482e-03 -3.06495882e+01] [-9.10835378e-03 -1.98364142e-04 9.99958498e-01 -3.02006465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.105769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:216.49, Y:-30.65, Z:-3.02 [[ 9.78779676e-01 2.04685363e-01 9.70819349e-03 2.16493442e+02] [-2.04677603e-01 9.78827794e-01 -1.79681253e-03 -3.06543882e+01] [-9.87043084e-03 -2.28366194e-04 9.99951260e-01 -3.01983817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.135769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:216.52, Y:-30.66, Z:-3.02 [[ 9.78564704e-01 2.05681716e-01 1.03030152e-02 2.16520882e+02] [-2.05673037e-01 9.78618908e-01 -1.90638756e-03 -3.06588912e+01] [-1.04748346e-02 -2.53528856e-04 9.99945105e-01 -3.01935947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.165769231 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:216.55, Y:-30.66, Z:-3.02 [[ 9.78395081e-01 2.06488314e-01 1.02781883e-02 2.16549181e+02] [-2.06479729e-01 9.78449032e-01 -1.90114679e-03 -3.06630524e+01] [-1.04492480e-02 -2.62164872e-04 9.99945371e-01 -3.01929107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.195769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:216.58, Y:-30.66, Z:-3.02 [[ 9.78119590e-01 2.07824137e-01 9.54969219e-03 2.16576794e+02] [-2.07816793e-01 9.78166173e-01 -1.76600919e-03 -3.06648138e+01] [-9.70820520e-03 -2.57218220e-04 9.99952841e-01 -3.02090419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:216.61, Y:-30.67, Z:-3.02 [[ 9.77986286e-01 2.08442301e-01 9.72786176e-03 2.16605316e+02] [-2.08434717e-01 9.78034629e-01 -1.79832523e-03 -3.06685158e+01] [-9.88903271e-03 -2.68886694e-04 9.99951066e-01 -3.02133646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:216.63, Y:-30.67, Z:-3.02 [[ 9.77782577e-01 2.09371182e-01 1.02440455e-02 2.16632963e+02] [-2.09362827e-01 9.77836194e-01 -1.89325257e-03 -3.06696084e+01] [-1.04133910e-02 -2.93532950e-04 9.99945736e-01 -3.02096962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.66, Y:-30.67, Z:-3.02 [[ 9.77775612e-01 2.09417905e-01 9.94950837e-03 2.16660490e+02] [-2.09410032e-01 9.77826191e-01 -1.83824670e-03 -3.06711031e+01] [-1.01138516e-02 -2.86134076e-04 9.99948813e-01 -3.02079826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:216.69, Y:-30.67, Z:-3.02 [[ 9.77881145e-01 2.08959420e-01 9.18840221e-03 2.16689291e+02] [-2.08952691e-01 9.77924278e-01 -1.69710250e-03 -3.06728686e+01] [-9.34018715e-03 -2.60376832e-04 9.99956346e-01 -3.02120779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:216.72, Y:-30.67, Z:-3.02 [[ 9.78513154e-01 2.05986344e-01 9.03508412e-03 2.16717451e+02] [-2.05979714e-01 9.78554840e-01 -1.66840326e-03 -3.06732000e+01] [-9.18499358e-03 -2.28489504e-04 9.99957791e-01 -3.02130397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:216.74, Y:-30.68, Z:-3.02 [[ 9.79053467e-01 2.03374301e-01 9.65410289e-03 2.16744890e+02] [-2.03366610e-01 9.79101040e-01 -1.78211300e-03 -3.06767525e+01] [-9.81477816e-03 -2.18538260e-04 9.99951810e-01 -3.02125614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.77, Y:-30.68, Z:-3.02 [[ 9.79700272e-01 2.00199469e-01 1.03706074e-02 2.16772539e+02] [-2.00190425e-01 9.79755139e-01 -1.91357206e-03 -3.06807514e+01] [-1.05437520e-02 -2.01369233e-04 9.99944393e-01 -3.02158469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.80, Y:-30.69, Z:-3.02 [[ 9.81113802e-01 1.93057111e-01 1.20274915e-02 2.16800871e+02] [-1.93044418e-01 9.81187511e-01 -2.21849049e-03 -3.06865420e+01] [-1.22295199e-02 -1.45248468e-04 9.99925206e-01 -3.02283936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46576923100002 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:216.83, Y:-30.69, Z:-3.02 [[ 9.81804638e-01 1.89482400e-01 1.24928846e-02 2.16828202e+02] [-1.89468425e-01 9.81884112e-01 -2.30372871e-03 -3.06934278e+01] [-1.27030810e-02 -1.05195643e-04 9.99919307e-01 -3.02306073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:216.86, Y:-30.70, Z:-3.02 [[ 9.82979404e-01 1.83340506e-01 1.17367228e-02 2.16855730e+02] [-1.83327741e-01 9.83049469e-01 -2.16360722e-03 -3.07027596e+01] [-1.19344560e-02 -2.48855439e-05 9.99928782e-01 -3.02326786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:216.88, Y:-30.71, Z:-3.02 [[ 9.83351698e-01 1.81412442e-01 1.04386000e-02 2.16883457e+02] [-1.81402241e-01 9.83407101e-01 -1.92386640e-03 -3.07096071e+01] [-1.06144066e-02 -1.74812751e-06 9.99943666e-01 -3.02301927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.91, Y:-30.72, Z:-3.02 [[ 9.83525726e-01 1.80520055e-01 9.46867318e-03 2.16911138e+02] [-1.80511624e-01 9.83571304e-01 -1.74463215e-03 -3.07165793e+01] [-9.62805631e-03 6.68502969e-06 9.99953649e-01 -3.02351785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.94, Y:-30.73, Z:-3.02 [[ 9.83387397e-01 1.81333687e-01 8.20496916e-03 2.16939038e+02] [-1.81327385e-01 9.83421626e-01 -1.51173059e-03 -3.07262083e+01] [-8.34307179e-03 -1.16879111e-06 9.99965196e-01 -3.02434107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.615769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:216.97, Y:-30.73, Z:-3.02 [[ 9.83129586e-01 1.82725718e-01 8.21763687e-03 2.16967116e+02] [-1.82719449e-01 9.83163929e-01 -1.51366586e-03 -3.07334950e+01] [-8.35586983e-03 -1.33923961e-05 9.99965089e-01 -3.02370498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.645769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:216.99, Y:-30.74, Z:-3.02 [[ 9.82785265e-01 1.84531158e-01 9.02083550e-03 2.16994108e+02] [-1.84523683e-01 9.82826664e-01 -1.66115779e-03 -3.07402612e+01] [-9.17245303e-03 -3.19963993e-05 9.99957932e-01 -3.02349121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.675769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:217.02, Y:-30.75, Z:-3.02 [[ 9.82294807e-01 1.86977229e-01 1.16802483e-02 2.17020638e+02] [-1.86964882e-01 9.82364245e-01 -2.14996139e-03 -3.07484687e+01] [-1.18762522e-02 -7.19003404e-05 9.99929472e-01 -3.02286196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.705769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:217.05, Y:-30.76, Z:-3.02 [[ 9.82215127e-01 1.87325434e-01 1.27524983e-02 2.17049317e+02] [-1.87310755e-01 9.82297905e-01 -2.34651714e-03 -3.07560092e+01] [-1.29663147e-02 -8.38954546e-05 9.99915930e-01 -3.02284205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.735769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:217.08, Y:-30.77, Z:-3.02 [[ 9.82475967e-01 1.85916833e-01 1.32629684e-02 2.17076807e+02] [-1.85900832e-01 9.82565482e-01 -2.44010907e-03 -3.07656756e+01] [-1.34853923e-02 -6.82483521e-05 9.99909066e-01 -3.02434673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.765769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:217.11, Y:-30.77, Z:-3.02 [[ 9.82478087e-01 1.85905623e-01 1.32630477e-02 2.17106481e+02] [-1.85889626e-01 9.82567603e-01 -2.43967810e-03 -3.07710935e+01] [-1.34853909e-02 -6.85327091e-05 9.99909066e-01 -3.02472446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.795769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:217.14, Y:-30.78, Z:-3.03 [[ 9.82736381e-01 1.84606114e-01 1.22387961e-02 2.17136059e+02] [-1.84592394e-01 9.82812587e-01 -2.25113761e-03 -3.07786733e+01] [-1.24440166e-02 -4.69138519e-05 9.99922569e-01 -3.02608348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.825769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:217.16, Y:-30.79, Z:-3.03 [[ 9.82942598e-01 1.83577215e-01 1.11020685e-02 2.17164707e+02] [-1.83565859e-01 9.83005293e-01 -2.04206865e-03 -3.07862520e+01] [-1.12882694e-02 -3.07244787e-05 9.99936285e-01 -3.02747644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.855769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:217.19, Y:-30.79, Z:-3.03 [[ 9.83114030e-01 1.82715277e-01 1.00960733e-02 2.17193445e+02] [-1.82705841e-01 9.83165870e-01 -1.85694745e-03 -3.07940974e+01] [-1.02654073e-02 -1.90204755e-05 9.99947309e-01 -3.02754038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.22, Y:-30.80, Z:-3.03 [[ 9.83110698e-01 1.82789491e-01 9.01981294e-03 2.17222406e+02] [-1.82781965e-01 9.83152075e-01 -1.65873777e-03 -3.08039874e+01] [-9.17104764e-03 -1.79362848e-05 9.99957945e-01 -3.02726665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.25, Y:-30.81, Z:-3.03 [[ 9.82988394e-01 1.83488378e-01 8.11375924e-03 2.17250666e+02] [-1.83482313e-01 9.83021879e-01 -1.49206171e-03 -3.08110434e+01] [-8.24977884e-03 -2.20519723e-05 9.99965970e-01 -3.02792510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.945769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:217.28, Y:-30.82, Z:-3.03 [[ 9.82578975e-01 1.85723400e-01 6.73621792e-03 2.17278426e+02] [-1.85719270e-01 9.82602065e-01 -1.23906474e-03 -3.08197555e+01] [-6.84914495e-03 -3.35665173e-05 9.99976544e-01 -3.02940401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:217.31, Y:-30.83, Z:-3.03 [[ 9.82392441e-01 1.86706992e-01 6.75208130e-03 2.17307619e+02] [-1.86702867e-01 9.82415644e-01 -1.24168520e-03 -3.08273296e+01] [-6.86518161e-03 -4.08107795e-05 9.99976434e-01 -3.03006906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:217.34, Y:-30.84, Z:-3.03 [[ 9.82282008e-01 1.87257883e-01 7.51940274e-03 2.17336846e+02] [-1.87252786e-01 9.82310787e-01 -1.38247343e-03 -3.08350481e+01] [-7.64526948e-03 -5.00503383e-05 9.99970773e-01 -3.03039027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:217.37, Y:-30.84, Z:-3.03 [[ 9.82275173e-01 1.87261496e-01 8.28348210e-03 2.17365744e+02] [-1.87255311e-01 9.82310098e-01 -1.52290422e-03 -3.08447780e+01] [-8.42212944e-03 -5.52150120e-05 9.99964532e-01 -3.03062680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.40, Y:-30.85, Z:-3.03 [[ 9.82383598e-01 1.86728153e-01 7.42049814e-03 2.17396109e+02] [-1.86723175e-01 9.82411622e-01 -1.36426123e-03 -3.08524248e+01] [-7.54472959e-03 -4.53511140e-05 9.99971537e-01 -3.03095183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.43, Y:-30.86, Z:-3.03 [[ 9.82440758e-01 1.86492276e-01 5.54876021e-03 2.17425071e+02] [-1.86489488e-01 9.82456427e-01 -1.02028126e-03 -3.08612007e+01] [-5.64168970e-03 -3.24195566e-05 9.99984085e-01 -3.03139593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.46, Y:-30.87, Z:-3.03 [[ 9.82346494e-01 1.86998984e-01 5.17170543e-03 2.17455865e+02] [-1.86996569e-01 9.82360107e-01 -9.50911672e-04 -3.08678882e+01] [-5.25829661e-03 -3.29664228e-05 9.99986175e-01 -3.03143355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.49, Y:-30.87, Z:-3.03 [[ 9.82017711e-01 1.88671217e-01 6.66238498e-03 2.17486779e+02] [-1.88667246e-01 9.82040309e-01 -1.22524984e-03 -3.08747634e+01] [-6.77389999e-03 -5.37567877e-05 9.99977055e-01 -3.03036406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:217.52, Y:-30.88, Z:-3.03 [[ 9.81828968e-01 1.89601261e-01 7.95230333e-03 2.17518856e+02] [-1.89595638e-01 9.81861170e-01 -1.46194845e-03 -3.08815700e+01] [-8.08524512e-03 -7.23386854e-05 9.99967311e-01 -3.03014310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21576923100002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:217.55, Y:-30.89, Z:-3.03 [[ 9.81709722e-01 1.90140164e-01 9.63013479e-03 2.17550621e+02] [-1.90131920e-01 9.81756950e-01 -1.77292490e-03 -3.08884380e+01] [-9.79155599e-03 -9.04984067e-05 9.99952057e-01 -3.03042611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24576923100003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:217.58, Y:-30.89, Z:-3.03 [[ 9.81581379e-01 1.90682736e-01 1.17511727e-02 2.17582730e+02] [-1.90670466e-01 9.81651711e-01 -2.16617261e-03 -3.08944076e+01] [-1.19486105e-02 -1.14326873e-04 9.99928606e-01 -3.03024097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27576923100003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:217.62, Y:-30.90, Z:-3.03 [[ 9.81404214e-01 1.91602734e-01 1.15827875e-02 2.17615452e+02] [-1.91590854e-01 9.81472556e-01 -2.13707901e-03 -3.09002109e+01] [-1.17776583e-02 -1.21817805e-04 9.99930634e-01 -3.03083025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30576923100003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:217.65, Y:-30.91, Z:-3.03 [[ 9.81100883e-01 1.93215858e-01 1.04254021e-02 2.17647379e+02] [-1.93206305e-01 9.81156265e-01 -1.92538170e-03 -3.09057829e+01] [-1.06009629e-02 -1.25259735e-04 9.99943800e-01 -3.03099522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33576923100003 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:217.68, Y:-30.91, Z:-3.03 [[ 9.80375118e-01 1.96920642e-01 9.32137087e-03 2.17677017e+02] [-1.96913154e-01 9.80419420e-01 -1.72348523e-03 -3.09097095e+01] [-9.47824284e-03 -1.45838500e-04 9.99955070e-01 -3.03118504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:217.71, Y:-30.91, Z:-3.03 [[ 9.80024458e-01 1.98673974e-01 8.98404868e-03 2.17708545e+02] [-1.98667091e-01 9.80065624e-01 -1.66117737e-03 -3.09132491e+01] [-9.13498999e-03 -1.56840363e-04 9.99958263e-01 -3.03180647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.395769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:217.74, Y:-30.91, Z:-3.03 [[ 9.79533230e-01 2.01120846e-01 8.06572390e-03 2.17739109e+02] [-2.01115378e-01 9.79566424e-01 -1.49164618e-03 -3.09138031e+01] [-8.20091346e-03 -1.61024110e-04 9.99966359e-01 -3.03436589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.425769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:217.77, Y:-30.92, Z:-3.04 [[ 9.79551706e-01 2.01058788e-01 7.33620122e-03 2.17767870e+02] [-2.01054263e-01 9.79579166e-01 -1.35679168e-03 -3.09181864e+01] [-7.45918477e-03 -1.45926928e-04 9.99972169e-01 -3.03522406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.455769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:217.80, Y:-30.92, Z:-3.04 [[ 9.79684890e-01 2.00417468e-01 7.09606030e-03 2.17797553e+02] [-2.00413219e-01 9.79710580e-01 -1.31223336e-03 -3.09236955e+01] [-7.21507984e-03 -1.36569089e-04 9.99973962e-01 -3.03558535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.485769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:217.83, Y:-30.93, Z:-3.03 [[ 9.80137397e-01 1.98188756e-01 7.20412240e-03 2.17827709e+02] [-1.98184316e-01 9.80163865e-01 -1.33215480e-03 -3.09291063e+01] [-7.32523856e-03 -1.22049331e-04 9.99973163e-01 -3.03479371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.515769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:217.86, Y:-30.93, Z:-3.04 [[ 9.80327387e-01 1.97243665e-01 7.29046213e-03 2.17856365e+02] [-1.97239090e-01 9.80354488e-01 -1.34844836e-03 -3.09336059e+01] [-7.41321017e-03 -1.16043261e-04 9.99972515e-01 -3.03502981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.545769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:217.89, Y:-30.94, Z:-3.04 [[ 9.80434439e-01 1.96706707e-01 7.40155331e-03 2.17886146e+02] [-1.96701980e-01 9.80462370e-01 -1.36855502e-03 -3.09383015e+01] [-7.52614845e-03 -1.14121718e-04 9.99971672e-01 -3.03518217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.575769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:217.92, Y:-30.94, Z:-3.04 [[ 9.80488146e-01 1.96448384e-01 7.14339832e-03 2.17915443e+02] [-1.96443973e-01 9.80514161e-01 -1.32088379e-03 -3.09433234e+01] [-7.26368870e-03 -1.08166651e-04 9.99973613e-01 -3.03614308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.605769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:217.95, Y:-30.95, Z:-3.04 [[ 9.80447699e-01 1.96684038e-01 6.13994844e-03 2.17945814e+02] [-1.96680785e-01 9.80466920e-01 -1.13520944e-03 -3.09488696e+01] [-6.24329391e-03 -9.45963983e-05 9.99980506e-01 -3.03690420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.635769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:217.98, Y:-30.95, Z:-3.04 [[ 9.80310906e-01 1.97393040e-01 5.14926338e-03 2.17975409e+02] [-1.97390761e-01 9.80324426e-01 -9.52214333e-04 -3.09540194e+01] [-5.23590916e-03 -8.29509206e-05 9.99986289e-01 -3.03691236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.665769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:218.00, Y:-30.96, Z:-3.04 [[ 9.79784286e-01 1.99990926e-01 5.13634259e-03 2.18003447e+02] [-1.99988694e-01 9.79797744e-01 -9.49788166e-04 -3.09576778e+01] [-5.22252590e-03 -9.66229276e-05 9.99986358e-01 -3.03684725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.695769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:218.03, Y:-30.96, Z:-3.04 [[ 9.79493900e-01 2.01389692e-01 5.82160848e-03 2.18032046e+02] [-2.01386850e-01 9.79511194e-01 -1.07630881e-03 -3.09618985e+01] [-5.91908817e-03 -1.18157478e-04 9.99982475e-01 -3.03692769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72576923100002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:218.06, Y:-30.97, Z:-3.04 [[ 9.79301139e-01 2.02296844e-01 6.72806452e-03 2.18060583e+02] [-2.02293073e-01 9.79324240e-01 -1.24349088e-03 -3.09656787e+01] [-6.84051095e-03 -1.43288812e-04 9.99976593e-01 -3.03629016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:218.09, Y:-30.97, Z:-3.04 [[ 9.78897370e-01 2.04164245e-01 8.76925606e-03 2.18088571e+02] [-2.04157918e-01 9.78936627e-01 -1.62019562e-03 -3.09660990e+01] [-8.91533197e-03 -2.04307833e-04 9.99960237e-01 -3.03550677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78576923100002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:218.12, Y:-30.97, Z:-3.04 [[ 9.78678951e-01 2.05210154e-01 8.73517894e-03 2.18116282e+02] [-2.05203923e-01 9.78717910e-01 -1.61338467e-03 -3.09678283e+01] [-8.88035899e-03 -2.13507371e-04 9.99960546e-01 -3.03573882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:218.15, Y:-30.97, Z:-3.04 [[ 9.78176732e-01 2.07630660e-01 7.73245825e-03 2.18145905e+02] [-2.07625856e-01 9.78207271e-01 -1.42775999e-03 -3.09667046e+01] [-7.86039363e-03 -2.08856661e-04 9.99969085e-01 -3.03663831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:218.17, Y:-30.97, Z:-3.04 [[ 9.77924401e-01 2.08812194e-01 7.83155803e-03 2.18174993e+02] [-2.08807307e-01 9.77955734e-01 -1.44568979e-03 -3.09689646e+01] [-7.96079475e-03 -2.21511222e-04 9.99968288e-01 -3.03681077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:218.20, Y:-30.97, Z:-3.04 [[ 9.77762257e-01 2.09566393e-01 7.93067181e-03 2.18202653e+02] [-2.09561409e-01 9.77794392e-01 -1.46368297e-03 -3.09707727e+01] [-8.06130519e-03 -2.30828794e-04 9.99967481e-01 -3.03671485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:218.23, Y:-30.97, Z:-3.04 [[ 9.77845878e-01 2.09183579e-01 7.72463888e-03 2.18232064e+02] [-2.09178842e-01 9.77876363e-01 -1.42513880e-03 -3.09691698e+01] [-7.85185741e-03 -2.22264914e-04 9.99969149e-01 -3.03646535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:218.26, Y:-30.97, Z:-3.04 [[ 9.78041339e-01 2.08266758e-01 7.75225781e-03 2.18260306e+02] [-2.08261961e-01 9.78072038e-01 -1.42991179e-03 -3.09713511e+01] [-7.88006969e-03 -2.15987567e-04 9.99968928e-01 -3.03705697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96576923100002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:218.29, Y:-30.97, Z:-3.04 [[ 9.78378413e-01 2.06672632e-01 7.88060957e-03 2.18287813e+02] [-2.06667628e-01 9.78410129e-01 -1.45309752e-03 -3.09735597e+01] [-8.01078371e-03 -2.06987641e-04 9.99967892e-01 -3.03748634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:218.32, Y:-30.98, Z:-3.04 [[ 9.79181847e-01 2.02789227e-01 8.91289702e-03 2.18316562e+02] [-2.02782670e-01 9.79222390e-01 -1.64277757e-03 -3.09752351e+01] [-9.06084592e-03 -1.98803079e-04 9.99958930e-01 -3.03668630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02576923100003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:218.34, Y:-30.98, Z:-3.04 [[ 9.79625439e-01 2.00608421e-01 9.50057980e-03 2.18343971e+02] [-2.00600873e-01 9.79671488e-01 -1.75064166e-03 -3.09790926e+01] [-9.65864061e-03 -1.90851504e-04 9.99953336e-01 -3.03645649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:218.37, Y:-30.98, Z:-3.04 [[ 9.80512122e-01 1.96212881e-01 9.82268015e-03 2.18372480e+02] [-1.96204598e-01 9.80561310e-01 -1.80928490e-03 -3.09834494e+01] [-9.98674511e-03 -1.53229242e-04 9.99950119e-01 -3.03707939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:218.40, Y:-30.99, Z:-3.04 [[ 9.81017106e-01 1.93660867e-01 1.00452184e-02 2.18400994e+02] [-1.93652077e-01 9.81068525e-01 -1.84979038e-03 -3.09882897e+01] [-1.02132796e-02 -1.30601405e-04 9.99947835e-01 -3.03812819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:218.43, Y:-30.99, Z:-3.04 [[ 9.81364308e-01 1.91880070e-01 1.03021120e-02 2.18429773e+02] [-1.91870732e-01 9.81418374e-01 -1.89657829e-03 -3.09937087e+01] [-1.04745976e-02 -1.15439532e-04 9.99945133e-01 -3.03884594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.145769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:218.46, Y:-31.00, Z:-3.04 [[ 9.81642425e-01 1.90489966e-01 9.57717707e-03 2.18456951e+02] [-1.90481834e-01 9.81689138e-01 -1.76272247e-03 -3.10003554e+01] [-9.73759165e-03 -9.39150924e-05 9.99952584e-01 -3.03869518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.175769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:218.49, Y:-31.01, Z:-3.04 [[ 9.81598207e-01 1.90769600e-01 8.48058445e-03 2.18485272e+02] [-1.90763237e-01 9.81634837e-01 -1.56039808e-03 -3.10060531e+01] [-8.62251365e-03 -8.60997869e-05 9.99962822e-01 -3.03867198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.205769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:218.51, Y:-31.01, Z:-3.04 [[ 9.81423404e-01 1.91727125e-01 6.98657536e-03 2.18512323e+02] [-1.91722833e-01 9.81448268e-01 -1.28534010e-03 -3.10114989e+01] [-7.10339685e-03 -7.80231574e-05 9.99974768e-01 -3.03933281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.235769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.54, Y:-31.02, Z:-3.04 [[ 9.80934749e-01 1.94227757e-01 6.52655869e-03 2.18540985e+02] [-1.94224069e-01 9.80956457e-01 -1.20030615e-03 -3.10174988e+01] [-6.63540266e-03 -9.01927741e-05 9.99977981e-01 -3.04029677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.265769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.57, Y:-31.02, Z:-3.04 [[ 9.80780931e-01 1.95001808e-01 6.56208494e-03 2.18569252e+02] [-1.94998099e-01 9.80802878e-01 -1.20653324e-03 -3.10239741e+01] [-6.67138796e-03 -9.62492956e-05 9.99977741e-01 -3.04040371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.295769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:218.60, Y:-31.03, Z:-3.04 [[ 9.80752090e-01 1.95149508e-01 6.48136212e-03 2.18597500e+02] [-1.95145895e-01 9.80773501e-01 -1.19139597e-03 -3.10324691e+01] [-6.58924855e-03 -9.63471224e-05 9.99978286e-01 -3.04114997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.325769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:218.63, Y:-31.04, Z:-3.04 [[ 9.80809554e-01 1.94860453e-01 6.48246201e-03 2.18625220e+02] [-1.94856835e-01 9.80830972e-01 -1.19130643e-03 -3.10395040e+01] [-6.59033802e-03 -9.47073002e-05 9.99978279e-01 -3.04122270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.355769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:218.65, Y:-31.05, Z:-3.04 [[ 9.80844524e-01 1.94672915e-01 6.81727465e-03 2.18653301e+02] [-1.94668911e-01 9.80868210e-01 -1.25247480e-03 -3.10468618e+01] [-6.93067091e-03 -9.86283896e-05 9.99975978e-01 -3.04138264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.385769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:218.68, Y:-31.06, Z:-3.04 [[ 9.80896972e-01 1.94424711e-01 6.33734360e-03 2.18680895e+02] [-1.94421247e-01 9.80917440e-01 -1.16403491e-03 -3.10554883e+01] [-6.44272801e-03 -9.03159290e-05 9.99979241e-01 -3.04140378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.415769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:218.71, Y:-31.06, Z:-3.04 [[ 9.80849234e-01 1.94688137e-01 5.59543437e-03 2.18710125e+02] [-1.94685443e-01 9.80865191e-01 -1.02740636e-03 -3.10620814e+01] [-5.68839063e-03 -8.16188802e-05 9.99983818e-01 -3.04175743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.445769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:218.74, Y:-31.07, Z:-3.04 [[ 9.80717375e-01 1.95365770e-01 5.06420410e-03 2.18738658e+02] [-1.95363573e-01 9.80730447e-01 -9.29855604e-04 -3.10679730e+01] [-5.14828111e-03 -7.74354594e-05 9.99986745e-01 -3.04224558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47576923100002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:218.77, Y:-31.08, Z:-3.04 [[ 9.80066401e-01 1.98588333e-01 5.70292001e-03 2.18765855e+02] [-1.98585601e-01 9.80082988e-01 -1.04701565e-03 -3.10755733e+01] [-5.79725997e-03 -1.06372935e-04 9.99983190e-01 -3.04220809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50576923100002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:218.79, Y:-31.08, Z:-3.04 [[ 9.79678926e-01 2.00479571e-01 6.09447659e-03 2.18793490e+02] [-2.00476491e-01 9.79697875e-01 -1.11847460e-03 -3.10810394e+01] [-6.19497707e-03 -1.26053284e-04 9.99980803e-01 -3.04176246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:218.82, Y:-31.09, Z:-3.04 [[ 9.79147277e-01 2.03088440e-01 5.06911282e-03 2.18822445e+02] [-2.03086345e-01 9.79160391e-01 -9.30018858e-04 -3.10854527e+01] [-5.15235057e-03 -1.18842165e-04 9.99986719e-01 -3.04242391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56576923100002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:218.85, Y:-31.09, Z:-3.04 [[ 9.79014087e-01 2.03743448e-01 4.47490120e-03 2.18849795e+02] [-2.03741822e-01 9.79024308e-01 -8.20946968e-04 -3.10905441e+01] [-4.54829962e-03 -1.08005879e-04 9.99989651e-01 -3.04353133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:218.88, Y:-31.10, Z:-3.04 [[ 9.79049873e-01 2.03580872e-01 4.02183900e-03 2.18878220e+02] [-2.03579558e-01 9.79058129e-01 -7.37572502e-04 -3.10960657e+01] [-4.08776982e-03 -9.66439424e-05 9.99991640e-01 -3.04411194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62576923100002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:218.91, Y:-31.10, Z:-3.04 [[ 9.79253677e-01 2.02541156e-01 6.27031306e-03 2.18905431e+02] [-2.02537946e-01 9.79273741e-01 -1.14935235e-03 -3.11024053e+01] [-6.37314408e-03 -1.44468816e-04 9.99979681e-01 -3.04359568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65576923100002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:218.93, Y:-31.11, Z:-3.04 [[ 9.79269444e-01 2.02464906e-01 6.27035995e-03 2.18934300e+02] [-2.02461697e-01 9.79289508e-01 -1.14909651e-03 -3.11075864e+01] [-6.37314943e-03 -1.44232614e-04 9.99979681e-01 -3.04396294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:218.96, Y:-31.11, Z:-3.04 [[ 9.79371854e-01 2.01931255e-01 7.38505279e-03 2.18962676e+02] [-2.01926795e-01 9.79399684e-01 -1.35244608e-03 -3.11123946e+01] [-7.50601950e-03 -1.66692415e-04 9.99971816e-01 -3.04382351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71576923100002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:218.99, Y:-31.12, Z:-3.05 [[ 9.79528246e-01 2.01142042e-01 8.14212370e-03 2.18990059e+02] [-2.01136596e-01 9.79562069e-01 -1.49070218e-03 -3.11186538e+01] [-8.27555842e-03 -1.77494154e-04 9.99965741e-01 -3.04542638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.02, Y:-31.13, Z:-3.05 [[ 9.79726988e-01 2.00218959e-01 6.88459669e-03 2.19017737e+02] [-2.00215046e-01 9.79751166e-01 -1.26004929e-03 -3.11260237e+01] [-6.99747739e-03 -1.43895553e-04 9.99975507e-01 -3.04635429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77576923100003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:219.05, Y:-31.13, Z:-3.05 [[ 9.80048152e-01 1.98672996e-01 5.88727853e-03 2.19046859e+02] [-1.98670109e-01 9.80065828e-01 -1.07716322e-03 -3.11340969e+01] [-5.98392375e-03 -1.13954447e-04 9.99982090e-01 -3.04719603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:219.08, Y:-31.14, Z:-3.05 [[ 9.80344290e-01 1.97223079e-01 5.30387059e-03 2.19075111e+02] [-1.97220714e-01 9.80358632e-01 -9.70404850e-04 -3.11416776e+01] [-5.39108155e-03 -9.47022918e-05 9.99985464e-01 -3.04746996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.10, Y:-31.15, Z:-3.05 [[ 9.80780191e-01 1.95054579e-01 4.89164476e-03 2.19102221e+02] [-1.95052541e-01 9.80792387e-01 -8.94839811e-04 -3.11506428e+01] [-4.97223054e-03 -7.64865800e-05 9.99987635e-01 -3.04725708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.13, Y:-31.16, Z:-3.05 [[ 9.80815135e-01 1.94845257e-01 6.08252134e-03 2.19129973e+02] [-1.94842105e-01 9.80833991e-01 -1.11236271e-03 -3.11605680e+01] [-6.18268228e-03 -9.41090782e-05 9.99980883e-01 -3.04640802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.895769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.16, Y:-31.17, Z:-3.05 [[ 9.80713669e-01 1.95325940e-01 6.96250203e-03 2.19159147e+02] [-1.95321824e-01 9.80738377e-01 -1.27292004e-03 -3.11682425e+01] [-7.07702724e-03 -1.11558513e-04 9.99974951e-01 -3.04578615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.925769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:219.19, Y:-31.17, Z:-3.05 [[ 9.80560087e-01 1.96074050e-01 7.54204926e-03 2.19187210e+02] [-1.96069244e-01 9.80589084e-01 -1.37872817e-03 -3.11743764e+01] [-7.66598399e-03 -1.26838086e-04 9.99970608e-01 -3.04573965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.955769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.22, Y:-31.18, Z:-3.05 [[ 9.80366531e-01 1.97026072e-01 7.88617800e-03 2.19216771e+02] [-1.97020850e-01 9.80398239e-01 -1.44128135e-03 -3.11802069e+01] [-8.01556503e-03 -1.40757499e-04 9.99967865e-01 -3.04665199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.985769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.24, Y:-31.18, Z:-3.05 [[ 9.79741938e-01 2.00095189e-01 8.22494684e-03 2.19244856e+02] [-2.00089619e-01 9.79776447e-01 -1.50303718e-03 -3.11848697e+01] [-8.35935970e-03 -1.73137924e-04 9.99965045e-01 -3.04710330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.015769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:219.27, Y:-31.19, Z:-3.05 [[ 9.79398303e-01 2.01760262e-01 8.47119368e-03 2.19274424e+02] [-2.01754419e-01 9.79434918e-01 -1.54768197e-03 -3.11896050e+01] [-8.60924361e-03 -1.93303657e-04 9.99962921e-01 -3.04724568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.045769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:219.30, Y:-31.19, Z:-3.05 [[ 9.78755006e-01 2.04915064e-01 6.96093464e-03 2.19304692e+02] [-2.04911199e-01 9.78779742e-01 -1.27164996e-03 -3.11916341e+01] [-7.07380204e-03 -1.81739694e-04 9.99974964e-01 -3.04732471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.075769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:219.33, Y:-31.19, Z:-3.05 [[ 9.78450661e-01 2.06411932e-01 5.33092609e-03 2.19332560e+02] [-2.06409686e-01 9.78465172e-01 -9.74090693e-04 -3.11934118e+01] [-5.41718945e-03 -1.47255098e-04 9.99985316e-01 -3.04754664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.105769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:219.36, Y:-31.19, Z:-3.05 [[ 9.78118540e-01 2.07993080e-01 4.79581271e-03 2.19360511e+02] [-2.07991282e-01 9.78130287e-01 -8.76044040e-04 -3.11948611e+01] [-4.87314076e-03 -1.40612317e-04 9.99988116e-01 -3.04856923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.135769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.39, Y:-31.19, Z:-3.05 [[ 9.77530609e-01 2.10681897e-01 6.85899559e-03 2.19389903e+02] [-2.10678292e-01 9.77554648e-01 -1.25218470e-03 -3.11929962e+01] [-6.96885566e-03 -2.20992598e-04 9.99975693e-01 -3.04868697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.165769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:219.42, Y:-31.19, Z:-3.05 [[ 9.77197128e-01 2.12172993e-01 8.27006331e-03 2.19417540e+02] [-2.12167809e-01 9.77232082e-01 -1.50930766e-03 -3.11944935e+01] [-8.40200551e-03 -2.79750103e-04 9.99964663e-01 -3.04836957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.195769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.45, Y:-31.20, Z:-3.05 [[ 9.76912981e-01 2.13440116e-01 9.18395181e-03 2.19446605e+02] [-2.13433785e-01 9.76956095e-01 -1.67542547e-03 -3.11963824e+01] [-9.32992070e-03 -3.23420701e-04 9.99956423e-01 -3.04937791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:219.47, Y:-31.20, Z:-3.05 [[ 9.76558559e-01 2.15131300e-01 7.20448279e-03 2.19474720e+02] [-2.15127452e-01 9.76585097e-01 -1.31414475e-03 -3.11950632e+01] [-7.31850419e-03 -2.66542724e-04 9.99973184e-01 -3.05093379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.50, Y:-31.20, Z:-3.05 [[ 9.76648484e-01 2.14772672e-01 5.51701769e-03 2.19503501e+02] [-2.14770410e-01 9.76664046e-01 -1.00608405e-03 -3.11970145e+01] [-5.60435218e-03 -2.02301686e-04 9.99984275e-01 -3.05209136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:219.53, Y:-31.20, Z:-3.05 [[ 9.77207667e-01 2.12248230e-01 3.98313111e-03 2.19532159e+02] [-2.12247030e-01 9.77215775e-01 -7.26439192e-04 -3.11962515e+01] [-4.04656399e-03 -1.35525802e-04 9.99991803e-01 -3.05379589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:219.56, Y:-31.20, Z:-3.05 [[ 9.77716106e-01 2.09879962e-01 4.64949301e-03 2.19559730e+02] [-2.09878302e-01 9.77727150e-01 -8.47634514e-04 -3.11988474e+01] [-4.72383705e-03 -1.47081783e-04 9.99988832e-01 -3.05410652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.59, Y:-31.20, Z:-3.05 [[ 9.78234432e-01 2.07427726e-01 5.57991649e-03 2.19588017e+02] [-2.07425299e-01 9.78250332e-01 -1.01651887e-03 -3.12027552e+01] [-5.66940936e-03 -1.63022092e-04 9.99983915e-01 -3.05388322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.62, Y:-31.21, Z:-3.05 [[ 9.79271718e-01 2.02440614e-01 6.68585023e-03 2.19616909e+02] [-2.02437017e-01 9.79294528e-01 -1.21754780e-03 -3.12054707e+01] [-6.79389767e-03 -1.61153448e-04 9.99976908e-01 -3.05256960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:219.65, Y:-31.21, Z:-3.05 [[ 9.79575593e-01 2.00982892e-01 6.12663636e-03 2.19646100e+02] [-2.00979844e-01 9.79594742e-01 -1.11545915e-03 -3.12085822e+01] [-6.22580897e-03 -1.38653865e-04 9.99980610e-01 -3.05263261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:219.67, Y:-31.21, Z:-3.05 [[ 9.79753022e-01 2.00138910e-01 5.33214994e-03 2.19674759e+02] [-2.00136590e-01 9.79767525e-01 -9.70626948e-04 -3.12119084e+01] [-5.41852757e-03 -1.16183619e-04 9.99985313e-01 -3.05336689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.70, Y:-31.22, Z:-3.05 [[ 9.79765408e-01 2.00078400e-01 5.32715992e-03 2.19702878e+02] [-2.00076084e-01 9.79779884e-01 -9.69629811e-04 -3.12164382e+01] [-5.41344611e-03 -1.15827550e-04 9.99985340e-01 -3.05461634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:219.73, Y:-31.22, Z:-3.05 [[ 9.79740767e-01 2.00190664e-01 5.63265687e-03 2.19730522e+02] [-2.00188080e-01 9.79756951e-01 -1.02468802e-03 -3.12221995e+01] [-5.72376770e-03 -1.23662137e-04 9.99983611e-01 -3.05448345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:219.76, Y:-31.23, Z:-3.05 [[ 9.79948106e-01 1.99125486e-01 7.12392141e-03 2.19758163e+02] [-1.99121328e-01 9.79973989e-01 -1.29534894e-03 -3.12276926e+01] [-7.23919466e-03 -1.49149958e-04 9.99973786e-01 -3.05458293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.79, Y:-31.23, Z:-3.05 [[ 9.80079520e-01 1.98457575e-01 7.66329752e-03 2.19786651e+02] [-1.98452748e-01 9.80109467e-01 -1.39285451e-03 -3.12321047e+01] [-7.78729297e-03 -1.55694270e-04 9.99969666e-01 -3.05480502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:219.81, Y:-31.24, Z:-3.05 [[ 9.79881635e-01 1.99426152e-01 7.82249346e-03 2.19813549e+02] [-1.99421155e-01 9.79912844e-01 -1.42156304e-03 -3.12356337e+01] [-7.94885866e-03 -1.67007158e-04 9.99968393e-01 -3.05453812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.84, Y:-31.24, Z:-3.05 [[ 9.79565131e-01 2.00969154e-01 7.97198917e-03 2.19840327e+02] [-2.00964021e-01 9.79597553e-01 -1.44804757e-03 -3.12394610e+01] [-8.10035398e-03 -1.83626090e-04 9.99967175e-01 -3.05442690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.645769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:219.87, Y:-31.24, Z:-3.05 [[ 9.79203091e-01 2.02710938e-01 8.34155177e-03 2.19868093e+02] [-2.02705388e-01 9.79238598e-01 -1.51439311e-03 -3.12430395e+01] [-8.47535351e-03 -2.07979073e-04 9.99964062e-01 -3.05445437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.90, Y:-31.24, Z:-3.06 [[ 9.78443405e-01 2.06316238e-01 9.06162236e-03 2.19896674e+02] [-2.06309849e-01 9.78485331e-01 -1.64441098e-03 -3.12440168e+01] [-9.20593324e-03 -2.60538855e-04 9.99957591e-01 -3.05503511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.705769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.92, Y:-31.25, Z:-3.06 [[ 9.78104500e-01 2.07918244e-01 9.03274222e-03 2.19923391e+02] [-2.07911969e-01 9.78146169e-01 -1.63865031e-03 -3.12467071e+01] [-9.17604750e-03 -2.75243982e-04 9.99957861e-01 -3.05572726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.735769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:219.95, Y:-31.25, Z:-3.06 [[ 9.77795205e-01 2.09386316e-01 8.59694354e-03 2.19951661e+02] [-2.09380697e-01 9.77832958e-01 -1.55863494e-03 -3.12497546e+01] [-8.73273156e-03 -2.76008258e-04 9.99961831e-01 -3.05651573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.765769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.98, Y:-31.25, Z:-3.06 [[ 9.77500499e-01 2.10818249e-01 6.95987656e-03 2.19979597e+02] [-2.10814603e-01 9.77525248e-01 -1.26173852e-03 -3.12494123e+01] [-7.06945257e-03 -2.33893578e-04 9.99974984e-01 -3.05752778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.795769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:220.01, Y:-31.25, Z:-3.06 [[ 9.77500100e-01 2.10827576e-01 6.72966909e-03 2.20007484e+02] [-2.10824174e-01 9.77523238e-01 -1.21906227e-03 -3.12510285e+01] [-6.83541987e-03 -2.27143440e-04 9.99976612e-01 -3.05885709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.825769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:220.04, Y:-31.25, Z:-3.06 [[ 9.77576253e-01 2.10455776e-01 7.28259175e-03 2.20036749e+02] [-2.10451785e-01 9.77603349e-01 -1.31865134e-03 -3.12492538e+01] [-7.39700387e-03 -2.43552203e-04 9.99972612e-01 -3.05926371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.855769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:220.07, Y:-31.25, Z:-3.06 [[ 9.77615336e-01 2.10269577e-01 7.41355434e-03 2.20065319e+02] [-2.10265440e-01 9.77643414e-01 -1.34184071e-03 -3.12513054e+01] [-7.52996085e-03 -2.47010210e-04 9.99971619e-01 -3.05892505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.885769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.09, Y:-31.25, Z:-3.06 [[ 9.77723465e-01 2.09775891e-01 7.13454109e-03 2.20093638e+02] [-2.09772051e-01 9.77749467e-01 -1.29088670e-03 -3.12531748e+01] [-7.24659065e-03 -2.34497097e-04 9.99973716e-01 -3.05941414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.915769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:220.12, Y:-31.25, Z:-3.06 [[ 9.78236881e-01 2.07427922e-01 5.12460070e-03 2.20121422e+02] [-2.07425908e-01 9.78250292e-01 -9.27182914e-04 -3.12507406e+01] [-5.20546576e-03 -1.55970433e-04 9.99986439e-01 -3.05947895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.945769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:220.15, Y:-31.25, Z:-3.06 [[ 9.78527182e-01 2.06070657e-01 4.40885755e-03 2.20148371e+02] [-2.06069154e-01 9.78537106e-01 -7.97469758e-04 -3.12519047e+01] [-4.47856583e-03 -1.28183709e-04 9.99989963e-01 -3.05998933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:220.18, Y:-31.25, Z:-3.06 [[ 9.78835270e-01 2.04605626e-01 4.24869604e-03 2.20176116e+02] [-2.04604218e-01 9.78844484e-01 -7.68010642e-04 -3.12535148e+01] [-4.31595198e-03 -1.17545226e-04 9.99990679e-01 -3.06046469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:220.20, Y:-31.25, Z:-3.06 [[ 9.79325891e-01 2.02184008e-01 6.51348657e-03 2.20203840e+02] [-2.02180650e-01 9.79347538e-01 -1.17680697e-03 -3.12536836e+01] [-6.61689859e-03 -1.64423415e-04 9.99978095e-01 -3.06028186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.23, Y:-31.26, Z:-3.06 [[ 9.79681404e-01 2.00412957e-01 7.68076086e-03 2.20231430e+02] [-2.00408240e-01 9.79711495e-01 -1.38688317e-03 -3.12567088e+01] [-7.80287907e-03 -1.80584114e-04 9.99969541e-01 -3.06083097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.26, Y:-31.26, Z:-3.06 [[ 9.80661798e-01 1.95527464e-01 8.45276728e-03 2.20258627e+02] [-1.95521574e-01 9.80698214e-01 -1.52567668e-03 -3.12603410e+01] [-8.58792546e-03 -1.56525529e-04 9.99963111e-01 -3.06187497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.29, Y:-31.27, Z:-3.06 [[ 9.81269310e-01 1.92436123e-01 8.88145218e-03 2.20286305e+02] [-1.92429501e-01 9.81309492e-01 -1.60227673e-03 -3.12652597e+01] [-9.02378926e-03 -1.36788422e-04 9.99959275e-01 -3.06246433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:220.31, Y:-31.27, Z:-3.06 [[ 9.81904167e-01 1.89134110e-01 9.61742714e-03 2.20312408e+02] [-1.89126193e-01 9.81951259e-01 -1.73437557e-03 -3.12703103e+01] [-9.77187427e-03 -1.15916781e-04 9.99952247e-01 -3.06282578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:220.34, Y:-31.28, Z:-3.06 [[ 9.82512834e-01 1.85912710e-01 1.02467363e-02 2.20339918e+02] [-1.85903557e-01 9.82566260e-01 -1.84698890e-03 -3.12764261e+01] [-1.04114760e-02 -9.02144252e-05 9.99945795e-01 -3.06228232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.37, Y:-31.28, Z:-3.06 [[ 9.83491617e-01 1.80621691e-01 1.09564204e-02 2.20365488e+02] [-1.80610905e-01 9.83552644e-01 -1.97418819e-03 -3.12840445e+01] [-1.11327974e-02 -3.72514673e-05 9.99938028e-01 -3.06172430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.39, Y:-31.29, Z:-3.06 [[ 9.83877097e-01 1.78511698e-01 1.09284684e-02 2.20392361e+02] [-1.78500850e-01 9.83937790e-01 -1.96795149e-03 -3.12900870e+01] [-1.11042354e-02 -1.45185069e-05 9.99938346e-01 -3.06196475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.42, Y:-31.30, Z:-3.06 [[ 9.84245919e-01 1.76503354e-01 1.03217297e-02 2.20419593e+02] [-1.76493573e-01 9.84300039e-01 -1.85806793e-03 -3.12976523e+01] [-1.04876341e-02 7.07682275e-06 9.99945003e-01 -3.06329819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.45, Y:-31.30, Z:-3.06 [[ 9.84244489e-01 1.76509201e-01 1.03579952e-02 2.20447079e+02] [-1.76499360e-01 9.84298990e-01 -1.86392560e-03 -3.13043503e+01] [-1.05243642e-02 6.37898500e-06 9.99944617e-01 -3.06352202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.47, Y:-31.31, Z:-3.06 [[ 9.84145273e-01 1.77047811e-01 1.05902978e-02 2.20474141e+02] [-1.77037562e-01 9.84202252e-01 -1.90503132e-03 -3.13111846e+01] [-1.07602766e-02 -5.29428848e-08 9.99942107e-01 -3.06347466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.50, Y:-31.32, Z:-3.06 [[ 9.83848062e-01 1.78693947e-01 1.05576855e-02 2.20500617e+02] [-1.78683863e-01 9.83904707e-01 -1.89846188e-03 -3.13197537e+01] [-1.07270001e-02 -1.86899856e-05 9.99942464e-01 -3.06333976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.53, Y:-31.33, Z:-3.06 [[ 9.83699786e-01 1.79553561e-01 9.75956725e-03 2.20526959e+02] [-1.79544992e-01 9.83748199e-01 -1.75438125e-03 -3.13264177e+01] [-9.91596210e-03 -2.64969564e-05 9.99950835e-01 -3.06340311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.55, Y:-31.33, Z:-3.06 [[ 9.83479529e-01 1.80803310e-01 8.84190872e-03 2.20552997e+02] [-1.80796332e-01 9.83519274e-01 -1.58882349e-03 -3.13341694e+01] [-8.98345219e-03 -3.60092923e-05 9.99959647e-01 -3.06415544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.58, Y:-31.34, Z:-3.07 [[ 9.83374501e-01 1.81368767e-01 8.94205991e-03 2.20579114e+02] [-1.81361660e-01 9.83415156e-01 -1.60611815e-03 -3.13394071e+01] [-9.08505690e-03 -4.23311969e-05 9.99958729e-01 -3.06507336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.61, Y:-31.34, Z:-3.07 [[ 9.83296658e-01 1.81770229e-01 9.34167284e-03 2.20606935e+02] [-1.81762499e-01 9.83341030e-01 -1.67712495e-03 -3.13444411e+01] [-9.49090158e-03 -4.88544399e-05 9.99954959e-01 -3.06519779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.63, Y:-31.35, Z:-3.07 [[ 9.83334082e-01 1.81518686e-01 1.02493497e-02 2.20634829e+02] [-1.81509375e-01 9.83387494e-01 -1.83925060e-03 -3.13492793e+01] [-1.04129407e-02 -5.17552542e-05 9.99945783e-01 -3.06608422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.66, Y:-31.36, Z:-3.07 [[ 9.83456811e-01 1.80795650e-01 1.12086282e-02 2.20661986e+02] [-1.80784478e-01 9.83520681e-01 -2.01047509e-03 -3.13561095e+01] [-1.13874028e-02 -4.91305880e-05 9.99935160e-01 -3.06654343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.69, Y:-31.36, Z:-3.07 [[ 9.83607260e-01 1.79975597e-01 1.12046146e-02 2.20689958e+02] [-1.79964388e-01 9.83671075e-01 -2.00906321e-03 -3.13624257e+01] [-1.13832377e-02 -4.03024530e-05 9.99935208e-01 -3.06686681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.72, Y:-31.37, Z:-3.07 [[ 9.83613627e-01 1.79940789e-01 1.12047121e-02 2.20718842e+02] [-1.79929584e-01 9.83677442e-01 -2.00851958e-03 -3.13675166e+01] [-1.13832371e-02 -4.04519562e-05 9.99935208e-01 -3.06723410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.75, Y:-31.38, Z:-3.07 [[ 9.84176158e-01 1.76889778e-01 1.03584143e-02 2.20746351e+02] [-1.76880036e-01 9.84230667e-01 -1.85649422e-03 -3.13752635e+01] [-1.05234639e-02 -5.07934155e-06 9.99944627e-01 -3.06795910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.77, Y:-31.38, Z:-3.07 [[ 9.84494478e-01 1.75166338e-01 9.34754537e-03 2.20774073e+02] [-1.75158330e-01 9.84538853e-01 -1.67492580e-03 -3.13817453e+01] [-9.49641222e-03 1.16547619e-05 9.99954908e-01 -3.06902947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.665769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.80, Y:-31.39, Z:-3.07 [[ 9.84812191e-01 1.73380965e-01 9.16453306e-03 2.20801984e+02] [-1.73373195e-01 9.84854832e-01 -1.64170328e-03 -3.13889557e+01] [-9.31037476e-03 2.78850285e-05 9.99956657e-01 -3.07021576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.83, Y:-31.40, Z:-3.07 [[ 9.85237530e-01 1.70959187e-01 8.94232249e-03 2.20828290e+02] [-1.70951693e-01 9.85278110e-01 -1.60151291e-03 -3.13982501e+01] [-9.08446795e-03 4.91654511e-05 9.99958734e-01 -3.07012710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.86, Y:-31.40, Z:-3.07 [[ 9.85351600e-01 1.70256759e-01 9.73967778e-03 2.20856465e+02] [-1.70247841e-01 9.85399732e-01 -1.74362114e-03 -3.14048771e+01] [-9.89433916e-03 5.99207723e-05 9.99951048e-01 -3.07002716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.88, Y:-31.41, Z:-3.07 [[ 9.85339294e-01 1.70315732e-01 9.95128864e-03 2.20883897e+02] [-1.70306430e-01 9.85389541e-01 -1.78103681e-03 -3.14111076e+01] [-1.01092343e-02 6.01571183e-05 9.99948899e-01 -3.07005237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.91, Y:-31.42, Z:-3.07 [[ 9.85298475e-01 1.70528116e-01 1.03477660e-02 2.20911589e+02] [-1.70518077e-01 9.85352809e-01 -1.85131748e-03 -3.14197027e+01] [-1.05119019e-02 5.96191436e-05 9.99944747e-01 -3.07032639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.94, Y:-31.43, Z:-3.07 [[ 9.85318102e-01 1.70440250e-01 9.91756757e-03 2.20940868e+02] [-1.70431029e-01 9.85368011e-01 -1.77384394e-03 -3.14270428e+01] [-1.00747882e-02 5.75393039e-05 9.99949246e-01 -3.07158648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.97, Y:-31.44, Z:-3.07 [[ 9.85581021e-01 1.69012628e-01 8.04875664e-03 2.20968148e+02] [-1.69006508e-01 9.85613884e-01 -1.43950148e-03 -3.14363454e+01] [-8.17626022e-03 5.84530863e-05 9.99966572e-01 -3.07366102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.99, Y:-31.44, Z:-3.07 [[ 9.85829609e-01 1.67590551e-01 7.30678489e-03 2.20994661e+02] [-1.67585469e-01 9.85856685e-01 -1.30668451e-03 -3.14437142e+01] [-7.42243070e-03 6.36573022e-05 9.99972451e-01 -3.07453912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.02, Y:-31.45, Z:-3.07 [[ 9.86096085e-01 1.66012711e-01 7.36830104e-03 2.21023931e+02] [-1.66007504e-01 9.86123610e-01 -1.31707582e-03 -3.14513918e+01] [-7.48470695e-03 7.55700510e-05 9.99971986e-01 -3.07487639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.05, Y:-31.46, Z:-3.07 [[ 9.86333334e-01 1.64474667e-01 9.72825262e-03 2.21051094e+02] [-1.64465518e-01 9.86381301e-01 -1.73860215e-03 -3.14603666e+01] [-9.88172248e-03 1.14879150e-04 9.99951168e-01 -3.07316387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.08, Y:-31.47, Z:-3.07 [[ 9.86184784e-01 1.65299196e-01 1.07586282e-02 2.21080295e+02] [-1.65288061e-01 9.86243460e-01 -1.92227229e-03 -3.14668740e+01] [-1.09283768e-02 1.17442891e-04 9.99940277e-01 -3.07294565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.11, Y:-31.47, Z:-3.07 [[ 9.85925435e-01 1.66830060e-01 1.08980496e-02 2.21109462e+02] [-1.66818731e-01 9.85985660e-01 -1.94686093e-03 -3.14728207e+01] [-1.10701155e-02 1.01460914e-04 9.99938719e-01 -3.07371077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.14, Y:-31.48, Z:-3.08 [[ 9.85270169e-01 1.70723871e-01 9.80075573e-03 2.21138314e+02] [-1.70714899e-01 9.85318911e-01 -1.75102978e-03 -3.14783143e+01] [-9.95581255e-03 5.21023829e-05 9.99950438e-01 -3.07520393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.17, Y:-31.48, Z:-3.08 [[ 9.84930893e-01 1.72704130e-01 9.18801873e-03 2.21167314e+02] [-1.72696333e-01 9.84973747e-01 -1.64136676e-03 -3.14825997e+01] [-9.33342806e-03 2.98956908e-05 9.99956442e-01 -3.07604194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.20, Y:-31.49, Z:-3.08 [[ 9.84448143e-01 1.75448949e-01 8.91743087e-03 2.21196197e+02] [-1.75441718e-01 9.84488530e-01 -1.59286023e-03 -3.14854429e+01] [-9.05857406e-03 3.59890354e-06 9.99958970e-01 -3.07744536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.22, Y:-31.49, Z:-3.08 [[ 9.84272879e-01 1.76445105e-01 8.60374444e-03 2.21224509e+02] [-1.76438415e-01 9.84310482e-01 -1.53657287e-03 -3.14902688e+01] [-8.73987660e-03 -5.62402458e-06 9.99961807e-01 -3.07774275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.25, Y:-31.49, Z:-3.08 [[ 9.84254488e-01 1.76574174e-01 8.04142783e-03 2.21252699e+02] [-1.76568336e-01 9.84287337e-01 -1.43579368e-03 -3.14947943e+01] [-8.16859966e-03 -6.67516176e-06 9.99966636e-01 -3.07799458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.28, Y:-31.50, Z:-3.08 [[ 9.84271914e-01 1.76478279e-01 8.01354169e-03 2.21282220e+02] [-1.76472483e-01 9.84304535e-01 -1.43032811e-03 -3.14995399e+01] [-8.14018727e-03 -6.33781095e-06 9.99966868e-01 -3.07820769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.31, Y:-31.50, Z:-3.08 [[ 9.84272757e-01 1.76456428e-01 8.38264118e-03 2.21310652e+02] [-1.76450087e-01 9.84308452e-01 -1.49602944e-03 -3.15021185e+01] [-8.51508857e-03 -6.61674412e-06 9.99963746e-01 -3.07748553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.34, Y:-31.51, Z:-3.08 [[ 9.84235949e-01 1.76608113e-01 9.44308291e-03 2.21340109e+02] [-1.76600076e-01 9.84281248e-01 -1.68482709e-03 -3.15059023e+01] [-9.59220356e-03 -9.38177226e-06 9.99953994e-01 -3.07884933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.37, Y:-31.51, Z:-3.08 [[ 9.84158251e-01 1.77057476e-01 9.12073003e-03 2.21368330e+02] [-1.77050000e-01 9.84200513e-01 -1.62713385e-03 -3.15103149e+01] [-9.26472339e-03 -1.34680473e-05 9.99957081e-01 -3.07896260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.40, Y:-31.51, Z:-3.08 [[ 9.84145463e-01 1.77150982e-01 8.67397788e-03 2.21396367e+02] [-1.77144226e-01 9.84183687e-01 -1.54717094e-03 -3.15149551e+01] [-8.81087038e-03 -1.39038436e-05 9.99961183e-01 -3.07871577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.42, Y:-31.52, Z:-3.08 [[ 9.84222779e-01 1.76730138e-01 8.48406654e-03 2.21424661e+02] [-1.76723662e-01 9.84259345e-01 -1.51289943e-03 -3.15195298e+01] [-8.61789670e-03 -1.03052310e-05 9.99962865e-01 -3.07920428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.45, Y:-31.52, Z:-3.08 [[ 9.84424305e-01 1.75552644e-01 9.48986759e-03 2.21453072e+02] [-1.75544492e-01 9.84470045e-01 -1.69172354e-03 -3.15249030e+01] [-9.63947691e-03 -5.20221953e-07 9.99953539e-01 -3.07939059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.48, Y:-31.53, Z:-3.08 [[ 9.84545617e-01 1.74829941e-01 1.02186266e-02 2.21482064e+02] [-1.74820457e-01 9.84598645e-01 -1.82104396e-03 -3.15305841e+01] [-1.03796189e-02 6.47587944e-06 9.99946130e-01 -3.07959711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.51, Y:-31.54, Z:-3.08 [[ 9.84848738e-01 1.73067671e-01 1.09792521e-02 2.21509749e+02] [-1.73056616e-01 9.84909935e-01 -1.95631082e-03 -3.15362914e+01] [-1.11521487e-02 2.66380302e-05 9.99937813e-01 -3.08061413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.54, Y:-31.54, Z:-3.08 [[ 9.85048746e-01 1.71933092e-01 1.08618294e-02 2.21538756e+02] [-1.71922208e-01 9.85108629e-01 -1.93496567e-03 -3.15415205e+01] [-1.10327665e-02 3.86458058e-05 9.99939136e-01 -3.08113217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.57, Y:-31.55, Z:-3.08 [[ 9.85230251e-01 1.70919976e-01 1.03785254e-02 2.21568264e+02] [-1.70909985e-01 9.85284913e-01 -1.84862802e-03 -3.15467538e+01] [-1.05417719e-02 4.75306415e-05 9.99944433e-01 -3.08132251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.60, Y:-31.55, Z:-3.08 [[ 9.85397045e-01 1.69978081e-01 1.00057912e-02 2.21596452e+02] [-1.69968748e-01 9.85447842e-01 -1.78200062e-03 -3.15499665e+01] [-1.01630863e-02 5.53063426e-05 9.99948353e-01 -3.08075043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.63, Y:-31.55, Z:-3.08 [[ 9.85340748e-01 1.70298100e-01 1.01077945e-02 2.21625338e+02] [-1.70288596e-01 9.85392589e-01 -1.79994156e-03 -3.15538787e+01] [-1.02666724e-02 5.23136303e-05 9.99947295e-01 -3.08095867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.66, Y:-31.56, Z:-3.08 [[ 9.85252021e-01 1.70805261e-01 1.01989142e-02 2.21655162e+02] [-1.70795616e-01 9.85304806e-01 -1.81576556e-03 -3.15578741e+01] [-1.03591815e-02 4.70568659e-05 9.99946341e-01 -3.08121662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.68, Y:-31.56, Z:-3.08 [[ 9.85227756e-01 1.70921449e-01 1.05890148e-02 2.21683365e+02] [-1.70911062e-01 9.85284657e-01 -1.88494924e-03 -3.15611729e+01] [-1.07553721e-02 4.73245549e-05 9.99942158e-01 -3.08234414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.71, Y:-31.57, Z:-3.08 [[ 9.85411334e-01 1.69851685e-01 1.07195000e-02 2.21712245e+02] [-1.69840979e-01 9.85469635e-01 -1.90794948e-03 -3.15655643e+01] [-1.08878102e-02 5.95046567e-05 9.99940724e-01 -3.08329237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.74, Y:-31.57, Z:-3.08 [[ 9.85742135e-01 1.67924183e-01 1.06729680e-02 2.21741600e+02] [-1.67913463e-01 9.85799910e-01 -1.89911371e-03 -3.15700492e+01] [-1.08403181e-02 7.99013820e-05 9.99941239e-01 -3.08380922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.77, Y:-31.57, Z:-3.08 [[ 9.86700162e-01 1.62300135e-01 9.02530166e-03 2.21770385e+02] [-1.62292235e-01 9.86741431e-01 -1.60580049e-03 -3.15738836e+01] [-9.16626071e-03 1.19707228e-04 9.99957982e-01 -3.08458122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.80, Y:-31.58, Z:-3.09 [[ 9.87110095e-01 1.59828743e-01 8.27248612e-03 2.21798868e+02] [-1.59822021e-01 9.87144749e-01 -1.47159792e-03 -3.15788788e+01] [-8.40134488e-03 1.30503711e-04 9.99964700e-01 -3.08517772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.83, Y:-31.58, Z:-3.09 [[ 9.87443774e-01 1.57755587e-01 8.24421216e-03 2.21828260e+02] [-1.57748842e-01 9.87478178e-01 -1.46623049e-03 -3.15846858e+01] [-8.37228566e-03 1.47305249e-04 9.99964941e-01 -3.08568989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.86, Y:-31.59, Z:-3.09 [[ 9.87693151e-01 1.56142490e-01 9.04225869e-03 2.21856308e+02] [-1.56134310e-01 9.87734525e-01 -1.60795543e-03 -3.15917502e+01] [-9.18242126e-03 1.76359735e-04 9.99957825e-01 -3.08502993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.88, Y:-31.60, Z:-3.08 [[ 9.87731659e-01 1.55882202e-01 9.32251330e-03 2.21884305e+02] [-1.55873499e-01 9.87775635e-01 -1.65744000e-03 -3.15976590e+01] [-9.46691689e-03 1.83973192e-04 9.99955171e-01 -3.08444938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.91, Y:-31.60, Z:-3.09 [[ 9.87650889e-01 1.56395236e-01 9.28714413e-03 2.21912055e+02] [-1.56386624e-01 9.87694537e-01 -1.65082850e-03 -3.16046031e+01] [-9.43104324e-03 1.78057118e-04 9.99955511e-01 -3.08502556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.94, Y:-31.61, Z:-3.09 [[ 9.87511915e-01 1.57270179e-01 9.29021851e-03 2.21941352e+02] [-1.57261604e-01 9.87555599e-01 -1.65101943e-03 -3.16113559e+01] [-9.43426343e-03 1.69406697e-04 9.99955482e-01 -3.08665638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.97, Y:-31.62, Z:-3.09 [[ 9.87334232e-01 1.58390658e-01 9.13861564e-03 2.21970673e+02] [-1.58382410e-01 9.87376511e-01 -1.62387054e-03 -3.16184490e+01] [-9.28046035e-03 1.55907002e-04 9.99956923e-01 -3.08722303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.00, Y:-31.63, Z:-3.09 [[ 9.87240592e-01 1.58975403e-01 9.10134430e-03 2.21998474e+02] [-1.58967249e-01 9.87282532e-01 -1.61707405e-03 -3.16253396e+01] [-9.24267325e-03 1.49625475e-04 9.99957274e-01 -3.08772191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.03, Y:-31.64, Z:-3.09 [[ 9.87058679e-01 1.60084115e-01 9.39366018e-03 2.22025856e+02] [-1.60075483e-01 9.87103366e-01 -1.66863642e-03 -3.16351389e+01] [-9.53963577e-03 1.43347376e-04 9.99954486e-01 -3.08857836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.05, Y:-31.64, Z:-3.09 [[ 9.87035585e-01 1.60260017e-01 8.80233917e-03 2.22054374e+02] [-1.60252446e-01 9.87074825e-01 -1.56341456e-03 -3.16422251e+01] [-8.93912024e-03 1.32549418e-04 9.99960036e-01 -3.08917918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.08, Y:-31.65, Z:-3.09 [[ 9.87126408e-01 1.59789488e-01 6.98386108e-03 2.22082146e+02] [-1.59784710e-01 9.87151107e-01 -1.24032721e-03 -3.16507221e+01] [-7.09231744e-03 1.08445524e-04 9.99974843e-01 -3.08996991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.11, Y:-31.66, Z:-3.09 [[ 9.87120863e-01 1.59843677e-01 6.51150133e-03 2.22111309e+02] [-1.59839527e-01 9.87142335e-01 -1.15630639e-03 -3.16580166e+01] [-6.61260689e-03 1.00618875e-04 9.99978131e-01 -3.09027850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.14, Y:-31.67, Z:-3.09 [[ 9.87061807e-01 1.60201354e-01 6.67204909e-03 2.22140165e+02] [-1.60197005e-01 9.87084351e-01 -1.18465982e-03 -3.16654576e+01] [-6.77565936e-03 1.00490181e-04 9.99977040e-01 -3.09016815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.17, Y:-31.67, Z:-3.09 [[ 9.86873621e-01 1.61306271e-01 7.79373042e-03 2.22169264e+02] [-1.61300374e-01 9.86904390e-01 -1.38360030e-03 -3.16736763e+01] [-7.91485017e-03 1.08307014e-04 9.99968671e-01 -3.08900914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.20, Y:-31.68, Z:-3.09 [[ 9.86678024e-01 1.62469079e-01 8.38307453e-03 2.22199537e+02] [-1.62462300e-01 9.86713630e-01 -1.48792979e-03 -3.16796137e+01] [-8.51343648e-03 1.06174056e-04 9.99963754e-01 -3.08911989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.23, Y:-31.69, Z:-3.09 [[ 9.86327729e-01 1.64556836e-01 8.86898562e-03 2.22229540e+02] [-1.64549333e-01 9.86367598e-01 -1.57417518e-03 -3.16858671e+01] [-9.00712133e-03 9.32669638e-05 9.99959431e-01 -3.08983388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.26, Y:-31.69, Z:-3.09 [[ 9.85705419e-01 1.68198374e-01 9.70228055e-03 2.22259424e+02] [-1.68189571e-01 9.85753165e-01 -1.72207848e-03 -3.16933266e+01] [-9.85370457e-03 6.56396874e-05 9.99951449e-01 -3.09049363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.29, Y:-31.70, Z:-3.09 [[ 9.85564006e-01 1.68993473e-01 1.02370411e-02 2.22289317e+02] [-1.68983716e-01 9.85617168e-01 -1.81699428e-03 -3.16982299e+01] [-1.03968637e-02 6.08709065e-05 9.99945949e-01 -3.09138268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.32, Y:-31.70, Z:-3.09 [[ 9.85480346e-01 1.69501021e-01 9.89398760e-03 2.22318460e+02] [-1.69491932e-01 9.85530010e-01 -1.75613350e-03 -3.17019361e+01] [-1.00484881e-02 5.36839776e-05 9.99949511e-01 -3.09237595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.35, Y:-31.71, Z:-3.09 [[ 9.85472597e-01 1.69605610e-01 8.81465649e-03 2.22347843e+02] [-1.69598401e-01 9.85512017e-01 -1.56446967e-03 -3.17075781e+01] [-8.95229273e-03 4.67903418e-05 9.99959926e-01 -3.09311175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.38, Y:-31.71, Z:-3.09 [[ 9.85500421e-01 1.69498143e-01 7.70057469e-03 2.22377575e+02] [-1.69492639e-01 9.85530506e-01 -1.36661209e-03 -3.17138500e+01] [-7.82078948e-03 4.16060639e-05 9.99969416e-01 -3.09337973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.41, Y:-31.72, Z:-3.09 [[ 9.85370995e-01 1.70238543e-01 7.92716338e-03 2.22405852e+02] [-1.70232732e-01 9.85402881e-01 -1.40697986e-03 -3.17189075e+01] [-8.05097183e-03 3.69344642e-05 9.99967590e-01 -3.09390063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.44, Y:-31.72, Z:-3.09 [[ 9.85222046e-01 1.71062419e-01 8.67003643e-03 2.22435834e+02] [-1.71055505e-01 9.85260193e-01 -1.53835543e-03 -3.17232030e+01] [-8.80539657e-03 3.25642211e-05 9.99961231e-01 -3.09377684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.47, Y:-31.73, Z:-3.09 [[ 9.85078781e-01 1.71854729e-01 9.25999723e-03 2.22466373e+02] [-1.71846877e-01 9.85122303e-01 -1.64303427e-03 -3.17272702e+01] [-9.40459301e-03 2.72165945e-05 9.99955775e-01 -3.09402704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.50, Y:-31.73, Z:-3.09 [[ 9.84922460e-01 1.72765169e-01 8.94118048e-03 2.22497166e+02] [-1.72757886e-01 9.84963043e-01 -1.58646548e-03 -3.17303792e+01] [-9.08081832e-03 1.78860482e-05 9.99958768e-01 -3.09469855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.53, Y:-31.74, Z:-3.10 [[ 9.84929220e-01 1.72726625e-01 8.94115695e-03 2.22526876e+02] [-1.72719339e-01 9.84969803e-01 -1.58659811e-03 -3.17355947e+01] [-9.08081734e-03 1.83761186e-05 9.99958768e-01 -3.09507631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.56, Y:-31.74, Z:-3.09 [[ 9.84847198e-01 1.73197131e-01 8.87413290e-03 2.22555236e+02] [-1.73189977e-01 9.84887178e-01 -1.57429464e-03 -3.17394492e+01] [-9.01268303e-03 1.35287905e-05 9.99959385e-01 -3.09494594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.58, Y:-31.74, Z:-3.09 [[ 9.84634676e-01 1.74373848e-01 9.39761460e-03 2.22584567e+02] [-1.74365880e-01 9.84679522e-01 -1.66694907e-03 -3.17408853e+01] [-9.54431098e-03 2.71251385e-06 9.99954452e-01 -3.09452050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.61, Y:-31.74, Z:-3.10 [[ 9.84474353e-01 1.75268453e-01 9.55076917e-03 2.22614637e+02] [-1.75260269e-01 9.84520680e-01 -1.69373714e-03 -3.17435269e+01] [-9.69978845e-03 -6.42959679e-06 9.99952956e-01 -3.09534199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.64, Y:-31.75, Z:-3.10 [[ 9.84302170e-01 1.76259657e-01 9.04281365e-03 2.22643666e+02] [-1.76252364e-01 9.84343707e-01 -1.60349171e-03 -3.17461750e+01] [-9.18386761e-03 -1.54969052e-05 9.99957827e-01 -3.09563226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.67, Y:-31.75, Z:-3.10 [[ 9.84132585e-01 1.77219845e-01 8.72817469e-03 2.22672950e+02] [-1.77213091e-01 9.84171289e-01 -1.54739703e-03 -3.17472982e+01] [-8.86424840e-03 -2.39029844e-05 9.99960711e-01 -3.09643843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.70, Y:-31.75, Z:-3.10 [[ 9.84148868e-01 1.77090531e-01 9.48416658e-03 2.22702477e+02] [-1.77082554e-01 9.84194566e-01 -1.68101580e-03 -3.17504441e+01] [-9.63195719e-03 -2.51106481e-05 9.99953611e-01 -3.09638243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.73, Y:-31.75, Z:-3.10 [[ 9.84313084e-01 1.76170492e-01 9.57660798e-03 2.22731368e+02] [-1.76162317e-01 9.84359669e-01 -1.69718846e-03 -3.17536086e+01] [-9.72582119e-03 -1.64726522e-05 9.99952703e-01 -3.09666621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.76, Y:-31.76, Z:-3.10 [[ 9.84622107e-01 1.74474186e-01 8.83538424e-03 2.22760168e+02] [-1.74467162e-01 9.84661748e-01 -1.56556395e-03 -3.17574200e+01] [-8.97301539e-03 4.46114851e-09 9.99959742e-01 -3.09747440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.79, Y:-31.76, Z:-3.10 [[ 9.85378532e-01 1.70225246e-01 7.24664993e-03 2.22788378e+02] [-1.70220408e-01 9.85405178e-01 -1.28374871e-03 -3.17638276e+01] [-7.35941280e-03 3.14507143e-05 9.99972919e-01 -3.09909208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.82, Y:-31.77, Z:-3.10 [[ 9.85817639e-01 1.67651481e-01 7.52083039e-03 2.22815997e+02] [-1.67646197e-01 9.85846326e-01 -1.33209026e-03 -3.17704154e+01] [-7.63770992e-03 5.23594650e-05 9.99970831e-01 -3.09963016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.84, Y:-31.78, Z:-3.10 [[ 9.86293329e-01 1.64792235e-01 8.30591133e-03 2.22843673e+02] [-1.64785693e-01 9.86328299e-01 -1.47064192e-03 -3.17769695e+01] [-8.43470576e-03 8.17889593e-05 9.99964424e-01 -3.09946567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.87, Y:-31.79, Z:-3.10 [[ 9.87043014e-01 1.60110045e-01 1.05291352e-02 2.22871314e+02] [-1.60099270e-01 9.87099159e-01 -1.86377674e-03 -3.17859092e+01] [-1.06917099e-02 1.53920948e-04 9.99942830e-01 -3.09873463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.855769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.90, Y:-31.79, Z:-3.10 [[ 9.87262402e-01 1.58701122e-01 1.12651615e-02 2.22901139e+02] [-1.58688701e-01 9.87326654e-01 -1.99375426e-03 -3.17940753e+01] [-1.14388052e-02 1.80704778e-04 9.99934558e-01 -3.09942669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.885769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:222.93, Y:-31.81, Z:-3.10 [[ 9.87294214e-01 1.58486431e-01 1.14972541e-02 2.22930931e+02] [-1.58473478e-01 9.87361138e-01 -2.03481087e-03 -3.18059560e+01] [-1.16744318e-02 1.86947158e-04 9.99931834e-01 -3.09934724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.915769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:222.96, Y:-31.81, Z:-3.10 [[ 9.87045759e-01 1.60047862e-01 1.11960705e-02 2.22962483e+02] [-1.60035678e-01 9.87109242e-01 -1.98159566e-03 -3.18140206e+01] [-1.13688948e-02 1.64154859e-04 9.99935359e-01 -3.09552930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.945769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:222.99, Y:-31.82, Z:-3.10 [[ 9.86612097e-01 1.62767773e-01 1.01598033e-02 2.22993585e+02] [-1.62757867e-01 9.86664400e-01 -1.79980760e-03 -3.18193689e+01] [-1.03172669e-02 1.22124034e-04 9.99946768e-01 -3.09937835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:223.02, Y:-31.82, Z:-3.10 [[ 9.85539762e-01 1.69224195e-01 8.63423739e-03 2.23022707e+02] [-1.69217273e-01 9.85577582e-01 -1.53135221e-03 -3.18234916e+01] [-8.76885265e-03 4.81463930e-05 9.99961552e-01 -3.10070239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:223.05, Y:-31.83, Z:-3.10 [[ 9.85067973e-01 1.71937438e-01 8.86596862e-03 2.23053270e+02] [-1.71930252e-01 9.85107871e-01 -1.57214990e-03 -3.18285498e+01] [-9.00424689e-03 2.43462993e-05 9.99959461e-01 -3.10138677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.08, Y:-31.83, Z:-3.10 [[ 9.84807029e-01 1.73387324e-01 9.58919095e-03 2.23083095e+02] [-1.73378986e-01 9.84853713e-01 -1.70039465e-03 -3.18331275e+01] [-9.73877719e-03 1.19963952e-05 9.99952577e-01 -3.10197853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:223.11, Y:-31.84, Z:-3.10 [[ 9.84673757e-01 1.74104122e-01 1.02638591e-02 2.23112167e+02] [-1.74094609e-01 9.84727249e-01 -1.82005555e-03 -3.18368676e+01] [-1.04239810e-02 5.27839748e-06 9.99945669e-01 -3.10159161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:223.14, Y:-31.84, Z:-3.10 [[ 9.84774681e-01 1.73488783e-01 1.09758689e-02 2.23142573e+02] [-1.73477867e-01 9.84835845e-01 -1.94614809e-03 -3.18389061e+01] [-1.11470640e-02 1.24470349e-05 9.99937869e-01 -3.10225397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:223.17, Y:-31.84, Z:-3.10 [[ 9.85314231e-01 1.70431421e-01 1.04401412e-02 2.23172647e+02] [-1.70421373e-01 9.85369539e-01 -1.85115740e-03 -3.18414826e+01] [-1.06028925e-02 4.47485245e-05 9.99943787e-01 -3.10324916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:223.20, Y:-31.85, Z:-3.10 [[ 9.85724421e-01 1.68061388e-01 1.01359013e-02 2.23201730e+02] [-1.68051792e-01 9.85776529e-01 -1.79723925e-03 -3.18454144e+01] [-1.02937801e-02 6.82262456e-05 9.99947015e-01 -3.10335876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.23, Y:-31.85, Z:-3.10 [[ 9.86147421e-01 1.65550580e-01 1.03086824e-02 2.23232006e+02] [-1.65540518e-01 9.86201296e-01 -1.82772089e-03 -3.18497286e+01] [-1.04690162e-02 9.58976214e-05 9.99945194e-01 -3.10379665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:223.26, Y:-31.86, Z:-3.10 [[ 9.86791364e-01 1.61660518e-01 1.04250375e-02 2.23261639e+02] [-1.61650011e-01 9.86846420e-01 -1.84835056e-03 -3.18550467e+01] [-1.05867163e-02 1.38728937e-04 9.99943950e-01 -3.10425047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:223.29, Y:-31.86, Z:-3.11 [[ 9.87056581e-01 1.60068132e-01 9.87415742e-03 2.23291014e+02] [-1.60058626e-01 9.87105957e-01 -1.75070979e-03 -3.18607603e+01] [-1.00270725e-02 1.47605548e-04 9.99949717e-01 -3.10509867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:223.32, Y:-31.87, Z:-3.11 [[ 9.87209144e-01 1.59193162e-01 8.69729926e-03 2.23321078e+02] [-1.59185754e-01 9.87247445e-01 -1.54191840e-03 -3.18662557e+01] [-8.83184934e-03 1.37709799e-04 9.99960989e-01 -3.10593843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:223.35, Y:-31.87, Z:-3.11 [[ 9.87207380e-01 1.59254215e-01 7.72553885e-03 2.23350679e+02] [-1.59248373e-01 9.87237601e-01 -1.36958226e-03 -3.18708901e+01] [-7.84505419e-03 1.21782221e-04 9.99969220e-01 -3.10657069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:223.38, Y:-31.87, Z:-3.11 [[ 9.86822981e-01 1.61605001e-01 8.01423972e-03 2.23380204e+02] [-1.61598789e-01 9.86855517e-01 -1.42102601e-03 -3.18732820e+01] [-8.13854160e-03 1.07209691e-04 9.99966876e-01 -3.10590199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36576923100003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:223.41, Y:-31.88, Z:-3.11 [[ 9.86500651e-01 1.63595014e-01 7.28945778e-03 2.23409394e+02] [-1.63571882e-01 9.86524600e-01 -3.66790462e-03 -3.18756233e+01] [-7.79128033e-03 2.42603996e-03 9.99966705e-01 -3.10554655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.395769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:223.44, Y:-31.88, Z:-3.11 [[ 9.86234932e-01 1.65162082e-01 7.88326633e-03 2.23437758e+02] [-1.65174807e-01 9.86263813e-01 9.86908244e-04 -3.18777324e+01] [-7.61198049e-03 -2.27544038e-03 9.99968440e-01 -3.10641198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.425769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:223.47, Y:-31.88, Z:-3.11 [[ 9.86111247e-01 1.65937157e-01 7.03332063e-03 2.23466769e+02] [-1.65932488e-01 9.86136327e-01 -1.24641216e-03 -3.18801960e+01] [-7.14263907e-03 6.20446561e-05 9.99974489e-01 -3.10722209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.455769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:223.50, Y:-31.88, Z:-3.11 [[ 9.86073102e-01 1.66161904e-01 7.07527133e-03 2.23496374e+02] [-1.66157186e-01 9.86098483e-01 -1.25367097e-03 -3.18833935e+01] [-7.18522668e-03 6.06040443e-05 9.99974184e-01 -3.10791786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.485769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:223.53, Y:-31.89, Z:-3.11 [[ 9.86278642e-01 1.64926760e-01 7.32143312e-03 2.23526181e+02] [-1.64921675e-01 9.86305814e-01 -1.29710117e-03 -3.18856674e+01] [-7.43509874e-03 7.18401712e-05 9.99972357e-01 -3.10902554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.515769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:223.56, Y:-31.89, Z:-3.11 [[ 9.86548759e-01 1.63302838e-01 7.32997809e-03 2.23555545e+02] [-1.63297698e-01 9.86575986e-01 -1.29843561e-03 -3.18895504e+01] [-7.44361858e-03 8.40014883e-05 9.99972292e-01 -3.10982420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.545769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:223.58, Y:-31.89, Z:-3.11 [[ 9.87014975e-01 1.60389223e-01 8.75997767e-03 2.23584101e+02] [-1.60381768e-01 9.87053839e-01 -1.55151716e-03 -3.18918921e+01] [-8.89541622e-03 1.26429962e-04 9.99960427e-01 -3.10904472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.575769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:223.61, Y:-31.90, Z:-3.11 [[ 9.87049939e-01 1.60071056e-01 1.04725683e-02 2.23613104e+02] [-1.60060389e-01 9.87105482e-01 -1.85439403e-03 -3.18955479e+01] [-1.06343644e-02 1.54136150e-04 9.99943442e-01 -3.10836163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.605769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:223.64, Y:-31.90, Z:-3.11 [[ 9.86992577e-01 1.60369228e-01 1.12855737e-02 2.23641258e+02] [-1.60356866e-01 9.87057083e-01 -1.99773843e-03 -3.18992974e+01] [-1.14598812e-02 1.62033775e-04 9.99934320e-01 -3.10805056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.635769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:223.67, Y:-31.90, Z:-3.11 [[ 9.86915603e-01 1.60939555e-01 9.80066710e-03 2.23670944e+02] [-1.60930263e-01 9.86964255e-01 -1.73468775e-03 -3.19032582e+01] [-9.95208798e-03 1.34766473e-04 9.99950468e-01 -3.10891331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.665769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:223.70, Y:-31.91, Z:-3.11 [[ 9.86920131e-01 1.60948879e-01 9.17129306e-03 2.23699535e+02] [-1.60940744e-01 9.86962736e-01 -1.62308402e-03 -3.19078930e+01] [-9.31295805e-03 1.25819561e-04 9.99956626e-01 -3.11003921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.695769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:223.73, Y:-31.91, Z:-3.11 [[ 9.86985719e-01 1.60554173e-01 9.03037821e-03 2.23729047e+02] [-1.60546272e-01 9.87027022e-01 -1.59792734e-03 -3.19134307e+01] [-9.16978121e-03 1.27337913e-04 9.99957949e-01 -3.11089868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:223.76, Y:-31.92, Z:-3.11 [[ 9.87286070e-01 1.58635433e-01 1.00506031e-02 2.23757124e+02] [-1.58625548e-01 9.87337214e-01 -1.77819640e-03 -3.19206195e+01] [-1.02054194e-02 1.61306110e-04 9.99947910e-01 -3.11039568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:223.78, Y:-31.93, Z:-3.11 [[ 9.87463905e-01 1.57500178e-01 1.04273552e-02 2.23784777e+02] [-1.57489479e-01 9.87518943e-01 -1.84444146e-03 -3.19267803e+01] [-1.05877107e-02 1.79120626e-04 9.99943933e-01 -3.11051911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78576923100002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:223.81, Y:-31.93, Z:-3.11 [[ 9.87746259e-01 1.55781231e-01 9.46234179e-03 2.23812945e+02] [-1.55772345e-01 9.87791565e-01 -1.67344287e-03 -3.19336267e+01] [-9.60751239e-03 1.78965764e-04 9.99953831e-01 -3.11092577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:223.84, Y:-31.94, Z:-3.11 [[ 9.87728783e-01 1.55920499e-01 8.98043934e-03 2.23842180e+02] [-1.55912504e-01 9.87769593e-01 -1.58789138e-03 -3.19387652e+01] [-9.11818974e-03 1.68243237e-04 9.99958414e-01 -3.11139262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:223.87, Y:-31.94, Z:-3.11 [[ 9.87635331e-01 1.56532694e-01 8.60054999e-03 2.23870311e+02] [-1.56525386e-01 9.87672765e-01 -1.52056744e-03 -3.19438344e+01] [-8.73254751e-03 1.55561719e-04 9.99961858e-01 -3.11227589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:223.90, Y:-31.95, Z:-3.11 [[ 9.87407538e-01 1.57977219e-01 8.33976690e-03 2.23899321e+02] [-1.57970402e-01 9.87442747e-01 -1.47411776e-03 -3.19496636e+01] [-8.46791937e-03 1.38118658e-04 9.99964137e-01 -3.11193847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:223.93, Y:-31.96, Z:-3.11 [[ 9.87327974e-01 1.58475429e-01 8.30719525e-03 2.23928914e+02] [-1.58468684e-01 9.87362912e-01 -1.46816225e-03 -3.19555033e+01] [-8.43488413e-03 1.33127366e-04 9.99964417e-01 -3.11215765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:223.96, Y:-31.96, Z:-3.11 [[ 9.87329504e-01 1.58467483e-01 8.27692835e-03 2.23956973e+02] [-1.58460788e-01 9.87364188e-01 -1.46266280e-03 -3.19612931e+01] [-8.40412713e-03 1.32561548e-04 9.99964676e-01 -3.11301045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:223.99, Y:-31.97, Z:-3.11 [[ 9.87473225e-01 1.57586002e-01 7.95494292e-03 2.23985747e+02] [-1.57579792e-01 9.87505258e-01 -1.40544468e-03 -3.19695466e+01] [-8.07702636e-03 1.34300740e-04 9.99967371e-01 -3.11359142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:224.01, Y:-31.98, Z:-3.11 [[ 9.87568162e-01 1.56975750e-01 8.23040734e-03 2.24014312e+02] [-1.56969083e-01 9.87602447e-01 -1.45390325e-03 -3.19763521e+01] [-8.35659798e-03 1.43909063e-04 9.99965073e-01 -3.11336604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:224.04, Y:-31.98, Z:-3.11 [[ 9.87770744e-01 1.55675993e-01 8.59891994e-03 2.24042762e+02] [-1.55668669e-01 9.87808159e-01 -1.51877581e-03 -3.19829016e+01] [-8.73052021e-03 1.61619893e-04 9.99961875e-01 -3.11323899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05576923100003 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:224.07, Y:-31.99, Z:-3.11 [[ 9.87707983e-01 1.56084261e-01 8.40496360e-03 2.24072059e+02] [-1.56077279e-01 9.87743732e-01 -1.48431803e-03 -3.19884194e+01] [-8.53362879e-03 1.54248920e-04 9.99963576e-01 -3.11321794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:224.10, Y:-31.99, Z:-3.11 [[ 9.87545104e-01 1.57074651e-01 9.06755728e-03 2.24100650e+02] [-1.57066569e-01 9.87586720e-01 -1.60113111e-03 -3.19934200e+01] [-9.20649626e-03 1.56979080e-04 9.99957607e-01 -3.11320474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:224.13, Y:-32.00, Z:-3.11 [[ 9.87315189e-01 1.58466430e-01 9.85435349e-03 2.24130336e+02] [-1.58456958e-01 9.87364353e-01 -1.73964447e-03 -3.19985035e+01] [-1.00055126e-02 1.56086534e-04 9.99949931e-01 -3.11262032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.145769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.16, Y:-32.00, Z:-3.11 [[ 9.86827232e-01 1.61380390e-01 1.13306955e-02 2.24160348e+02] [-1.61368062e-01 9.86892268e-01 -1.99995121e-03 -3.20016784e+01] [-1.15049287e-02 1.45193946e-04 9.99933806e-01 -3.11284435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.175769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.19, Y:-32.01, Z:-3.11 [[ 9.86582966e-01 1.62848089e-01 1.15995902e-02 2.24188531e+02] [-1.62835274e-01 9.86651146e-01 -2.04713348e-03 -3.20053662e+01] [-1.17781208e-02 1.30844574e-04 9.99930627e-01 -3.11346980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.205769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:224.22, Y:-32.01, Z:-3.11 [[ 9.86257265e-01 1.64897868e-01 1.02615698e-02 2.24218114e+02] [-1.64887954e-01 9.86310643e-01 -1.81065372e-03 -3.20097389e+01] [-1.04196685e-02 9.37611377e-05 9.99945709e-01 -3.11454335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.235769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:224.25, Y:-32.01, Z:-3.12 [[ 9.86220795e-01 1.65197472e-01 8.85095231e-03 2.24246764e+02] [-1.65190110e-01 9.86260508e-01 -1.56161376e-03 -3.20146351e+01] [-8.98731936e-03 7.80061771e-05 9.99959610e-01 -3.11534289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.265769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:224.28, Y:-32.02, Z:-3.12 [[ 9.86218161e-01 1.65266748e-01 7.78718124e-03 2.24275398e+02] [-1.65261053e-01 9.86248902e-01 -1.37368603e-03 -3.20187513e+01] [-7.90712358e-03 6.78363409e-05 9.99968736e-01 -3.11563677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.295769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:224.30, Y:-32.02, Z:-3.12 [[ 9.86238737e-01 1.65134285e-01 7.98878576e-03 2.24304763e+02] [-1.65128290e-01 9.86271090e-01 -1.40888830e-03 -3.20207643e+01] [-8.11176420e-03 7.03256854e-05 9.99967097e-01 -3.11537164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.325769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:224.33, Y:-32.02, Z:-3.12 [[ 9.86312536e-01 1.64638962e-01 9.03292587e-03 2.24332864e+02] [-1.64631278e-01 9.86353895e-01 -1.59281118e-03 -3.20249714e+01] [-9.17190039e-03 8.39075065e-05 9.99957934e-01 -3.11533000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.355769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:224.36, Y:-32.03, Z:-3.12 [[ 9.86497321e-01 1.63506184e-01 9.42148011e-03 2.24361664e+02] [-1.63497777e-01 9.86542304e-01 -1.66092778e-03 -3.20299817e+01] [-9.56626066e-03 9.81097573e-05 9.99954237e-01 -3.11558568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.385769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:224.39, Y:-32.03, Z:-3.12 [[ 9.86503040e-01 1.63471673e-01 9.42151293e-03 2.24390563e+02] [-1.63463266e-01 9.86548023e-01 -1.66074156e-03 -3.20349889e+01] [-9.56625916e-03 9.82553240e-05 9.99954237e-01 -3.11595302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.415769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:224.42, Y:-32.04, Z:-3.12 [[ 9.86942316e-01 1.60819317e-01 9.05611241e-03 2.24419388e+02] [-1.60811441e-01 9.86983857e-01 -1.59598316e-03 -3.20415657e+01] [-9.19490167e-03 1.18816831e-04 9.99957719e-01 -3.11654474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:224.45, Y:-32.05, Z:-3.12 [[ 9.87097943e-01 1.59880620e-01 8.70849653e-03 2.24448958e+02] [-1.59873303e-01 9.87136349e-01 -1.53452465e-03 -3.20474035e+01] [-8.84181423e-03 1.22470024e-04 9.99960903e-01 -3.11758869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:224.48, Y:-32.05, Z:-3.12 [[ 9.87106266e-01 1.59885416e-01 7.60746600e-03 2.24477208e+02] [-1.59879833e-01 9.87135574e-01 -1.34042155e-03 -3.20543985e+01] [-7.72391417e-03 1.06858122e-04 9.99970164e-01 -3.11825394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:224.51, Y:-32.06, Z:-3.12 [[ 9.86887473e-01 1.61257405e-01 7.01182392e-03 2.24506527e+02] [-1.61252699e-01 9.86912378e-01 -1.23519114e-03 -3.20606573e+01] [-7.11923954e-03 8.83191291e-05 9.99974654e-01 -3.11809436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53576923100002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:224.53, Y:-32.07, Z:-3.12 [[ 9.86556779e-01 1.63275357e-01 6.84694610e-03 2.24534435e+02] [-1.63270918e-01 9.86580535e-01 -1.20605024e-03 -3.20659853e+01] [-6.95198203e-03 7.19298666e-05 9.99975832e-01 -3.11743522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:224.56, Y:-32.07, Z:-3.12 [[ 9.85637099e-01 1.68708443e-01 7.54788519e-03 2.24562653e+02] [-1.68703210e-01 9.85665998e-01 -1.32924332e-03 -3.20696253e+01] [-7.66394836e-03 3.67990714e-05 9.99970631e-01 -3.11682779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:224.59, Y:-32.07, Z:-3.12 [[ 9.85123207e-01 1.71658893e-01 8.09270831e-03 2.24590998e+02] [-1.71652981e-01 9.85156447e-01 -1.42476640e-03 -3.20739317e+01] [-8.21715759e-03 1.44329383e-05 9.99966238e-01 -3.11765218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:224.62, Y:-32.08, Z:-3.12 [[ 9.84722722e-01 1.73895875e-01 9.02138195e-03 2.24618032e+02] [-1.73888626e-01 9.84764045e-01 -1.58779489e-03 -3.20782389e+01] [-9.16004356e-03 -5.17801020e-06 9.99958046e-01 -3.11818390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:224.65, Y:-32.08, Z:-3.12 [[ 9.84209814e-01 1.76791382e-01 8.70913841e-03 2.24645955e+02] [-1.76749057e-01 9.84241041e-01 -5.41696660e-03 -3.20819283e+01] [-9.52956447e-03 3.79209968e-03 9.99947402e-01 -3.11809954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.67, Y:-32.09, Z:-3.12 [[ 9.84245944e-01 1.76417191e-01 1.17002495e-02 2.24674406e+02] [-1.76449703e-01 9.84308014e-01 1.79903679e-03 -3.20893593e+01] [-1.11992683e-02 -3.83520022e-03 9.99929931e-01 -3.11855340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.70, Y:-32.09, Z:-3.12 [[ 9.84349244e-01 1.75928026e-01 1.02905136e-02 2.24703583e+02] [-1.75918724e-01 9.84403032e-01 -1.80936357e-03 -3.20909640e+01] [-1.04483306e-02 -2.92483575e-05 9.99945414e-01 -3.11863203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.73, Y:-32.09, Z:-3.12 [[ 9.84395150e-01 1.75700621e-01 9.77136158e-03 2.24732417e+02] [-1.75692227e-01 9.84443645e-01 -1.71764674e-03 -3.20939639e+01] [-9.92114642e-03 -2.59091549e-05 9.99950784e-01 -3.11919828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.76, Y:-32.10, Z:-3.12 [[ 9.84383408e-01 1.75796708e-01 9.21000104e-03 2.24760098e+02] [-1.75789258e-01 9.84426491e-01 -1.61857415e-03 -3.20965997e+01] [-9.35110901e-03 -2.57217110e-05 9.99956277e-01 -3.11994974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.79, Y:-32.10, Z:-3.12 [[ 9.84422242e-01 1.75609675e-01 8.60768467e-03 2.24787714e+02] [-1.75603165e-01 9.84459873e-01 -1.51221909e-03 -3.20979666e+01] [-8.73948046e-03 -2.28745703e-05 9.99961810e-01 -3.12029455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.82, Y:-32.10, Z:-3.12 [[ 9.84503624e-01 1.75156498e-01 8.53321926e-03 2.24815481e+02] [-1.75150088e-01 9.84540604e-01 -1.49861682e-03 -3.21010606e+01] [-8.66379332e-03 -1.92004174e-05 9.99962468e-01 -3.12050451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:224.84, Y:-32.10, Z:-3.12 [[ 9.84808358e-01 1.73411609e-01 8.99512146e-03 2.24844195e+02] [-1.73404419e-01 9.84849437e-01 -1.57912982e-03 -3.21017524e+01] [-9.13267975e-03 -4.65357102e-06 9.99958296e-01 -3.12091349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.895769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.87, Y:-32.11, Z:-3.12 [[ 9.85019151e-01 1.72238107e-01 8.44435717e-03 2.24872567e+02] [-1.72231730e-01 9.85055346e-01 -1.48209407e-03 -3.21050128e+01] [-8.57343225e-03 5.50480255e-06 9.99963247e-01 -3.12116056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.925769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:224.90, Y:-32.11, Z:-3.12 [[ 9.85268578e-01 1.70830657e-01 7.91937669e-03 2.24901364e+02] [-1.70825006e-01 9.85300404e-01 -1.38959977e-03 -3.21088876e+01] [-8.04035129e-03 1.63014123e-05 9.99967676e-01 -3.12213158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.955769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.93, Y:-32.11, Z:-3.12 [[ 9.85789354e-01 1.67783110e-01 8.25700814e-03 2.24929608e+02] [-1.67776864e-01 9.85823933e-01 -1.44841336e-03 -3.21127440e+01] [-8.38297554e-03 4.24955378e-05 9.99964861e-01 -3.12229714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.96, Y:-32.12, Z:-3.12 [[ 9.86049211e-01 1.66195116e-01 9.28105625e-03 2.24957639e+02] [-1.66187158e-01 9.86092886e-01 -1.62752014e-03 -3.21172654e+01] [-9.42246944e-03 6.24225863e-05 9.99955606e-01 -3.12193062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.98, Y:-32.12, Z:-3.12 [[ 9.86245691e-01 1.64977998e-01 1.00844896e-02 2.24984721e+02] [-1.64968545e-01 9.86297244e-01 -1.76788491e-03 -3.21224182e+01] [-1.02379664e-02 7.99453048e-05 9.99947587e-01 -3.12181352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.045769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:225.01, Y:-32.13, Z:-3.12 [[ 9.86551618e-01 1.63152667e-01 9.85455938e-03 2.25011879e+02] [-1.63143555e-01 9.86600830e-01 -1.72698691e-03 -3.21286762e+01] [-1.00042790e-02 9.60538807e-05 9.99949951e-01 -3.12148638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.075769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:225.04, Y:-32.13, Z:-3.12 [[ 9.86634575e-01 1.62688743e-01 9.19721748e-03 2.25038913e+02] [-1.62680791e-01 9.86677437e-01 -1.61128530e-03 -3.21349055e+01] [-9.33682494e-03 9.35391719e-05 9.99956407e-01 -3.12262666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.105769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.07, Y:-32.14, Z:-3.12 [[ 9.86591687e-01 1.63022850e-01 7.77127770e-03 2.25066648e+02] [-1.63017186e-01 9.86622291e-01 -1.36106574e-03 -3.21435488e+01] [-7.88920062e-03 7.59643278e-05 9.99968877e-01 -3.12398180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.09, Y:-32.15, Z:-3.12 [[ 9.86466927e-01 1.63758221e-01 8.13917497e-03 2.25094023e+02] [-1.63752036e-01 9.86500502e-01 -1.42512694e-03 -3.21504639e+01] [-8.26267644e-03 7.30341164e-05 9.99965861e-01 -3.12363711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:-32.16, Z:-3.12 [[ 9.86345714e-01 1.64448187e-01 8.88408501e-03 2.25121586e+02] [-1.64440852e-01 9.86385720e-01 -1.55491482e-03 -3.21573841e+01] [-9.01883751e-03 7.27770587e-05 9.99959327e-01 -3.12379555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.195769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.15, Y:-32.17, Z:-3.12 [[ 9.86400583e-01 1.64077002e-01 9.62429756e-03 2.25149481e+02] [-1.64068382e-01 9.86447531e-01 -1.68391306e-03 -3.21660111e+01] [-9.77015597e-03 8.19699050e-05 9.99952268e-01 -3.12432837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.18, Y:-32.17, Z:-3.12 [[ 9.86492730e-01 1.63699391e-01 5.88241960e-03 2.25178409e+02] [-1.63650420e-01 9.86485797e-01 -8.01949381e-03 -3.21701250e+01] [-7.11570964e-03 6.94851190e-03 9.99950541e-01 -3.12402233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.21, Y:-32.18, Z:-3.13 [[ 9.86781922e-01 1.61850743e-01 8.11023980e-03 2.25205299e+02] [-1.61898092e-01 9.86791797e-01 5.56387480e-03 -3.21828498e+01] [-7.10260084e-03 -6.80336342e-03 9.99951632e-01 -3.12526091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.23, Y:-32.19, Z:-3.13 [[ 9.86900308e-01 1.61183588e-01 6.90166873e-03 2.25234826e+02] [-1.61179089e-01 9.86924437e-01 -1.20683772e-03 -3.21870097e+01] [-7.00594797e-03 7.86238371e-05 9.99975455e-01 -3.12616485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.26, Y:-32.19, Z:-3.13 [[ 9.87101927e-01 1.59912970e-01 7.59124035e-03 2.25263410e+02] [-1.59907491e-01 9.87131112e-01 -1.32720816e-03 -3.21944212e+01] [-7.70578733e-03 9.61935327e-05 9.99970305e-01 -3.12635996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.29, Y:-32.21, Z:-3.13 [[ 9.87590576e-01 1.56767976e-01 9.41573316e-03 2.25291111e+02] [-1.56759407e-01 9.87635449e-01 -1.64583902e-03 -3.22063736e+01] [-9.55732669e-03 1.49410356e-04 9.99954317e-01 -3.12639559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:225.32, Y:-32.21, Z:-3.13 [[ 9.87845832e-01 1.55119121e-01 9.93329834e-03 2.25320067e+02] [-1.55109503e-01 9.87895758e-01 -1.73611412e-03 -3.22147846e+01] [-1.00823678e-02 1.74264126e-04 9.99949156e-01 -3.12675136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.35, Y:-32.22, Z:-3.13 [[ 9.88038966e-01 1.53890924e-01 9.82782221e-03 2.25350032e+02] [-1.53881448e-01 9.88087825e-01 -1.71776652e-03 -3.22231901e+01] [-9.97510014e-03 1.84900742e-04 9.99950230e-01 -3.12732417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.38, Y:-32.23, Z:-3.13 [[ 9.88145735e-01 1.53232806e-01 9.36558042e-03 2.25381490e+02] [-1.53224173e-01 9.88190100e-01 -1.63674088e-03 -3.22317295e+01] [-9.50577625e-03 1.82305205e-04 9.99954802e-01 -3.12782886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.41, Y:-32.24, Z:-3.13 [[ 9.87973829e-01 1.54411328e-01 8.05321281e-03 2.25410624e+02] [-1.54404975e-01 9.88006640e-01 -1.40855801e-03 -3.22444075e+01] [-8.17412504e-03 1.48162331e-04 9.99966580e-01 -3.12799473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.44, Y:-32.25, Z:-3.13 [[ 9.87627842e-01 1.56612103e-01 7.99342662e-03 2.25440588e+02] [-1.56605900e-01 9.87660180e-01 -1.39999243e-03 -3.22528499e+01] [-8.11404494e-03 1.30853734e-04 9.99967072e-01 -3.12778732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:-32.26, Z:-3.13 [[ 9.86745346e-01 1.61991768e-01 9.60671790e-03 2.25470016e+02] [-1.61983060e-01 9.86792104e-01 -1.68288050e-03 -3.22597903e+01] [-9.75244616e-03 1.04448932e-04 9.99952438e-01 -3.12792233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:-32.27, Z:-3.13 [[ 9.86280585e-01 1.64770252e-01 1.00683959e-02 2.25501559e+02] [-1.64760834e-01 9.86331971e-01 -1.76351431e-03 -3.22663233e+01] [-1.02213554e-02 8.04426323e-05 9.99947757e-01 -3.12855184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.53, Y:-32.27, Z:-3.13 [[ 9.85903583e-01 1.67004028e-01 1.01872013e-02 2.25532066e+02] [-1.66994486e-01 9.85956212e-01 -1.78618785e-03 -3.22735743e+01] [-1.03424349e-02 5.98025552e-05 9.99946514e-01 -3.12938868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.56, Y:-32.28, Z:-3.13 [[ 9.85705095e-01 1.68177110e-01 1.00958473e-02 2.25562358e+02] [-1.68167781e-01 9.85756794e-01 -1.77211750e-03 -3.22833786e+01] [-1.02500796e-02 4.89890214e-05 9.99947465e-01 -3.12930048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.59, Y:-32.29, Z:-3.13 [[ 9.85800796e-01 1.67636752e-01 9.73192319e-03 2.25593471e+02] [-1.67628058e-01 9.85848830e-01 -1.70808334e-03 -3.22908319e+01] [-9.88054264e-03 5.24865339e-05 9.99951185e-01 -3.12925107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.675769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.62, Y:-32.30, Z:-3.13 [[ 9.86162015e-01 1.65495601e-01 9.78195863e-03 2.25624670e+02] [-1.65486695e-01 9.86210525e-01 -1.71856807e-03 -3.23001544e+01] [-9.93148601e-03 7.60025406e-05 9.99950679e-01 -3.13048475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.705769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.66, Y:-32.31, Z:-3.13 [[ 9.86222818e-01 1.65130939e-01 9.81455368e-03 2.25656966e+02] [-1.65121939e-01 9.86271649e-01 -1.72591804e-03 -3.23085548e+01] [-9.96481852e-03 8.15416241e-05 9.99950347e-01 -3.13091406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.735769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.69, Y:-32.32, Z:-3.13 [[ 9.86256528e-01 1.64911494e-01 1.01123888e-02 2.25689359e+02] [-1.64901907e-01 9.86308365e-01 -1.78034835e-03 -3.23165598e+01] [-1.02675336e-02 8.83279797e-05 9.99947284e-01 -3.13110928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.72, Y:-32.33, Z:-3.13 [[ 9.86040259e-01 1.66206030e-01 1.00081415e-02 2.25720117e+02] [-1.66196686e-01 9.86091045e-01 -1.76399639e-03 -3.23254402e+01] [-1.01621255e-02 7.60515104e-05 9.99948361e-01 -3.13082719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.75, Y:-32.33, Z:-3.13 [[ 9.85790147e-01 1.67683487e-01 1.00016971e-02 2.25752712e+02] [-1.67674212e-01 9.85840882e-01 -1.76469705e-03 -3.23330314e+01] [-1.01559924e-02 6.25942781e-05 9.99948425e-01 -3.13137701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.78, Y:-32.34, Z:-3.13 [[ 9.85132566e-01 1.71481908e-01 1.03818468e-02 2.25783800e+02] [-1.71472102e-01 9.85187269e-01 -1.83404204e-03 -3.23428362e+01] [-1.05425683e-02 2.65774476e-05 9.99944425e-01 -3.13138337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.82, Y:-32.35, Z:-3.13 [[ 9.84778045e-01 1.73510322e-01 1.03135521e-02 2.25816429e+02] [-1.73500744e-01 9.84832051e-01 -1.82308306e-03 -3.23506855e+01] [-1.04734404e-02 5.92319842e-06 9.99945152e-01 -3.13117273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.85, Y:-32.36, Z:-3.13 [[ 9.84411308e-01 1.75585758e-01 1.01989130e-02 2.25848857e+02] [-1.75576483e-01 9.84464139e-01 -1.80476919e-03 -3.23577914e+01] [-1.03573558e-02 -1.40540743e-05 9.99946361e-01 -3.13222543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.88, Y:-32.37, Z:-3.13 [[ 9.83928989e-01 1.78306622e-01 9.51282755e-03 2.25881501e+02] [-1.78298664e-01 9.83974973e-01 -1.68503668e-03 -3.23651442e+01] [-9.66083743e-03 -3.81680094e-05 9.99953332e-01 -3.13356676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.91, Y:-32.37, Z:-3.13 [[ 9.83778973e-01 1.79119143e-01 9.76033840e-03 2.25913365e+02] [-1.79110785e-01 9.83827389e-01 -1.73089350e-03 -3.23710869e+01] [-9.91252440e-03 -4.53652463e-05 9.99950869e-01 -3.13409403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.94, Y:-32.38, Z:-3.13 [[ 9.83645793e-01 1.79815474e-01 1.03609359e-02 2.25944438e+02] [-1.79806074e-01 9.83700357e-01 -1.83944089e-03 -3.23768193e+01] [-1.05228163e-02 -5.36009086e-05 9.99944632e-01 -3.13361604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.98, Y:-32.38, Z:-3.13 [[ 9.83421627e-01 1.80938528e-01 1.19646054e-02 2.25976487e+02] [-1.80926045e-01 9.83494404e-01 -2.12665287e-03 -3.23797048e+01] [-1.21519159e-02 -7.33123087e-05 9.99926160e-01 -3.13352830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.01, Y:-32.38, Z:-3.13 [[ 9.83251988e-01 1.81858090e-01 1.19651047e-02 2.26009230e+02] [-1.81845650e-01 9.83324783e-01 -2.12874156e-03 -3.23837445e+01] [-1.21527128e-02 -8.27128705e-05 9.99926150e-01 -3.13424116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.04, Y:-32.39, Z:-3.13 [[ 9.82995255e-01 1.83295087e-01 1.11013240e-02 2.26042011e+02] [-1.83284446e-01 9.83057935e-01 -1.97709120e-03 -3.23850750e+01] [-1.12756357e-02 -9.12287504e-05 9.99936424e-01 -3.13419913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.07, Y:-32.39, Z:-3.13 [[ 9.82887760e-01 1.83858565e-01 1.12995548e-02 2.26074240e+02] [-1.83847555e-01 9.82952704e-01 -2.01436549e-03 -3.23877041e+01] [-1.14772863e-02 -9.75003405e-05 9.99934129e-01 -3.13426412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.11, Y:-32.39, Z:-3.13 [[ 9.82758584e-01 1.84522479e-01 1.17056012e-02 2.26105750e+02] [-1.84510687e-01 9.82828288e-01 -2.08884915e-03 -3.23903491e+01] [-1.18900356e-02 -1.06974073e-04 9.99929305e-01 -3.13495344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.14, Y:-32.39, Z:-3.14 [[ 9.82581831e-01 1.85404392e-01 1.25760523e-02 2.26136017e+02] [-1.85390825e-01 9.82662300e-01 -2.24627736e-03 -3.23902270e+01] [-1.27744822e-02 -1.24333394e-04 9.99918395e-01 -3.13526597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.17, Y:-32.39, Z:-3.14 [[ 9.82531860e-01 1.85647969e-01 1.28831644e-02 2.26166978e+02] [-1.85633755e-01 9.82616311e-01 -2.30098052e-03 -3.23929086e+01] [-1.30863798e-02 -1.30763501e-04 9.99914361e-01 -3.13528111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.20, Y:-32.39, Z:-3.14 [[ 9.82605077e-01 1.85292472e-01 1.24081704e-02 2.26198481e+02] [-1.85279259e-01 9.82683410e-01 -2.21614485e-03 -3.23916066e+01] [-1.26039381e-02 -1.21381430e-04 9.99920560e-01 -3.13531000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.23, Y:-32.39, Z:-3.14 [[ 9.82705968e-01 1.84790598e-01 1.18918409e-02 2.26227941e+02] [-1.84778425e-01 9.82777911e-01 -2.12392119e-03 -3.23926918e+01] [-1.20795192e-02 -1.10165604e-04 9.99927034e-01 -3.13581876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.26, Y:-32.40, Z:-3.14 [[ 9.82708098e-01 1.84779273e-01 1.18918129e-02 2.26257642e+02] [-1.84767097e-01 9.82780041e-01 -2.12407805e-03 -3.23979565e+01] [-1.20795220e-02 -1.09867046e-04 9.99927034e-01 -3.13619598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.29, Y:-32.40, Z:-3.14 [[ 9.82835058e-01 1.84136174e-01 1.13630240e-02 2.26287350e+02] [-1.84125015e-01 9.82900738e-01 -2.02951034e-03 -3.23992417e+01] [-1.15424309e-02 -9.75430468e-05 9.99933379e-01 -3.13654816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.32, Y:-32.40, Z:-3.14 [[ 9.82994983e-01 1.83251582e-01 1.18203510e-02 2.26317571e+02] [-1.83239446e-01 9.83066045e-01 -2.11089520e-03 -3.23973854e+01] [-1.20070106e-02 -9.09551796e-05 9.99927909e-01 -3.13649065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.35, Y:-32.40, Z:-3.14 [[ 9.82903480e-01 1.83712236e-01 1.22703999e-02 2.26347310e+02] [-1.83699199e-01 9.82980063e-01 -2.19095761e-03 -3.23986820e+01] [-1.24640642e-02 -1.00562765e-04 9.99922315e-01 -3.13668321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.38, Y:-32.39, Z:-3.14 [[ 9.82524436e-01 1.85696431e-01 1.27502501e-02 2.26377096e+02] [-1.85682525e-01 9.82607154e-01 -2.27630558e-03 -3.23943537e+01] [-1.29511888e-02 -1.30972772e-04 9.99916121e-01 -3.13688244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.41, Y:-32.40, Z:-3.14 [[ 9.82349451e-01 1.86608016e-01 1.29230059e-02 2.26406654e+02] [-1.86593818e-01 9.82434439e-01 -2.30650957e-03 -3.23952795e+01] [-1.31264192e-02 -1.45554604e-04 9.99913834e-01 -3.13742247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.43, Y:-32.40, Z:-3.14 [[ 9.82329730e-01 1.86697448e-01 1.31287401e-02 2.26434439e+02] [-1.86682812e-01 9.82417447e-01 -2.34254319e-03 -3.23964441e+01] [-1.33352501e-02 -1.49760287e-04 9.99911070e-01 -3.13771134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.46, Y:-32.40, Z:-3.14 [[ 9.82536346e-01 1.85565632e-01 1.37012480e-02 2.26463288e+02] [-1.85549593e-01 9.82631862e-01 -2.44379795e-03 -3.23953948e+01] [-1.39167677e-02 -1.41140678e-04 9.99903147e-01 -3.13722715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.49, Y:-32.40, Z:-3.14 [[ 9.82650417e-01 1.84976375e-01 1.34869720e-02 2.26492743e+02] [-1.84960789e-01 9.82742959e-01 -2.40476515e-03 -3.23972014e+01] [-1.36990516e-02 -1.31517521e-04 9.99906155e-01 -3.13787236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.52, Y:-32.40, Z:-3.14 [[ 9.82783211e-01 1.84324992e-01 1.27065935e-02 2.26521589e+02] [-1.84311111e-01 9.82865344e-01 -2.26502231e-03 -3.23965615e+01] [-1.29063706e-02 -1.15940472e-04 9.99916703e-01 -3.13858920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.55, Y:-32.40, Z:-3.14 [[ 9.82807498e-01 1.84171795e-01 1.30449567e-02 2.26550018e+02] [-1.84157163e-01 9.82894061e-01 -2.32452425e-03 -3.23997378e+01] [-1.32499223e-02 -1.17762355e-04 9.99912209e-01 -3.13892804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.58, Y:-32.40, Z:-3.14 [[ 9.82797408e-01 1.84206343e-01 1.33145479e-02 2.26577866e+02] [-1.84191112e-01 9.82887587e-01 -2.37188755e-03 -3.24022471e+01] [-1.35236206e-02 -1.21336452e-04 9.99908544e-01 -3.13912994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.61, Y:-32.40, Z:-3.14 [[ 9.82609823e-01 1.85161977e-01 1.38916485e-02 2.26605222e+02] [-1.85145505e-01 9.82708005e-01 -2.47375314e-03 -3.24010887e+01] [-1.41094792e-02 -1.41242133e-04 9.99900446e-01 -3.13855883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.63, Y:-32.40, Z:-3.14 [[ 9.82406086e-01 1.86192837e-01 1.45089217e-02 2.26633048e+02] [-1.86175003e-01 9.82513206e-01 -2.58221866e-03 -3.24036805e+01] [-1.47359978e-02 -1.64411213e-04 9.99891406e-01 -3.13940139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.66, Y:-32.41, Z:-3.14 [[ 9.81866996e-01 1.88994535e-01 1.47738651e-02 2.26661546e+02] [-1.88976377e-01 9.81978116e-01 -2.62827869e-03 -3.24061365e+01] [-1.50043425e-02 -2.11291400e-04 9.99887406e-01 -3.13957208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:-32.41, Z:-3.14 [[ 9.81618141e-01 1.90307147e-01 1.44573549e-02 2.26689501e+02] [-1.90289916e-01 9.81724573e-01 -2.57093269e-03 -3.24087154e+01] [-1.46824075e-02 -2.27414687e-04 9.99892182e-01 -3.13976252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.72, Y:-32.41, Z:-3.14 [[ 9.81313778e-01 1.91870664e-01 1.44539373e-02 2.26717706e+02] [-1.91853627e-01 9.81420188e-01 -2.56923531e-03 -3.24104958e+01] [-1.46783467e-02 -2.51814287e-04 9.99892236e-01 -3.14001073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.75, Y:-32.41, Z:-3.14 [[ 9.80997403e-01 1.93464266e-01 1.46858164e-02 2.26745905e+02] [-1.93446873e-01 9.81107282e-01 -2.60933177e-03 -3.24121860e+01] [-1.49131739e-02 -2.81177586e-04 9.99888753e-01 -3.14019497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.77, Y:-32.41, Z:-3.14 [[ 9.80405750e-01 1.96397172e-01 1.52550587e-02 2.26773650e+02] [-1.96378778e-01 9.80524368e-01 -2.70924551e-03 -3.24111643e+01] [-1.54900450e-02 -3.39609918e-04 9.99879964e-01 -3.14121363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.80, Y:-32.41, Z:-3.14 [[ 9.80250859e-01 1.97186815e-01 1.50204243e-02 2.26800659e+02] [-1.97169096e-01 9.80365870e-01 -2.66627556e-03 -3.24120726e+01] [-1.52512657e-02 -3.47944559e-04 9.99883632e-01 -3.14185746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:-32.41, Z:-3.14 [[ 9.80197324e-01 1.97524081e-01 1.40514529e-02 2.26829337e+02] [-1.97508624e-01 9.80297979e-01 -2.49314829e-03 -3.24091011e+01] [-1.42670677e-02 -3.31505837e-04 9.99898165e-01 -3.14283255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.86, Y:-32.41, Z:-3.14 [[ 9.80305274e-01 1.96959405e-01 1.44416928e-02 2.26856335e+02] [-1.96943033e-01 9.80411588e-01 -2.56128613e-03 -3.24107637e+01] [-1.46632723e-02 -3.33348465e-04 9.99892433e-01 -3.14366431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.88, Y:-32.41, Z:-3.14 [[ 9.80508613e-01 1.95885826e-01 1.52185311e-02 2.26884372e+02] [-1.95867535e-01 9.80626652e-01 -2.69775119e-03 -3.24133869e+01] [-1.54521484e-02 -3.35647894e-04 9.99880552e-01 -3.14381239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.91, Y:-32.41, Z:-3.14 [[ 9.81215190e-01 1.92210571e-01 1.64878004e-02 2.26912135e+02] [-1.92188606e-01 9.81353659e-01 -2.92142735e-03 -3.24127028e+01] [-1.67418925e-02 -3.02218481e-04 9.99859799e-01 -3.14264405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.94, Y:-32.41, Z:-3.14 [[ 9.81641527e-01 1.89980127e-01 1.69547745e-02 2.26940709e+02] [-1.89956591e-01 9.81787898e-01 -3.00275578e-03 -3.24135740e+01] [-1.72164563e-02 -2.73041393e-04 9.99851749e-01 -3.14297516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.97, Y:-32.41, Z:-3.14 [[ 9.82036541e-01 1.87923776e-01 1.69966743e-02 2.26968299e+02] [-1.87899839e-01 9.82183586e-01 -3.00886190e-03 -3.24146210e+01] [-1.72592912e-02 -2.38860032e-04 9.99851019e-01 -3.14362166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.00, Y:-32.41, Z:-3.15 [[ 9.82759805e-01 1.84044215e-01 1.76321673e-02 2.26996823e+02] [-1.84017856e-01 9.82917949e-01 -3.11987877e-03 -3.24149176e+01] [-1.79051693e-02 -1.78542178e-04 9.99839674e-01 -3.14541638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.02, Y:-32.42, Z:-3.15 [[ 9.83216418e-01 1.81583847e-01 1.76856191e-02 2.27024841e+02] [-1.81556953e-01 9.83375456e-01 -3.12804895e-03 -3.24185365e+01] [-1.79596070e-02 -1.35398033e-04 9.99838704e-01 -3.14632070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.05, Y:-32.42, Z:-3.15 [[ 9.84251711e-01 1.75876654e-01 1.77756163e-02 2.27052478e+02] [-1.75848578e-01 9.84412211e-01 -3.14266947e-03 -3.24219644e+01] [-1.80512559e-02 -3.26390439e-05 9.99837062e-01 -3.14726434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.08, Y:-32.43, Z:-3.15 [[ 9.84824194e-01 1.72680779e-01 1.73969958e-02 2.27079082e+02] [-1.72653411e-01 9.84977841e-01 -3.07433968e-03 -3.24273579e+01] [-1.76665347e-02 2.40334329e-05 9.99843934e-01 -3.14746948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.11, Y:-32.43, Z:-3.15 [[ 9.85384315e-01 1.69506670e-01 1.68890763e-02 2.27106306e+02] [-1.69480438e-01 9.85529037e-01 -2.98302661e-03 -3.24339256e+01] [-1.71503180e-02 7.70595877e-05 9.99852920e-01 -3.14803147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.13, Y:-32.44, Z:-3.15 [[ 9.86255363e-01 1.64363434e-01 1.68825497e-02 2.27132314e+02] [-1.64336489e-01 9.86399835e-01 -2.98058924e-03 -3.24425973e+01] [-1.71428441e-02 1.65203182e-04 9.99853037e-01 -3.14880066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.16, Y:-32.45, Z:-3.15 [[ 9.86517279e-01 1.62698259e-01 1.76899741e-02 2.27159460e+02] [-1.62668434e-01 9.86675851e-01 -3.12165604e-03 -3.24487556e+01] [-1.79621583e-02 2.01967235e-04 9.99838647e-01 -3.14908456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.19, Y:-32.46, Z:-3.15 [[ 9.86524291e-01 1.62486772e-01 1.91800164e-02 2.27186863e+02] [-1.62451696e-01 9.86710697e-01 -3.38329708e-03 -3.24565558e+01] [-1.94748684e-02 2.21878554e-04 9.99810322e-01 -3.14959657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.21, Y:-32.46, Z:-3.15 [[ 9.86354344e-01 1.63538741e-01 1.89786480e-02 2.27214025e+02] [-1.63504611e-01 9.86536893e-01 -3.34679301e-03 -3.24630311e+01] [-1.92704667e-02 1.98027363e-04 9.99814288e-01 -3.15024670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:-32.47, Z:-3.15 [[ 9.86076019e-01 1.65287180e-01 1.82820282e-02 2.27241909e+02] [-1.65255829e-01 9.86245468e-01 -3.22295221e-03 -3.24695289e+01] [-1.85632802e-02 1.56864157e-04 9.99827675e-01 -3.15147231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.27, Y:-32.48, Z:-3.15 [[ 9.85477478e-01 1.69042548e-01 1.60859072e-02 2.27268448e+02] [-1.69018792e-01 9.85608752e-01 -2.83487445e-03 -3.24755304e+01] [-1.63336254e-02 7.48843091e-05 9.99866595e-01 -3.15341693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:-32.48, Z:-3.15 [[ 9.85216216e-01 1.70600643e-01 1.56342081e-02 2.27295460e+02] [-1.70578424e-01 9.85340255e-01 -2.75364225e-03 -3.24801874e+01] [-1.58747878e-02 4.60744131e-05 9.99873987e-01 -3.15396170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.32, Y:-32.49, Z:-3.15 [[ 9.84914819e-01 1.72309826e-01 1.58783986e-02 2.27323463e+02] [-1.72287155e-01 9.85042803e-01 -2.79509169e-03 -3.24851468e+01] [-1.61225240e-02 1.72831036e-05 9.99870024e-01 -3.15397001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.35, Y:-32.49, Z:-3.15 [[ 9.84389694e-01 1.75259278e-01 1.61590739e-02 2.27349778e+02] [-1.75236214e-01 9.84522313e-01 -2.84334785e-03 -3.24885410e+01] [-1.64072919e-02 -3.26926189e-05 9.99865391e-01 -3.15451697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.38, Y:-32.49, Z:-3.16 [[ 9.84201482e-01 1.76289700e-01 1.64129110e-02 2.27377644e+02] [-1.76266069e-01 9.84338325e-01 -2.88685141e-03 -3.24919080e+01] [-1.66647795e-02 -5.17958684e-05 9.99861132e-01 -3.15566158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:227.40, Y:-32.49, Z:-3.16 [[ 9.84064955e-01 1.76940199e-01 1.75593397e-02 2.27404759e+02] [-1.76913279e-01 9.84221602e-01 -3.08715105e-03 -3.24940258e+01] [-1.78285226e-02 -6.85232008e-05 9.99841057e-01 -3.15667020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:-32.50, Z:-3.16 [[ 9.84066877e-01 1.76905706e-01 1.77975735e-02 2.27432853e+02] [-1.76878070e-01 9.84227802e-01 -3.12763639e-03 -3.24983144e+01] [-1.80701634e-02 -7.01970821e-05 9.99836719e-01 -3.15782859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.46, Y:-32.50, Z:-3.16 [[ 9.84197980e-01 1.76192055e-01 1.76265683e-02 2.27459813e+02] [-1.76164858e-01 9.84355808e-01 -3.09618321e-03 -3.25022759e+01] [-1.78963378e-02 -5.79246413e-05 9.99839846e-01 -3.15883482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.49, Y:-32.51, Z:-3.16 [[ 9.84593949e-01 1.74035687e-01 1.69214148e-02 2.27486543e+02] [-1.74010331e-01 9.84739346e-01 -2.97075889e-03 -3.25056870e+01] [-1.71802010e-02 -1.95097659e-05 9.99852409e-01 -3.15905246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.51, Y:-32.51, Z:-3.16 [[ 9.84771461e-01 1.73026646e-01 1.69395857e-02 2.27514534e+02] [-1.73001109e-01 9.84917144e-01 -2.97264206e-03 -3.25096524e+01] [-1.71984347e-02 -3.19404868e-06 9.99852096e-01 -3.15955892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.54, Y:-32.51, Z:-3.16 [[ 9.84931649e-01 1.72125522e-01 1.68062756e-02 2.27542383e+02] [-1.72100274e-01 9.85075025e-01 -2.94809155e-03 -3.25143517e+01] [-1.70628842e-02 1.13040397e-05 9.99854418e-01 -3.15992328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68576923100002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:227.57, Y:-32.52, Z:-3.15 [[ 9.85105995e-01 1.71133586e-01 1.67174870e-02 2.27568446e+02] [-1.71108481e-01 9.85247834e-01 -2.93130749e-03 -3.25206265e+01] [-1.69725131e-02 2.71447672e-05 9.99855956e-01 -3.15435139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:227.60, Y:-32.53, Z:-3.16 [[ 9.85207848e-01 1.70483837e-01 1.73423866e-02 2.27596176e+02] [-1.70456744e-01 9.85360472e-01 -3.03950140e-03 -3.25253024e+01] [-1.76066881e-02 3.84138880e-05 9.99844990e-01 -3.16045724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.62, Y:-32.53, Z:-3.16 [[ 9.85371547e-01 1.69487192e-01 1.78046459e-02 2.27623909e+02] [-1.69458495e-01 9.85532388e-01 -3.11927193e-03 -3.25309464e+01] [-1.80757318e-02 5.64933057e-05 9.99836619e-01 -3.16097230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.65, Y:-32.54, Z:-3.16 [[ 9.85693105e-01 1.67456123e-01 1.91715852e-02 2.27650944e+02] [-1.67422493e-01 9.85879525e-01 -3.35736395e-03 -3.25375473e+01] [-1.94630844e-02 9.95759049e-05 9.99810571e-01 -3.16238295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.68, Y:-32.54, Z:-3.16 [[ 9.85832337e-01 1.66632576e-01 1.91882312e-02 2.27678691e+02] [-1.66598755e-01 9.86019052e-01 -3.35908141e-03 -3.25436753e+01] [-1.94796939e-02 1.14755660e-04 9.99810246e-01 -3.16305019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.71, Y:-32.55, Z:-3.16 [[ 9.85927623e-01 1.66136763e-01 1.85822204e-02 2.27705513e+02] [-1.66104975e-01 9.86102714e-01 -3.25202469e-03 -3.25498485e+01] [-1.88642588e-02 1.19661720e-04 9.99822047e-01 -3.16321659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:-32.56, Z:-3.16 [[ 9.85934536e-01 1.66150111e-01 1.80895235e-02 2.27733198e+02] [-1.66120007e-01 9.86100465e-01 -3.16477534e-03 -3.25575218e+01] [-1.83639153e-02 1.15229527e-04 9.99831362e-01 -3.16398740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:-32.56, Z:-3.16 [[ 9.85901298e-01 1.66332760e-01 1.82220632e-02 2.27760688e+02] [-1.66302263e-01 9.86069673e-01 -3.18696926e-03 -3.25639889e+01] [-1.84983213e-02 1.11666794e-04 9.99828885e-01 -3.16443523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.79, Y:-32.57, Z:-3.16 [[ 9.85906590e-01 1.66253428e-01 1.86545861e-02 2.27787351e+02] [-1.66221476e-01 9.86083052e-01 -3.26133867e-03 -3.25703251e+01] [-1.89371800e-02 1.14582447e-04 9.99820669e-01 -3.16457934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.955769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:227.81, Y:-32.58, Z:-3.17 [[ 9.86002271e-01 1.65532817e-01 1.99601447e-02 2.27814813e+02] [-1.65496116e-01 9.86204273e-01 -3.48820195e-03 -3.25784386e+01] [-2.02621919e-02 1.36048625e-04 9.99794691e-01 -3.16522534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.84, Y:-32.59, Z:-3.17 [[ 9.86030225e-01 1.65289014e-01 2.05897534e-02 2.27843127e+02] [-1.65249929e-01 9.86245163e-01 -3.59721113e-03 -3.25852138e+01] [-2.09011241e-02 1.44503604e-04 9.99781537e-01 -3.16551610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.015769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.87, Y:-32.59, Z:-3.17 [[ 9.85998706e-01 1.65506283e-01 2.03524325e-02 2.27869723e+02] [-1.65468163e-01 9.86208726e-01 -3.55466010e-03 -3.25932740e+01] [-2.06600651e-02 1.37210654e-04 9.99786549e-01 -3.16638795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.90, Y:-32.60, Z:-3.17 [[ 9.85951065e-01 1.65863763e-01 1.97410445e-02 2.27898283e+02] [-1.65827993e-01 9.86148669e-01 -3.44678706e-03 -3.25999262e+01] [-2.00393019e-02 1.24745590e-04 9.99799185e-01 -3.16763176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.93, Y:-32.61, Z:-3.17 [[ 9.86010900e-01 1.65576634e-01 1.91541936e-02 2.27926626e+02] [-1.65542923e-01 9.86196919e-01 -3.34340746e-03 -3.26064768e+01] [-1.94433968e-02 1.25795010e-04 9.99810951e-01 -3.16864857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:-32.61, Z:-3.17 [[ 9.86115412e-01 1.64874056e-01 1.98227362e-02 2.27953886e+02] [-1.64837829e-01 9.86314618e-01 -3.45902342e-03 -3.26149675e+01] [-2.01217577e-02 1.43459502e-04 9.99797527e-01 -3.16881893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:-32.62, Z:-3.17 [[ 9.86066125e-01 1.65168356e-01 1.98244853e-02 2.27982170e+02] [-1.65132205e-01 9.86265378e-01 -3.45821685e-03 -3.26218232e+01] [-2.01233915e-02 1.36369510e-04 9.99797495e-01 -3.16819426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:-32.63, Z:-3.17 [[ 9.85639039e-01 1.67738814e-01 1.94775439e-02 2.28009132e+02] [-1.67704439e-01 9.85831468e-01 -3.39668545e-03 -3.26288733e+01] [-1.97713317e-02 8.14352041e-05 9.99804525e-01 -3.16844557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.04, Y:-32.63, Z:-3.17 [[ 9.85644854e-01 1.67704625e-01 1.94777118e-02 2.28038039e+02] [-1.67670262e-01 9.85837285e-01 -3.39572268e-03 -3.26338273e+01] [-1.97713329e-02 8.11435452e-05 9.99804525e-01 -3.16881233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.07, Y:-32.64, Z:-3.17 [[ 9.85291924e-01 1.69736571e-01 1.97312112e-02 2.28066180e+02] [-1.69701730e-01 9.85489470e-01 -3.43920630e-03 -3.26396927e+01] [-2.00286599e-02 4.02015273e-05 9.99799405e-01 -3.16914398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.09, Y:-32.65, Z:-3.17 [[ 9.84954287e-01 1.71579988e-01 2.06242512e-02 2.28093393e+02] [-1.71542344e-01 9.85170192e-01 -3.59390922e-03 -3.26451575e+01] [-2.09350405e-02 1.90387974e-06 9.99780838e-01 -3.17002460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.12, Y:-32.65, Z:-3.17 [[ 9.84419181e-01 1.74388252e-01 2.25303078e-02 2.28120903e+02] [-1.74344093e-01 9.84676969e-01 -3.92476620e-03 -3.26531962e+01] [-2.28695083e-02 -6.44109414e-05 9.99738457e-01 -3.17146412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:228.15, Y:-32.66, Z:-3.17 [[ 9.84313818e-01 1.75065851e-01 2.18690409e-02 2.28147577e+02] [-1.75024439e-01 9.84556723e-01 -3.80844648e-03 -3.26598607e+01] [-2.21980402e-02 -7.89101195e-05 9.99753590e-01 -3.17260956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:228.17, Y:-32.67, Z:-3.17 [[ 9.84369096e-01 1.75089720e-01 1.90018963e-02 2.28174031e+02] [-1.75058480e-01 9.84552480e-01 -3.30811738e-03 -3.26694681e+01] [-1.92875815e-02 -7.00345676e-05 9.99813975e-01 -3.17406541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.20, Y:-32.68, Z:-3.18 [[ 9.84413130e-01 1.74931143e-01 1.81627258e-02 2.28202142e+02] [-1.74902592e-01 9.84580668e-01 -3.16105889e-03 -3.26763834e+01] [-1.84356363e-02 -6.49199435e-05 9.99830047e-01 -3.17519169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.23, Y:-32.68, Z:-3.18 [[ 9.84380928e-01 1.75130422e-01 1.79867880e-02 2.28229207e+02] [-1.75102472e-01 9.84545240e-01 -3.12951174e-03 -3.26827450e+01] [-1.82568793e-02 -6.88993785e-05 9.99833327e-01 -3.17595531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:228.26, Y:-32.69, Z:-3.18 [[ 9.84034347e-01 1.77036245e-01 1.82913094e-02 2.28256159e+02] [-1.77007690e-01 9.84204327e-01 -3.18133649e-03 -3.26900501e+01] [-1.85655977e-02 -1.07158062e-04 9.99827639e-01 -3.17696779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.28, Y:-32.70, Z:-3.18 [[ 9.83750957e-01 1.78622134e-01 1.81159637e-02 2.28283056e+02] [-1.78594413e-01 9.83917738e-01 -3.14974670e-03 -3.26959536e+01] [-1.83872325e-02 -1.36843571e-04 9.99830931e-01 -3.17726967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.31, Y:-32.70, Z:-3.18 [[ 9.83240391e-01 1.81457212e-01 1.76525986e-02 2.28311009e+02] [-1.81431365e-01 9.83398823e-01 -3.06824396e-03 -3.27028616e+01] [-1.79162997e-02 -1.85913673e-04 9.99839473e-01 -3.17805266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:228.34, Y:-32.71, Z:-3.18 [[ 9.83142603e-01 1.81997114e-01 1.75405853e-02 2.28339581e+02] [-1.81971695e-01 9.83299045e-01 -3.04795235e-03 -3.27093637e+01] [-1.78023593e-02 -1.95318222e-04 9.99841506e-01 -3.17914745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:228.37, Y:-32.72, Z:-3.18 [[ 9.83195323e-01 1.81701272e-01 1.76523508e-02 2.28366936e+02] [-1.81675495e-01 9.83353757e-01 -3.06648031e-03 -3.27157982e+01] [-1.79156888e-02 -1.92050475e-04 9.99839483e-01 -3.17980598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.39, Y:-32.73, Z:-3.18 [[ 9.83248327e-01 1.81302481e-01 1.87653342e-02 2.28394188e+02] [-1.81273300e-01 9.83427359e-01 -3.25875196e-03 -3.27256227e+01] [-1.90451629e-02 -1.97491642e-04 9.99818605e-01 -3.18000870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.42, Y:-32.73, Z:-3.18 [[ 9.83367054e-01 1.80621663e-01 1.91063321e-02 2.28423305e+02] [-1.80591297e-01 9.83552632e-01 -3.31721111e-03 -3.27337802e+01] [-1.93912434e-02 -1.88401186e-04 9.99811954e-01 -3.18085644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.645769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.45, Y:-32.74, Z:-3.18 [[ 9.83464460e-01 1.80063038e-01 1.93638331e-02 2.28452317e+02] [-1.80031749e-01 9.83655056e-01 -3.36144479e-03 -3.27414150e+01] [-1.96526043e-02 -1.80243255e-04 9.99806853e-01 -3.18188698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.675769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:228.48, Y:-32.75, Z:-3.18 [[ 9.83392117e-01 1.80418965e-01 1.97215801e-02 2.28480577e+02] [-1.80386585e-01 9.83589834e-01 -3.42332873e-03 -3.27515221e+01] [-2.00155791e-02 -1.91033995e-04 9.99799650e-01 -3.18289107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.705769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:228.51, Y:-32.76, Z:-3.18 [[ 9.83113140e-01 1.81882359e-01 2.01831802e-02 2.28508482e+02] [-1.81848758e-01 9.83320271e-01 -3.50326385e-03 -3.27610631e+01] [-2.04837121e-02 -2.26181540e-04 9.99790161e-01 -3.18353582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.735769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:228.54, Y:-32.77, Z:-3.18 [[ 9.82968997e-01 1.82691193e-01 1.98967234e-02 2.28536474e+02] [-1.82658722e-01 9.83170316e-01 -3.45268124e-03 -3.27678281e+01] [-2.01926423e-02 -2.40431456e-04 9.99796079e-01 -3.18385132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.56, Y:-32.77, Z:-3.18 [[ 9.82836211e-01 1.83476183e-01 1.92216708e-02 2.28564954e+02] [-1.83446045e-01 9.83024124e-01 -3.33471969e-03 -3.27749894e+01] [-1.95072078e-02 -2.48656224e-04 9.99809685e-01 -3.18466573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.59, Y:-32.79, Z:-3.19 [[ 9.82666581e-01 1.84652768e-01 1.64239306e-02 2.28593570e+02] [-1.84630936e-01 9.82803796e-01 -2.84888753e-03 -3.27860156e+01] [-1.66675563e-02 -2.32859123e-04 9.99861060e-01 -3.18645886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.62, Y:-32.79, Z:-3.19 [[ 9.82745068e-01 1.84305235e-01 1.56112684e-02 2.28621679e+02] [-1.84285468e-01 9.82869032e-01 -2.70788442e-03 -3.27941341e+01] [-1.58429096e-02 -2.15769843e-04 9.99874470e-01 -3.18754616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.855769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:228.65, Y:-32.81, Z:-3.19 [[ 9.82920629e-01 1.83339145e-01 1.59309218e-02 2.28650721e+02] [-1.83318436e-01 9.83049702e-01 -2.76318120e-03 -3.28055699e+01] [-1.61674872e-02 -2.04443861e-04 9.99869277e-01 -3.18892859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.885769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:228.68, Y:-32.81, Z:-3.19 [[ 9.82851567e-01 1.83687780e-01 1.61739436e-02 2.28680612e+02] [-1.83666481e-01 9.82984615e-01 -2.80533276e-03 -3.28145337e+01] [-1.64140431e-02 -2.13385605e-04 9.99865258e-01 -3.18921321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.71, Y:-32.82, Z:-3.19 [[ 9.82634673e-01 1.84862375e-01 1.59687789e-02 2.28711725e+02] [-1.84841757e-01 9.82764392e-01 -2.77037600e-03 -3.28241208e+01] [-1.62056856e-02 -2.29429640e-04 9.99868653e-01 -3.18953720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.74, Y:-32.83, Z:-3.19 [[ 9.82292213e-01 1.86698300e-01 1.56765375e-02 2.28741798e+02] [-1.86678622e-01 9.82417264e-01 -2.72229531e-03 -3.28329944e+01] [-1.59091490e-02 -2.52384926e-04 9.99873410e-01 -3.18931639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:228.77, Y:-32.84, Z:-3.19 [[ 9.81237345e-01 1.92022709e-01 1.73364209e-02 2.28771457e+02] [-1.91999433e-01 9.81390412e-01 -3.01283760e-03 -3.28431057e+01] [-1.75923305e-02 -3.72274220e-04 9.99845174e-01 -3.18857013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.80, Y:-32.85, Z:-3.19 [[ 9.79971522e-01 1.98258557e-01 1.86911815e-02 2.28800462e+02] [-1.98232620e-01 9.80149617e-01 -3.24896022e-03 -3.28504368e+01] [-1.89642886e-02 -5.21313389e-04 9.99820026e-01 -3.18968352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.83, Y:-32.86, Z:-3.19 [[ 9.79301459e-01 2.01567362e-01 1.84187767e-02 2.28830333e+02] [-2.01542741e-01 9.79474485e-01 -3.20262856e-03 -3.28562962e+01] [-1.86862673e-02 -5.75831922e-04 9.99825231e-01 -3.19097095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.86, Y:-32.86, Z:-3.19 [[ 9.78645535e-01 2.04801345e-01 1.75876491e-02 2.28860786e+02] [-2.04779403e-01 9.78803371e-01 -3.05887843e-03 -3.28624808e+01] [-1.78413127e-02 -6.08030559e-04 9.99840646e-01 -3.19173833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09576923100002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:228.89, Y:-32.87, Z:-3.19 [[ 9.78181340e-01 2.07071975e-01 1.68066640e-02 2.28889536e+02] [-2.07052267e-01 9.78325515e-01 -2.92338007e-03 -3.28671888e+01] [-1.70477383e-02 -6.20262047e-04 9.99854484e-01 -3.19209112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:228.92, Y:-32.87, Z:-3.19 [[ 9.77949229e-01 2.08127722e-01 1.72672283e-02 2.28918984e+02] [-2.08107083e-01 9.78101437e-01 -3.00354189e-03 -3.28706433e+01] [-1.75142211e-02 -6.56121029e-04 9.99846399e-01 -3.19272314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15576923100002 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:228.95, Y:-32.88, Z:-3.19 [[ 9.78232030e-01 2.06760142e-01 1.76731375e-02 2.28950413e+02] [-2.06738301e-01 9.78391448e-01 -3.07398672e-03 -3.28756681e+01] [-1.79268245e-02 -6.46642153e-04 9.99839092e-01 -3.19319037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18576923100002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:228.98, Y:-32.88, Z:-3.19 [[ 9.79479353e-01 2.00818504e-01 1.70916904e-02 2.28983060e+02] [-2.00797151e-01 9.79628327e-01 -2.97408675e-03 -3.28819016e+01] [-1.73407557e-02 -5.18906168e-04 9.99849503e-01 -3.19471190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21576923100002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:229.01, Y:-32.89, Z:-3.20 [[ 9.80197541e-01 1.97361370e-01 1.61638638e-02 2.29014603e+02] [-1.97341752e-01 9.80330712e-01 -2.81567288e-03 -3.28877513e+01] [-1.64016372e-02 -4.29889571e-04 9.99865392e-01 -3.19535776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24576923100003 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:229.05, Y:-32.89, Z:-3.20 [[ 9.81663540e-01 1.90050080e-01 1.47533440e-02 2.29046118e+02] [-1.90032873e-01 9.81774358e-01 -2.57245857e-03 -3.28931314e+01] [-1.49733508e-02 -2.78331559e-04 9.99887854e-01 -3.19575174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27576923100003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:229.08, Y:-32.90, Z:-3.20 [[ 9.82323706e-01 1.86607557e-01 1.47565933e-02 2.29078856e+02] [-1.86589917e-01 9.82434512e-01 -2.57551535e-03 -3.28991466e+01] [-1.49779971e-02 -2.23441733e-04 9.99887799e-01 -3.19688055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30576923100003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:229.11, Y:-32.91, Z:-3.20 [[ 9.82941088e-01 1.83303486e-01 1.50548758e-02 2.29111304e+02] [-1.83284692e-01 9.83056357e-01 -2.63057638e-03 -3.29053944e+01] [-1.52819852e-02 -1.73626663e-04 9.99883209e-01 -3.19795798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33576923100003 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:229.14, Y:-32.91, Z:-3.20 [[ 9.84036672e-01 1.77191740e-01 1.65805692e-02 2.29142691e+02] [-1.77168014e-01 9.84176346e-01 -2.90071423e-03 -3.29129307e+01] [-1.68321867e-02 -8.31373476e-05 9.99858325e-01 -3.19835274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36576923100003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:229.17, Y:-32.92, Z:-3.20 [[ 9.84465435e-01 1.74779317e-01 1.67331374e-02 2.29174989e+02] [-1.74754751e-01 9.84607632e-01 -2.93058154e-03 -3.29204210e+01] [-1.69877798e-02 -3.91390288e-05 9.99855696e-01 -3.19843223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.395769231 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:229.21, Y:-32.93, Z:-3.20 [[ 9.84929411e-01 1.72266604e-01 1.54360690e-02 2.29206467e+02] [-1.72245347e-01 9.85050363e-01 -2.70617052e-03 -3.29302249e+01] [-1.56714882e-02 6.59585938e-06 9.99877195e-01 -3.19913677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.425769231 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:229.24, Y:-32.94, Z:-3.20 [[ 9.84980780e-01 1.72030895e-01 1.47727298e-02 2.29237239e+02] [-1.72011358e-01 9.85091555e-01 -2.59265841e-03 -3.29382935e+01] [-1.49985087e-02 1.26413939e-05 9.99887516e-01 -3.19982540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.455769231 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:229.27, Y:-32.95, Z:-3.20 [[ 9.84961005e-01 1.72170923e-01 1.44565348e-02 2.29269778e+02] [-1.72152189e-01 9.85067091e-01 -2.53981980e-03 -3.29463213e+01] [-1.46779398e-02 1.28993513e-05 9.99892273e-01 -3.20068615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.485769231 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:229.30, Y:-32.95, Z:-3.20 [[ 9.84874713e-01 1.72626269e-01 1.48986737e-02 2.29301218e+02] [-1.72606378e-01 9.84987396e-01 -2.62053083e-03 -3.29543643e+01] [-1.51273783e-02 9.28844928e-06 9.99885575e-01 -3.20146161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.515769231 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:229.33, Y:-32.97, Z:-3.20 [[ 9.84921323e-01 1.72343997e-01 1.50842336e-02 2.29331215e+02] [-1.72323531e-01 9.85036825e-01 -2.65602334e-03 -3.29662542e+01] [-1.53162753e-02 1.66056193e-05 9.99882699e-01 -3.20244698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.545769231 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:229.36, Y:-32.98, Z:-3.20 [[ 9.85106256e-01 1.71297481e-01 1.49277654e-02 2.29361047e+02] [-1.71277275e-01 9.85219352e-01 -2.63121160e-03 -3.29796103e+01] [-1.51578433e-02 3.52360271e-05 9.99885113e-01 -3.20370270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.575769231 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:229.39, Y:-32.99, Z:-3.20 [[ 9.85100687e-01 1.71310753e-01 1.51414283e-02 2.29393202e+02] [-1.71289922e-01 9.85217044e-01 -2.67171554e-03 -3.29890916e+01] [-1.53752869e-02 3.83347358e-05 9.99881793e-01 -3.20408590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.605769231 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:229.42, Y:-33.00, Z:-3.20 [[ 9.85040041e-01 1.71652700e-01 1.52140637e-02 2.29424876e+02] [-1.71631664e-01 9.85157525e-01 -2.68752901e-03 -3.29978907e+01] [-1.54495709e-02 3.61086249e-05 9.99880648e-01 -3.20419730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.635769231 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:229.46, Y:-33.01, Z:-3.20 [[ 9.84815032e-01 1.72956695e-01 1.50111550e-02 2.29456284e+02] [-1.72936324e-01 9.84929430e-01 -2.65456136e-03 -3.30064236e+01] [-1.52440525e-02 1.82779668e-05 9.99883803e-01 -3.20445875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.665769231 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:229.49, Y:-33.02, Z:-3.21 [[ 9.84066983e-01 1.77253612e-01 1.39042772e-02 2.29487552e+02] [-1.77236529e-01 9.84165207e-01 -2.46122243e-03 -3.30162177e+01] [-1.41203664e-02 -4.23380971e-05 9.99900302e-01 -3.20505966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.695769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:229.52, Y:-33.03, Z:-3.21 [[ 9.83112649e-01 1.82412844e-01 1.46653990e-02 2.29517957e+02] [-1.82394368e-01 9.83222020e-01 -2.59893700e-03 -3.30253289e+01] [-1.48934227e-02 -1.19838348e-04 9.99889080e-01 -3.20558411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72576923100002 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:229.55, Y:-33.03, Z:-3.21 [[ 9.82757531e-01 1.84282052e-01 1.50917673e-02 2.29549636e+02] [-1.84262663e-01 9.82873391e-01 -2.67734883e-03 -3.30327421e+01] [-1.53266839e-02 -1.49664511e-04 9.99882528e-01 -3.20637039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75576923100002 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:229.58, Y:-33.04, Z:-3.21 [[ 9.82510411e-01 1.85584747e-01 1.52182252e-02 2.29581825e+02] [-1.85565142e-01 9.82628248e-01 -2.70273822e-03 -3.30404020e+01] [-1.54554449e-02 -1.68503678e-04 9.99880543e-01 -3.20721530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78576923100002 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:229.61, Y:-33.05, Z:-3.21 [[ 9.82466960e-01 1.85847900e-01 1.48064606e-02 2.29612192e+02] [-1.85829332e-01 9.82578511e-01 -2.63223472e-03 -3.30509771e+01] [-1.50377053e-02 -1.65391049e-04 9.99886914e-01 -3.20872609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81576923100002 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:229.64, Y:-33.06, Z:-3.21 [[ 9.82631114e-01 1.84956938e-01 1.50673576e-02 2.29643415e+02] [-1.84937574e-01 9.82746614e-01 -2.68062396e-03 -3.30608431e+01] [-1.53031947e-02 -1.52456061e-04 9.99882888e-01 -3.20961594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84576923100002 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:229.67, Y:-33.07, Z:-3.21 [[ 9.83085008e-01 1.82465902e-01 1.58133708e-02 2.29674653e+02] [-1.82444203e-01 9.83212175e-01 -2.81633972e-03 -3.30749757e+01] [-1.60617846e-02 -1.16356461e-04 9.99870994e-01 -3.20993213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87576923100002 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:229.71, Y:-33.08, Z:-3.21 [[ 9.83184790e-01 1.81919581e-01 1.59039322e-02 2.29705337e+02] [-1.81897512e-01 9.83313406e-01 -2.83550540e-03 -3.30838543e+01] [-1.61543837e-02 -1.05059915e-04 9.99869504e-01 -3.21035164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90576923100002 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:229.74, Y:-33.09, Z:-3.21 [[ 9.83079742e-01 1.82552326e-01 1.51283957e-02 2.29735912e+02] [-1.82532392e-01 9.83196133e-01 -2.69984379e-03 -3.30924156e+01] [-1.53670430e-02 -1.07260524e-04 9.99881914e-01 -3.21096858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:229.77, Y:-33.10, Z:-3.21 [[ 9.82503271e-01 1.85910762e-01 1.11585035e-02 2.29766949e+02] [-1.85900118e-01 9.82566626e-01 -1.99274983e-03 -3.31039175e+01] [-1.13344467e-02 -1.16483887e-04 9.99935756e-01 -3.21297138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96576923100002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:229.80, Y:-33.11, Z:-3.21 [[ 9.81964047e-01 1.88811525e-01 9.83958812e-03 2.29799336e+02] [-1.88803378e-01 9.82013335e-01 -1.75879680e-03 -3.31128952e+01] [-9.99468786e-03 -1.30672255e-04 9.99950043e-01 -3.21300714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99576923100003 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:229.83, Y:-33.12, Z:-3.21 [[ 9.80486209e-01 1.96338085e-01 9.90712027e-03 2.29830055e+02] [-1.96330190e-01 9.80536238e-01 -1.77286099e-03 -3.31214446e+01] [-1.00623706e-02 -2.06801055e-04 9.99949352e-01 -3.21347011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02576923100003 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:229.86, Y:-33.13, Z:-3.21 [[ 9.79792408e-01 1.99748241e-01 1.03671289e-02 2.29861895e+02] [-1.99739765e-01 9.79847221e-01 -1.85716165e-03 -3.31281734e+01] [-1.05291673e-02 -2.51095011e-04 9.99944535e-01 -3.21447091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05576923100003 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:229.89, Y:-33.14, Z:-3.21 [[ 9.79343862e-01 2.01909943e-01 1.08615887e-02 2.29892919e+02] [-2.01900746e-01 9.79404050e-01 -1.94806906e-03 -3.31352577e+01] [-1.10312185e-02 -2.85133384e-04 9.99939114e-01 -3.21476816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08576923100003 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:229.93, Y:-33.14, Z:-3.22 [[ 9.79328287e-01 2.01985486e-01 1.08613500e-02 2.29925858e+02] [-2.01976279e-01 9.79388474e-01 -1.94939893e-03 -3.31413123e+01] [-1.10312313e-02 -2.84633538e-04 9.99939114e-01 -3.21518723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:229.96, Y:-33.15, Z:-3.22 [[ 9.79043709e-01 2.03343082e-01 1.11806908e-02 2.29957527e+02] [-2.03333405e-01 9.79107500e-01 -2.00751072e-03 -3.31502327e+01] [-1.13553116e-02 -3.07967196e-04 9.99935479e-01 -3.21619032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.145769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:229.99, Y:-33.16, Z:-3.22 [[ 9.79120952e-01 2.03004664e-01 1.05483109e-02 2.29988562e+02] [-2.02996011e-01 9.79177729e-01 -1.89584394e-03 -3.31573163e+01] [-1.07135362e-02 -2.85004514e-04 9.99942568e-01 -3.21646815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.175769231 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:230.02, Y:-33.17, Z:-3.22 [[ 9.79617899e-01 2.00648748e-01 9.42614907e-03 2.30020553e+02] [-2.00641716e-01 9.79663221e-01 -1.69554173e-03 -3.31661005e+01] [-9.57465988e-03 -2.30295698e-04 9.99954135e-01 -3.21840407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.205769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:230.05, Y:-33.17, Z:-3.22 [[ 9.79949486e-01 1.99019617e-01 9.49716080e-03 2.30052366e+02] [-1.99012385e-01 9.79995483e-01 -1.71014187e-03 -3.31739867e+01] [-9.64752646e-03 -2.14199968e-04 9.99953439e-01 -3.21941683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.235769231 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:230.08, Y:-33.18, Z:-3.22 [[ 9.80641240e-01 1.95535227e-01 1.04274995e-02 2.30082776e+02] [-1.95526287e-01 9.80696659e-01 -1.87995549e-03 -3.31832377e+01] [-1.05938114e-02 -1.95288366e-04 9.99943865e-01 -3.21951125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.265769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:230.11, Y:-33.19, Z:-3.22 [[ 9.80976324e-01 1.93854203e-01 1.02956235e-02 2.30114749e+02] [-1.93845374e-01 9.81030335e-01 -1.85821873e-03 -3.31914266e+01] [-1.04605424e-02 -1.72890399e-04 9.99945272e-01 -3.22006307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.295769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:230.15, Y:-33.20, Z:-3.22 [[ 9.81208385e-01 1.92720905e-01 9.42119288e-03 2.30146818e+02] [-1.92713456e-01 9.81253602e-01 -1.70074590e-03 -3.31993936e+01] [-9.57234874e-03 -1.46804504e-04 9.99954173e-01 -3.22062474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.325769231 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:230.18, Y:-33.21, Z:-3.22 [[ 9.81482890e-01 1.91390735e-01 7.80536100e-03 2.30177815e+02] [-1.91385571e-01 9.81513920e-01 -1.41023624e-03 -3.32097708e+01] [-7.93097662e-03 -1.09710734e-04 9.99968543e-01 -3.22269925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.355769231 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:230.21, Y:-33.22, Z:-3.22 [[ 9.81566965e-01 1.90985486e-01 7.13000195e-03 2.30210227e+02] [-1.90981159e-01 9.81592856e-01 -1.28927058e-03 -3.32184414e+01] [-7.24499095e-03 -9.61906207e-05 9.99973750e-01 -3.22324239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.385769231 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:230.24, Y:-33.23, Z:-3.22 [[ 9.81946785e-01 1.89062005e-01 6.00586340e-03 2.30240531e+02] [-1.89058893e-01 9.81965149e-01 -1.08687831e-03 -3.32301654e+01] [-6.10303594e-03 -6.82052309e-05 9.99981374e-01 -3.22374974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.415769231 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:230.27, Y:-33.24, Z:-3.22 [[ 9.82149619e-01 1.88018390e-01 5.58671929e-03 2.30272891e+02] [-1.88015676e-01 9.82165506e-01 -1.01180266e-03 -3.32388400e+01] [-5.67732049e-03 -5.66492017e-05 9.99983882e-01 -3.22430011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.445769231 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:230.30, Y:-33.25, Z:-3.23 [[ 9.82306061e-01 1.87202070e-01 5.49434358e-03 2.30304529e+02] [-1.87199426e-01 9.82321425e-01 -9.96109260e-04 -3.32487678e+01] [-5.58368513e-03 -5.00538025e-05 9.99984410e-01 -3.22578505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47576923100002 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:230.34, Y:-33.26, Z:-3.23 [[ 9.82161931e-01 1.87937384e-01 6.12214612e-03 2.30335662e+02] [-1.87934107e-01 9.82181010e-01 -1.11148144e-03 -3.32568076e+01] [-6.22194457e-03 -5.89053067e-05 9.99980642e-01 -3.22582714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50576923100002 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:230.37, Y:-33.27, Z:-3.23 [[ 9.81924266e-01 1.89135705e-01 7.24022879e-03 2.30367635e+02] [-1.89131141e-01 9.81950956e-01 -1.31615472e-03 -3.32651537e+01] [-7.35848143e-03 -7.69884736e-05 9.99972923e-01 -3.22561728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53576923100002 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:230.40, Y:-33.27, Z:-3.23 [[ 9.81390584e-01 1.91882868e-01 7.31351870e-03 2.30398070e+02] [-1.91878277e-01 9.81417829e-01 -1.33096896e-03 -3.32742222e+01] [-7.43300779e-03 -9.71049569e-05 9.99972370e-01 -3.22694399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56576923100002 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:230.43, Y:-33.28, Z:-3.23 [[ 9.81178665e-01 1.92977143e-01 6.94616117e-03 2.30430500e+02] [-1.92973021e-01 9.81203247e-01 -1.26516059e-03 -3.32818926e+01] [-7.05974297e-03 -9.90731210e-05 9.99975075e-01 -3.22777529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59576923100002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:230.46, Y:-33.29, Z:-3.23 [[ 9.81002163e-01 1.93864854e-01 7.15366313e-03 2.30461621e+02] [-1.93860492e-01 9.81028240e-01 -1.30478357e-03 -3.32914102e+01] [-7.27089722e-03 -1.06817149e-04 9.99973561e-01 -3.22823150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62576923100002 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:230.49, Y:-33.30, Z:-3.23 [[ 9.80838939e-01 1.94687943e-01 7.18194485e-03 2.30493924e+02] [-1.94683565e-01 9.80865226e-01 -1.31044472e-03 -3.32988194e+01] [-7.29964775e-03 -1.12871421e-04 9.99973351e-01 -3.22878587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65576923100002 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:230.53, Y:-33.31, Z:-3.23 [[ 9.80643822e-01 1.95677083e-01 6.94065430e-03 2.30525058e+02] [-1.95673010e-01 9.80668377e-01 -1.26773472e-03 -3.33059467e+01] [-7.05454682e-03 -1.14902495e-04 9.99975110e-01 -3.22861101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68576923100002 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:230.56, Y:-33.31, Z:-3.23 [[ 9.80154434e-01 1.98131699e-01 6.41220131e-03 2.30556828e+02] [-1.98128269e-01 9.80175400e-01 -1.17212057e-03 -3.33140622e+01] [-6.51731622e-03 -1.21579177e-04 9.99978755e-01 -3.22858884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71576923100002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:230.59, Y:-33.32, Z:-3.23 [[ 9.79879674e-01 1.99494839e-01 6.13457262e-03 2.30588471e+02] [-1.99491720e-01 9.79898869e-01 -1.12251892e-03 -3.33206246e+01] [-6.23519750e-03 -1.23862968e-04 9.99980553e-01 -3.22864380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:230.62, Y:-33.33, Z:-3.23 [[ 9.79455348e-01 2.01564744e-01 6.23492863e-03 2.30620691e+02] [-2.01561556e-01 9.79475183e-01 -1.14196707e-03 -3.33274331e+01] [-6.33713817e-03 -1.38216162e-04 9.99979911e-01 -3.22938482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77576923100003 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:230.65, Y:-33.33, Z:-3.23 [[ 9.79290662e-01 2.02365642e-01 6.16004981e-03 2.30653274e+02] [-2.02362539e-01 9.79310026e-01 -1.12938249e-03 -3.33335524e+01] [-6.26114675e-03 -1.40569598e-04 9.99980389e-01 -3.23002269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80576923100003 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:230.69, Y:-33.34, Z:-3.23 [[ 9.79203060e-01 2.02798298e-01 5.84963381e-03 2.30685801e+02] [-2.02795502e-01 9.79220523e-01 -1.07345789e-03 -3.33396573e+01] [-5.94577691e-03 -1.35146176e-04 9.99982315e-01 -3.23094878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83576923100003 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:230.72, Y:-33.35, Z:-3.23 [[ 9.79300404e-01 2.02366637e-01 4.29690190e-03 2.30716823e+02] [-2.02365121e-01 9.79309826e-01 -7.89280397e-04 -3.33487375e+01] [-4.36772227e-03 -9.66004586e-05 9.99990457e-01 -3.23223955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86576923100003 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:230.75, Y:-33.36, Z:-3.23 [[ 9.79350058e-01 2.02153254e-01 2.74346065e-03 2.30748878e+02] [-2.02152637e-01 9.79353898e-01 -5.03095860e-04 -3.33592490e+01] [-2.78852135e-03 -6.18908460e-05 9.99996110e-01 -3.23401349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.895769231 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:230.78, Y:-33.37, Z:-3.23 [[ 9.79220567e-01 2.02774935e-01 3.06700945e-03 2.30781362e+02] [-2.02774165e-01 9.79225368e-01 -5.63262821e-04 -3.33661591e+01] [-3.11750904e-03 -7.03517408e-05 9.99995138e-01 -3.23366744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.925769231 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:230.81, Y:-33.37, Z:-3.23 [[ 9.78957550e-01 2.04029558e-01 3.74888179e-03 2.30813065e+02] [-2.04028411e-01 9.78964724e-01 -6.89782696e-04 -3.33725539e+01] [-3.81075909e-03 -8.96104174e-05 9.99992735e-01 -3.23373162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.955769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:230.85, Y:-33.38, Z:-3.23 [[ 9.78591048e-01 2.05768135e-01 4.36294798e-03 2.30845122e+02] [-2.05766596e-01 9.78600767e-01 -8.03787160e-04 -3.33794618e+01] [-4.43497803e-03 -1.11170034e-04 9.99990159e-01 -3.23360354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.985769231 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:230.88, Y:-33.38, Z:-3.23 [[ 9.77699355e-01 2.10002101e-01 1.75758007e-03 2.30875861e+02] [-2.09989667e-01 9.77687879e-01 -5.54542410e-03 -3.33842934e+01] [-2.88291544e-03 5.05268391e-03 9.99983079e-01 -3.23382783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.015769231 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:230.91, Y:-33.39, Z:-3.23 [[ 9.76468047e-01 2.15606367e-01 4.90385178e-03 2.30908099e+02] [-2.15627603e-01 9.76466150e-01 4.31211594e-03 -3.33932160e+01] [-3.85872562e-03 -5.26804924e-03 9.99978679e-01 -3.23369505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.045769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:230.94, Y:-33.40, Z:-3.24 [[ 9.75712011e-01 2.19017103e-01 4.19276088e-03 2.30941073e+02] [-2.19015794e-01 9.75721006e-01 -7.74498902e-04 -3.33957491e+01] [-4.26059337e-03 -1.62592973e-04 9.99990910e-01 -3.23519768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.075769231 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:230.97, Y:-33.40, Z:-3.24 [[ 9.74966196e-01 2.22312391e-01 4.25651537e-03 2.30972343e+02] [-2.22311070e-01 9.74975471e-01 -7.87217567e-04 -3.33999355e+01] [-4.32500629e-03 -1.78759968e-04 9.99990631e-01 -3.23556183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.105769231 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:231.01, Y:-33.40, Z:-3.24 [[ 9.73657389e-01 2.27998121e-01 2.85410975e-03 2.31005501e+02] [-2.27997552e-01 9.73661562e-01 -5.27503710e-04 -3.34012157e+01] [-2.89920682e-03 -1.37122152e-04 9.99995788e-01 -3.23669917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.135769231 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:231.04, Y:-33.40, Z:-3.24 [[ 9.73173236e-01 2.30070300e-01 1.22896951e-03 2.31036941e+02] [-2.30070197e-01 9.73174010e-01 -2.26191886e-04 -3.34042904e+01] [-1.24804122e-03 -6.26253674e-05 9.99999219e-01 -3.23803231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.165769231 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:231.07, Y:-33.41, Z:-3.24 [[ 9.72967784e-01 2.30927088e-01 -2.52400364e-03 2.31070534e+02] [-2.30926642e-01 9.72971050e-01 4.70902554e-04 -3.34062711e+01] [ 2.56452663e-03 1.24686670e-04 9.99996704e-01 -3.24018761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.195769231 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:231.10, Y:-33.41, Z:-3.24 [[ 9.73171159e-01 2.30057321e-01 -3.39484243e-03 2.31103637e+02] [-2.30056505e-01 9.73177066e-01 6.34184585e-04 -3.34110332e+01] [ 3.44968160e-03 1.63835437e-04 9.99994036e-01 -3.24069580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22576923100002 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:231.14, Y:-33.41, Z:-3.24 [[ 9.74042186e-01 2.26342118e-01 -3.32652156e-03 2.31136191e+02] [-2.26341315e-01 9.74047855e-01 6.20981638e-04 -3.34133347e+01] [ 3.38074549e-03 1.48066951e-04 9.99994274e-01 -3.24085295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25576923100002 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:231.17, Y:-33.42, Z:-3.24 [[ 9.74490482e-01 2.24416319e-01 -2.37009113e-03 2.31169086e+02] [-2.24415901e-01 9.74493359e-01 4.44154097e-04 -3.34174597e+01] [ 2.40931350e-03 9.90621974e-05 9.99997093e-01 -3.24147508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28576923100002 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:231.20, Y:-33.42, Z:-3.24 [[ 9.74950765e-01 2.22415296e-01 -1.56298628e-03 2.31201618e+02] [-2.22415110e-01 9.74952016e-01 2.94125848e-04 -3.34219575e+01] [ 1.58925471e-03 6.08735445e-05 9.99998735e-01 -3.24121436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31576923100002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:231.23, Y:-33.43, Z:-3.24 [[ 9.75967944e-01 2.17913878e-01 -3.36303434e-04 2.31233629e+02] [-2.17913869e-01 9.75968002e-01 6.50802894e-05 -3.34257846e+01] [ 3.42403288e-04 9.76890595e-06 9.99999941e-01 -3.24092103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34576923100002 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:231.27, Y:-33.43, Z:-3.24 [[ 9.76436059e-01 2.15806767e-01 -2.47545919e-04 2.31266654e+02] [-2.15806761e-01 9.76436091e-01 4.85950433e-05 -3.34306494e+01] [ 2.52199909e-04 5.97213056e-06 9.99999968e-01 -3.24067476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37576923100002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:231.30, Y:-33.43, Z:-3.24 [[ 9.77259920e-01 2.12044445e-01 -4.50562111e-04 2.31298957e+02] [-2.12044428e-01 9.77260023e-01 8.59435560e-05 -3.34348207e+01] [ 4.58540193e-04 1.15499923e-05 9.99999895e-01 -3.24086074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40576923100002 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:231.33, Y:-33.44, Z:-3.24 [[ 9.77714475e-01 2.09939029e-01 9.27951436e-05 2.31330442e+02] [-2.09939029e-01 9.77714480e-01 -1.59104117e-05 -3.34410227e+01] [-9.40673720e-05 -3.92548253e-06 9.99999996e-01 -3.24063700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43576923100002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:231.36, Y:-33.45, Z:-3.24 [[ 9.78214352e-01 2.07589931e-01 1.76110179e-03 2.31362756e+02] [-2.07589677e-01 9.78215937e-01 -3.27731862e-04 -3.34478359e+01] [-1.79077167e-03 -4.49945399e-05 9.99998396e-01 -3.24043918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:231.39, Y:-33.45, Z:-3.24 [[ 9.79187357e-01 2.02840581e-01 6.91507110e-03 2.31393730e+02] [-2.02836490e-01 9.79211765e-01 -1.29521139e-03 -3.34547494e+01] [-7.03404041e-03 -1.34374138e-04 9.99975252e-01 -3.23876002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49576923100003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:231.43, Y:-33.46, Z:-3.24 [[ 9.79485829e-01 2.01325249e-01 8.69799018e-03 2.31425702e+02] [-2.01318697e-01 9.79524436e-01 -1.63144769e-03 -3.34613910e+01] [-8.84834554e-03 -1.53088159e-04 9.99960841e-01 -3.23877155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:231.46, Y:-33.47, Z:-3.24 [[ 9.79809615e-01 1.99741917e-01 8.73415341e-03 2.31457674e+02] [-1.99735232e-01 9.79848533e-01 -1.63992545e-03 -3.34689411e+01] [-8.88570926e-03 -1.37703440e-04 9.99960512e-01 -3.23842689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:231.49, Y:-33.48, Z:-3.24 [[ 9.79747652e-01 2.00086664e-01 7.73725851e-03 2.31488636e+02] [-2.00081418e-01 9.79778195e-01 -1.45406146e-03 -3.34752729e+01] [-7.87173549e-03 -1.23468353e-04 9.99969010e-01 -3.23836393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:231.52, Y:-33.48, Z:-3.24 [[ 9.79593994e-01 2.00855694e-01 7.25242600e-03 2.31520673e+02] [-2.00851098e-01 9.79620833e-01 -1.36408513e-03 -3.34816647e+01] [-7.37861186e-03 -1.20408121e-04 9.99972770e-01 -3.23941508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61576923100003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:231.55, Y:-33.49, Z:-3.24 [[ 9.79302581e-01 2.02305659e-01 6.23507375e-03 2.31552384e+02] [-2.02302286e-01 9.79322423e-01 -1.17362764e-03 -3.34897351e+01] [-6.34357905e-03 -1.12033099e-04 9.99979873e-01 -3.23948244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64576923100003 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:231.58, Y:-33.50, Z:-3.24 [[ 9.79181447e-01 2.02890688e-01 6.24996995e-03 2.31583646e+02] [-2.02887302e-01 9.79201387e-01 -1.17774043e-03 -3.34972131e+01] [-6.35893181e-03 -1.14817958e-04 9.99979775e-01 -3.24040101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.675769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:231.62, Y:-33.51, Z:-3.24 [[ 9.78909198e-01 2.04189766e-01 6.58185322e-03 2.31615793e+02] [-2.04186032e-01 9.78931317e-01 -1.24153460e-03 -3.35055078e+01] [-6.69669090e-03 -1.28572850e-04 9.99977569e-01 -3.23974386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.705769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:231.65, Y:-33.51, Z:-3.24 [[ 9.78664008e-01 2.05367412e-01 6.40201665e-03 2.31648139e+02] [-2.05363897e-01 9.78684938e-01 -1.20878233e-03 -3.35121845e+01] [-6.51380177e-03 -1.31751324e-04 9.99978776e-01 -3.24070338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.735769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:231.68, Y:-33.52, Z:-3.24 [[ 9.78496473e-01 2.06196677e-01 5.25186982e-03 2.31679430e+02] [-2.06194319e-01 9.78510561e-01 -9.92324301e-04 -3.35186406e+01] [-5.34362406e-03 -1.11919895e-04 9.99985716e-01 -3.24156760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.765769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:231.71, Y:-33.53, Z:-3.24 [[ 9.78076072e-01 2.08217468e-01 3.56151093e-03 2.31711493e+02] [-2.08216398e-01 9.78082552e-01 -6.72768068e-04 -3.35258877e+01] [-3.62353377e-03 -8.35466278e-05 9.99993431e-01 -3.24185938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.795769231 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:231.74, Y:-33.53, Z:-3.24 [[ 9.77726913e-01 2.09850321e-01 3.59518010e-03 2.31744437e+02] [-2.09849239e-01 9.77733519e-01 -6.79857785e-04 -3.35320013e+01] [-3.65779647e-03 -8.97305557e-05 9.99993306e-01 -3.23699477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.825769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:231.78, Y:-33.53, Z:-3.24 [[ 9.76655776e-01 2.14758900e-01 4.70211683e-03 2.31776744e+02] [-2.14757098e-01 9.76667085e-01 -8.90947615e-04 -3.35339681e+01] [-4.78374167e-03 -1.39663829e-04 9.99988548e-01 -3.24192232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.81, Y:-33.54, Z:-3.24 [[ 9.76033993e-01 2.17556305e-01 5.18645684e-03 2.31808508e+02] [-2.17554144e-01 9.76047758e-01 -9.83913199e-04 -3.35380016e+01] [-5.27628610e-03 -1.68002454e-04 9.99986066e-01 -3.24224663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.885769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.84, Y:-33.54, Z:-3.24 [[ 9.75413228e-01 2.20321927e-01 5.22335513e-03 2.31841286e+02] [-2.20319771e-01 9.75427196e-01 -9.91788528e-04 -3.35424848e+01] [-5.31351541e-03 -1.83404757e-04 9.99985866e-01 -3.24225784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.915769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:231.87, Y:-33.54, Z:-3.24 [[ 9.74026824e-01 2.26370852e-01 5.28986437e-03 2.31874292e+02] [-2.26368724e-01 9.74041164e-01 -1.00557289e-03 -3.35420302e+01] [-5.38017804e-03 -2.18004877e-04 9.99985503e-01 -3.24199734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.91, Y:-33.54, Z:-3.24 [[ 9.73427674e-01 2.28929580e-01 5.45988197e-03 2.31908013e+02] [-2.28927347e-01 9.73442957e-01 -1.03889784e-03 -3.35437635e+01] [-5.55271810e-03 -2.38624386e-04 9.99984555e-01 -3.24226439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.94, Y:-33.54, Z:-3.24 [[ 9.72823540e-01 2.31458389e-01 6.43233963e-03 2.31942226e+02] [-2.31455334e-01 9.72844760e-01 -1.22557096e-03 -3.35412627e+01] [-6.54133658e-03 -2.96535043e-04 9.99978561e-01 -3.24335083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.98, Y:-33.55, Z:-3.24 [[ 9.72793856e-01 2.31583123e-01 6.43205028e-03 2.31975088e+02] [-2.31580061e-01 9.72815075e-01 -1.22708695e-03 -3.35476881e+01] [-6.54136810e-03 -2.95831947e-04 9.99978561e-01 -3.24376889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.01, Y:-33.55, Z:-3.24 [[ 9.72789984e-01 2.31604733e-01 6.23649883e-03 2.32007644e+02] [-2.31601852e-01 9.72809933e-01 -1.19021334e-03 -3.35507290e+01] [-6.34258705e-03 -2.86557062e-04 9.99979845e-01 -3.24450037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.04, Y:-33.55, Z:-3.25 [[ 9.73552074e-01 2.28435864e-01 3.66276169e-03 2.32041555e+02] [-2.28434849e-01 9.73558951e-01 -6.98765161e-04 -3.35511584e+01] [-3.72553745e-03 -1.56418141e-04 9.99993048e-01 -3.24555327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.07, Y:-33.55, Z:-3.25 [[ 9.74060677e-01 2.26270927e-01 2.69536860e-03 2.32074282e+02] [-2.26270369e-01 9.74064400e-01 -5.14108090e-04 -3.35537016e+01] [-2.74179031e-03 -1.09109574e-04 9.99996235e-01 -3.24687038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.11, Y:-33.55, Z:-3.25 [[ 9.75040194e-01 2.22011730e-01 2.72251758e-03 2.32106718e+02] [-2.22011142e-01 9.75043990e-01 -5.19946264e-04 -3.35532675e+01] [-2.77000857e-03 -9.74607306e-05 9.99996159e-01 -3.24719650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.14, Y:-33.56, Z:-3.25 [[ 9.75466393e-01 2.20118178e-01 3.64733948e-03 2.32139351e+02] [-2.20117106e-01 9.75473205e-01 -6.97850115e-04 -3.35574367e+01] [-3.71149143e-03 -1.22112475e-04 9.99993105e-01 -3.24691933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.17, Y:-33.56, Z:-3.25 [[ 9.75930545e-01 2.18030918e-01 4.70002982e-03 2.32172354e+02] [-2.18029106e-01 9.75941852e-01 -9.00823539e-04 -3.35621582e+01] [-4.78336319e-03 -1.45602091e-04 9.99988549e-01 -3.24596011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:-33.56, Z:-3.25 [[ 9.76711184e-01 2.14478372e-01 5.85581566e-03 2.32205427e+02] [-2.14475485e-01 9.76728725e-01 -1.12398202e-03 -3.35636604e+01] [-5.96061320e-03 -1.58123093e-04 9.99982223e-01 -3.24519703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.24, Y:-33.57, Z:-3.25 [[ 9.77089628e-01 2.12746182e-01 5.90943184e-03 2.32236945e+02] [-2.12743202e-01 9.77107487e-01 -1.13552444e-03 -3.35678764e+01] [-6.01572859e-03 -1.47682302e-04 9.99981894e-01 -3.24613254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.27, Y:-33.57, Z:-3.25 [[ 9.77900330e-01 2.09029225e-01 4.21034854e-03 2.32268759e+02] [-2.09027678e-01 9.77909390e-01 -8.09188442e-04 -3.35730981e+01] [-4.28648341e-03 -8.87737332e-05 9.99990809e-01 -3.24807667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.30, Y:-33.58, Z:-3.25 [[ 9.78216726e-01 2.07562271e-01 3.15274602e-03 2.32300043e+02] [-2.07561395e-01 9.78221805e-01 -6.05980262e-04 -3.35789572e+01] [-3.20986354e-03 -6.16083360e-05 9.99994846e-01 -3.24870905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.33, Y:-33.58, Z:-3.25 [[ 9.78634607e-01 2.05593017e-01 2.41182550e-03 2.32332424e+02] [-2.05592499e-01 9.78637578e-01 -4.63324750e-04 -3.35845380e+01] [-2.45555940e-03 -4.24275969e-05 9.99996984e-01 -3.24927343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:232.36, Y:-33.59, Z:-3.25 [[ 9.79600046e-01 2.00954845e-01 9.48949200e-04 2.32363801e+02] [-2.00954764e-01 9.79600505e-01 -1.81203739e-04 -3.35908452e+01] [-9.66004885e-04 -1.31886713e-05 9.99999533e-01 -3.24959894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39576923100003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.40, Y:-33.60, Z:-3.25 [[ 9.80044132e-01 1.98779977e-01 1.43282286e-04 2.32395872e+02] [-1.98779975e-01 9.80044142e-01 -2.53782552e-05 -3.35974389e+01] [-1.45467654e-04 -3.60983925e-06 9.99999989e-01 -3.24961624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.425769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.43, Y:-33.60, Z:-3.25 [[ 9.80707070e-01 1.95483082e-01 -8.29155724e-05 2.32426763e+02] [-1.95483082e-01 9.80707074e-01 1.82483072e-05 -3.36036497e+01] [ 8.48831237e-05 -1.68765232e-06 9.99999996e-01 -3.25095212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.455769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:232.46, Y:-33.61, Z:-3.25 [[ 9.80913859e-01 1.94442591e-01 2.83307913e-04 2.32457943e+02] [-1.94442584e-01 9.80913900e-01 -5.27267837e-05 -3.36105856e+01] [-2.88153002e-04 -3.36668986e-06 9.99999958e-01 -3.25140748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.49, Y:-33.62, Z:-3.25 [[ 9.81326358e-01 1.92340794e-01 1.89690109e-03 2.32489728e+02] [-1.92340447e-01 9.81328191e-01 -3.65681995e-04 -3.36201617e+01] [-1.93181808e-03 -5.99742282e-06 9.99998134e-01 -3.25241404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.515769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:232.52, Y:-33.63, Z:-3.25 [[ 9.81467873e-01 1.91617202e-01 1.91366735e-03 2.32520790e+02] [-1.91616844e-01 9.81469739e-01 -3.70034369e-04 -3.36287106e+01] [-1.94911154e-03 -3.51405343e-06 9.99998100e-01 -3.25276264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.545769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.55, Y:-33.64, Z:-3.25 [[ 9.81493442e-01 1.91490025e-01 1.48122366e-03 2.32552916e+02] [-1.91489812e-01 9.81494560e-01 -2.85517985e-04 -3.36370204e+01] [-1.50848681e-03 -3.40521043e-06 9.99998862e-01 -3.25288697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.575769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.59, Y:-33.64, Z:-3.25 [[ 9.81315152e-01 1.92407148e-01 2.50379450e-04 2.32585388e+02] [-1.92407142e-01 9.81315184e-01 -4.64280052e-05 -3.36444220e+01] [-2.54634236e-04 -2.61428943e-06 9.99999968e-01 -3.25343816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.605769231 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:232.62, Y:-33.65, Z:-3.25 [[ 9.81109392e-01 1.93452574e-01 -6.80167661e-04 2.32617513e+02] [-1.93452527e-01 9.81109628e-01 1.34665932e-04 -3.36518478e+01] [ 6.93370512e-04 -5.41857904e-07 9.99999760e-01 -3.24723639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.635769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:232.65, Y:-33.66, Z:-3.25 [[ 9.80554229e-01 1.96243878e-01 -1.32064432e-03 2.32648182e+02] [-1.96243707e-01 9.80555119e-01 2.58643728e-04 -3.36597106e+01] [ 1.34572179e-03 5.55393618e-06 9.99999095e-01 -3.25380682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.68, Y:-33.67, Z:-3.25 [[ 9.80297989e-01 1.97521110e-01 -1.12393281e-03 2.32680410e+02] [-1.97520986e-01 9.80298634e-01 2.21358752e-04 -3.36671213e+01] [ 1.14551283e-03 5.00277806e-06 9.99999344e-01 -3.25453436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.71, Y:-33.67, Z:-3.25 [[ 9.80072994e-01 1.98637673e-01 -2.51491213e-05 2.32713079e+02] [-1.98637673e-01 9.80072995e-01 7.13453142e-06 -3.36742565e+01] [ 2.60651613e-05 -1.99679863e-06 1.00000000e+00 -3.25491675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:232.74, Y:-33.68, Z:-3.25 [[ 9.79534591e-01 2.01269295e-01 1.62952025e-03 2.32744784e+02] [-2.01269048e-01 9.79535946e-01 -3.16194621e-04 -3.36813626e+01] [-1.65981393e-03 -1.82484206e-05 9.99998622e-01 -3.25474663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75576923100002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:232.78, Y:-33.69, Z:-3.25 [[ 9.79200553e-01 2.02884412e-01 2.04779125e-03 2.32776429e+02] [-2.02884023e-01 9.79202693e-01 -3.98133163e-04 -3.36888812e+01] [-2.08597772e-03 -2.56119139e-05 9.99997824e-01 -3.25492744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.81, Y:-33.70, Z:-3.26 [[ 9.78647556e-01 2.05530244e-01 2.50609295e-03 2.32807608e+02] [-2.05529666e-01 9.78650764e-01 -4.88839960e-04 -3.36963510e+01] [-2.55306117e-03 -3.66744133e-05 9.99996740e-01 -3.25523998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.84, Y:-33.70, Z:-3.26 [[ 9.78315502e-01 2.07102252e-01 2.72669859e-03 2.32839690e+02] [-2.07101574e-01 9.78319301e-01 -5.31672631e-04 -3.37027551e+01] [-2.77769246e-03 -4.45599933e-05 9.99996141e-01 -3.25549306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.87, Y:-33.71, Z:-3.26 [[ 9.78060331e-01 2.08293178e-01 3.45560823e-03 2.32871250e+02] [-2.08292092e-01 9.78066434e-01 -6.75105478e-04 -3.37092828e+01] [-3.52043428e-03 -5.94819814e-05 9.99993801e-01 -3.25635395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.90, Y:-33.72, Z:-3.26 [[ 9.78029511e-01 2.08422586e-01 4.27811784e-03 2.32903067e+02] [-2.08420918e-01 9.78038864e-01 -8.36912979e-04 -3.37179417e+01] [-4.35859708e-03 -7.31236587e-05 9.99990499e-01 -3.25579872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.93, Y:-33.73, Z:-3.26 [[ 9.78084648e-01 2.08158105e-01 4.54152948e-03 2.32934317e+02] [-2.08156219e-01 9.78095188e-01 -8.89459306e-04 -3.37253391e+01] [-4.62719629e-03 -7.53811110e-05 9.99989292e-01 -3.25607825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.97, Y:-33.73, Z:-3.26 [[ 9.78358366e-01 2.06844323e-01 5.50759886e-03 2.32965108e+02] [-2.06841519e-01 9.78373865e-01 -1.08001705e-03 -3.37328388e+01] [-5.61188618e-03 -8.25564033e-05 9.99984250e-01 -3.25588307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.00, Y:-33.74, Z:-3.26 [[ 9.78437674e-01 2.06444102e-01 6.36790683e-03 2.32997514e+02] [-2.06440338e-01 9.78458392e-01 -1.25000142e-03 -3.37406127e+01] [-6.48878730e-03 -9.15443537e-05 9.99978943e-01 -3.25629512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.03, Y:-33.75, Z:-3.26 [[ 9.78455138e-01 2.06326668e-01 7.40596065e-03 2.33029186e+02] [-2.06321561e-01 9.78483160e-01 -1.45538981e-03 -3.37489443e+01] [-7.54689352e-03 -1.03975724e-04 9.99971516e-01 -3.25661397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.06, Y:-33.76, Z:-3.26 [[ 9.78095729e-01 2.08016052e-01 7.62013128e-03 2.33060653e+02] [-2.08010686e-01 9.78125405e-01 -1.49881208e-03 -3.37581788e+01] [-7.76522097e-03 -1.19087044e-04 9.99969843e-01 -3.25681609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.09, Y:-33.76, Z:-3.26 [[ 9.77809666e-01 2.09404203e-01 6.17551847e-03 2.33091611e+02] [-2.09400700e-01 9.77829161e-01 -1.21581203e-03 -3.37649244e+01] [-6.29319820e-03 -1.04325133e-04 9.99980192e-01 -3.25745566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.12, Y:-33.77, Z:-3.26 [[ 9.77094807e-01 2.12775634e-01 3.50253527e-03 2.33124322e+02] [-2.12774531e-01 9.77101082e-01 -6.88867971e-04 -3.37717745e+01] [-3.56890533e-03 -7.21609821e-05 9.99993629e-01 -3.25830759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.16, Y:-33.78, Z:-3.26 [[ 9.76764910e-01 2.14274610e-01 4.08676937e-03 2.33156990e+02] [-2.14273117e-01 9.76773456e-01 -8.04827526e-04 -3.37782992e+01] [-4.16430194e-03 -8.95575242e-05 9.99991325e-01 -3.25869342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.19, Y:-33.78, Z:-3.26 [[ 9.76484229e-01 2.15513555e-01 5.69716662e-03 2.33189817e+02] [-2.15510665e-01 9.76500840e-01 -1.12368559e-03 -3.37834480e+01] [-5.80545747e-03 -1.30538910e-04 9.99983140e-01 -3.25843218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.22, Y:-33.79, Z:-3.26 [[ 9.76355001e-01 2.16117020e-01 4.93409535e-03 2.33222110e+02] [-2.16114857e-01 9.76367462e-01 -9.73793479e-04 -3.37894703e+01] [-5.02794350e-03 -1.15563180e-04 9.99987353e-01 -3.25948135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.205769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.25, Y:-33.80, Z:-3.26 [[ 9.76312624e-01 2.16333881e-01 3.64865370e-03 2.33253349e+02] [-2.16332699e-01 9.76319438e-01 -7.20280003e-04 -3.37956893e+01] [-3.71807250e-03 -8.61046444e-05 9.99993084e-01 -3.26131451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.29, Y:-33.80, Z:-3.26 [[ 9.76494366e-01 2.15519400e-01 3.18450408e-03 2.33285991e+02] [-2.15518495e-01 9.76499556e-01 -6.28751024e-04 -3.38025478e+01] [-3.24517487e-03 -7.23476942e-05 9.99994732e-01 -3.26300213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.32, Y:-33.81, Z:-3.26 [[ 9.76575935e-01 2.15143844e-01 3.54528430e-03 2.33318002e+02] [-2.15142717e-01 9.76582367e-01 -7.00911641e-04 -3.38090390e+01] [-3.61305896e-03 -7.82486541e-05 9.99993470e-01 -3.26293226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.35, Y:-33.81, Z:-3.26 [[ 9.76507019e-01 2.15460044e-01 3.31836895e-03 2.33349991e+02] [-2.15459056e-01 9.76512654e-01 -6.56650534e-04 -3.38139517e+01] [-3.38191123e-03 -7.37487849e-05 9.99994279e-01 -3.26182700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.38, Y:-33.82, Z:-3.26 [[ 9.76409578e-01 2.15908307e-01 2.81771992e-03 2.33381757e+02] [-2.15907594e-01 9.76413641e-01 -5.58322130e-04 -3.38187289e+01] [-2.87180655e-03 -6.32160524e-05 9.99995874e-01 -3.26234602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.355769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.41, Y:-33.82, Z:-3.26 [[ 9.76320808e-01 2.16316592e-01 2.19340888e-03 2.33414374e+02] [-2.16316163e-01 9.76323271e-01 -4.33854063e-04 -3.38238670e+01] [-2.23532596e-03 -5.08890422e-05 9.99997500e-01 -3.26289230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.45, Y:-33.83, Z:-3.26 [[ 9.76461829e-01 2.15683497e-01 1.71044194e-03 2.33447264e+02] [-2.15683235e-01 9.76463326e-01 -3.38139998e-04 -3.38280242e+01] [-1.74311505e-03 -3.87328506e-05 9.99998480e-01 -3.26301008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.48, Y:-33.83, Z:-3.26 [[ 9.76766895e-01 2.14297788e-01 1.69999834e-03 2.33479762e+02] [-2.14297527e-01 9.76768374e-01 -3.36329044e-04 -3.38336022e+01] [-1.73257919e-03 -3.57903648e-05 9.99998498e-01 -3.26361821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.51, Y:-33.84, Z:-3.27 [[ 9.77776988e-01 2.09641102e-01 1.66412130e-03 2.33511558e+02] [-2.09640844e-01 9.77778404e-01 -3.29639264e-04 -3.38389307e+01] [-1.69624781e-03 -2.65541084e-05 9.99998561e-01 -3.26593377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:233.54, Y:-33.84, Z:-3.27 [[ 9.78391554e-01 2.06758919e-01 8.46254925e-04 2.33543122e+02] [-2.06758852e-01 9.78391920e-01 -1.66721001e-04 -3.38447975e+01] [-8.62440035e-04 -1.18522771e-05 9.99999628e-01 -3.26648562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.58, Y:-33.85, Z:-3.27 [[ 9.79152706e-01 2.03125407e-01 2.18427784e-04 2.33575861e+02] [-2.03125403e-01 9.79152730e-01 -4.12052970e-05 -3.38507168e+01] [-2.22244004e-04 -4.02195359e-06 9.99999975e-01 -3.26570869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.61, Y:-33.86, Z:-3.26 [[ 9.80439946e-01 1.96817093e-01 7.37301997e-04 2.33607015e+02] [-1.96817040e-01 9.80440223e-01 -1.45163802e-04 -3.38558495e+01] [-7.51451252e-04 -2.78920648e-06 9.99999718e-01 -3.26455292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.64, Y:-33.86, Z:-3.26 [[ 9.80785890e-01 1.95083197e-01 1.25906547e-03 2.33638931e+02] [-1.95083037e-01 9.80786698e-01 -2.49769131e-04 -3.38615653e+01] [-1.28360043e-03 -6.52277414e-07 9.99999176e-01 -3.26407774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.67, Y:-33.86, Z:-3.27 [[ 9.80985145e-01 1.94078214e-01 1.33845594e-03 2.33671454e+02] [-1.94078032e-01 9.80986058e-01 -2.65751287e-04 -3.38647974e+01] [-1.36458316e-03 9.33169657e-07 9.99999069e-01 -3.26503347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.70, Y:-33.87, Z:-3.27 [[ 9.80915619e-01 1.94433634e-01 3.31075829e-04 2.33703178e+02] [-1.94433624e-01 9.80915675e-01 -6.41366920e-05 -3.38697610e+01] [-3.37227801e-04 -1.45959027e-06 9.99999943e-01 -3.26576076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.73, Y:-33.87, Z:-3.27 [[ 9.80795949e-01 1.95035119e-01 -7.80034011e-04 2.33734637e+02] [-1.95035054e-01 9.80796259e-01 1.58814616e-04 -3.38746879e+01] [ 7.96028868e-04 -3.63075592e-06 9.99999683e-01 -3.26633040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.77, Y:-33.88, Z:-3.27 [[ 9.80918789e-01 1.94417247e-01 5.12531041e-04 2.33767363e+02] [-1.94417221e-01 9.80918923e-01 -1.00575447e-04 -3.38811950e+01] [-5.22304999e-04 -9.88514892e-07 9.99999864e-01 -3.26607378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.80, Y:-33.89, Z:-3.27 [[ 9.81206166e-01 1.92948286e-01 2.32767221e-03 2.33798674e+02] [-1.92947724e-01 9.81208927e-01 -4.65881467e-04 -3.38879183e+01] [-2.37382379e-03 8.00671272e-06 9.99997182e-01 -3.26548357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.83, Y:-33.90, Z:-3.27 [[ 9.81981975e-01 1.88917739e-01 4.63546713e-03 2.33830478e+02] [-1.88915450e-01 9.81992916e-01 -9.30757843e-04 -3.38976625e+01] [-4.72783255e-03 3.82760643e-05 9.99988823e-01 -3.26688473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.86, Y:-33.91, Z:-3.27 [[ 9.82358109e-01 1.86935219e-01 5.26968800e-03 2.33861546e+02] [-1.86932222e-01 9.82372241e-01 -1.05997832e-03 -3.39065842e+01] [-5.37494249e-03 5.62038138e-05 9.99985553e-01 -3.26726531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.89, Y:-33.92, Z:-3.27 [[ 9.82653731e-01 1.85378461e-01 5.14495957e-03 2.33891635e+02] [-1.85375582e-01 9.82667198e-01 -1.03507655e-03 -3.39172840e+01] [-5.24766390e-03 6.33719590e-05 9.99986229e-01 -3.26641513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.92, Y:-33.93, Z:-3.27 [[ 9.82569231e-01 1.85848637e-01 4.24144158e-03 2.33923494e+02] [-1.85846684e-01 9.82578384e-01 -8.53562867e-04 -3.39260214e+01] [-4.32618231e-03 5.04267572e-05 9.99990641e-01 -3.26688548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.95, Y:-33.94, Z:-3.27 [[ 9.82402193e-01 1.86752064e-01 3.09796299e-03 2.33954871e+02] [-1.86751026e-01 9.82407077e-01 -6.23397363e-04 -3.39350115e+01] [-3.15988151e-03 3.38791700e-05 9.99995007e-01 -3.26860513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.99, Y:-33.94, Z:-3.27 [[ 9.82386850e-01 1.86832764e-01 3.09765247e-03 2.33987669e+02] [-1.86831722e-01 9.82391733e-01 -6.24934776e-04 -3.39417831e+01] [-3.15986647e-03 3.51879604e-05 9.99995007e-01 -3.26902323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.02, Y:-33.95, Z:-3.27 [[ 9.82197125e-01 1.87842984e-01 1.95462163e-03 2.34019942e+02] [-1.87842574e-01 9.82199070e-01 -3.92944991e-04 -3.39508176e+01] [-1.99363950e-03 1.87882835e-05 9.99998013e-01 -3.26956214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.955769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.05, Y:-33.96, Z:-3.27 [[ 9.81282421e-01 1.92569600e-01 1.32622640e-03 2.34050646e+02] [-1.92569415e-01 9.81283317e-01 -2.66917213e-04 -3.39605418e+01] [-1.35280398e-03 6.53052755e-06 9.99999085e-01 -3.26984544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.08, Y:-33.97, Z:-3.27 [[ 9.79713087e-01 2.00400668e-01 1.35619660e-03 2.34083020e+02] [-2.00400483e-01 9.79714026e-01 -2.72354937e-04 -3.39689227e+01] [-1.38326494e-03 -4.95275761e-06 9.99999043e-01 -3.26837343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.11, Y:-33.98, Z:-3.27 [[ 9.78757957e-01 2.05014243e-01 1.42222599e-03 2.34113983e+02] [-2.05014044e-01 9.78758990e-01 -2.86157638e-04 -3.39757844e+01] [-1.45068286e-03 -1.14972357e-05 9.99998948e-01 -3.26835838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.15, Y:-33.98, Z:-3.27 [[ 9.77942573e-01 2.08867041e-01 1.69773338e-03 2.34145265e+02] [-2.08866761e-01 9.77944047e-01 -3.42366067e-04 -3.39812124e+01] [-1.73179724e-03 -1.97857181e-05 9.99998500e-01 -3.26858591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.18, Y:-33.99, Z:-3.27 [[ 9.77271891e-01 2.11979255e-01 2.10871042e-03 2.34178044e+02] [-2.11978829e-01 9.77274165e-01 -4.26071976e-04 -3.39855236e+01] [-2.15110664e-03 -3.06137996e-05 9.99997686e-01 -3.26897576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.105769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.21, Y:-33.99, Z:-3.27 [[ 9.76204308e-01 2.16820126e-01 3.76599573e-03 2.34210609e+02] [-2.16818791e-01 9.76211569e-01 -7.64094453e-04 -3.39869505e+01] [-3.84207966e-03 -7.06263457e-05 9.99992617e-01 -3.26670442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.24, Y:-33.99, Z:-3.27 [[ 9.75309451e-01 2.20808293e-01 3.89530747e-03 2.34242476e+02] [-2.20806896e-01 9.75317225e-01 -7.90366718e-04 -3.39891419e+01] [-3.97368000e-03 -8.92586233e-05 9.99992101e-01 -3.26952085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.165769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.28, Y:-33.99, Z:-3.27 [[ 9.74960335e-01 2.22360759e-01 2.83518931e-03 2.34275871e+02] [-2.22360026e-01 9.74964455e-01 -5.75076524e-04 -3.39929095e+01] [-2.89208326e-03 -6.97559706e-05 9.99995815e-01 -3.27030608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.31, Y:-34.00, Z:-3.27 [[ 9.74706040e-01 2.23487227e-01 1.26283761e-03 2.34308961e+02] [-2.23487084e-01 9.74706858e-01 -2.55126717e-04 -3.39962948e+01] [-1.28791404e-03 -3.35543424e-05 9.99999170e-01 -3.27082194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.34, Y:-34.00, Z:-3.27 [[ 9.74362731e-01 2.24982620e-01 -2.97668549e-04 2.34342255e+02] [-2.24982611e-01 9.74362777e-01 6.27172732e-05 -3.39959939e+01] [ 3.04147451e-04 5.86087378e-06 9.99999954e-01 -3.27215120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.37, Y:-34.00, Z:-3.27 [[ 9.74385968e-01 2.24881321e-01 6.14432068e-04 2.34374586e+02] [-2.24881287e-01 9.74386161e-01 -1.25069539e-04 -3.39959983e+01] [-6.26819907e-04 -1.63082698e-05 9.99999803e-01 -3.27291992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.41, Y:-34.00, Z:-3.27 [[ 9.74294524e-01 2.25272751e-01 1.53912047e-03 2.34405352e+02] [-2.25272536e-01 9.74295739e-01 -3.14005853e-04 -3.39991711e+01] [-1.57029548e-03 -4.07873889e-05 9.99998766e-01 -3.27298150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.44, Y:-34.00, Z:-3.27 [[ 9.74291161e-01 2.25279802e-01 2.39665662e-03 2.34437405e+02] [-2.25279285e-01 9.74294107e-01 -4.87272884e-04 -3.40026009e+01] [-2.44482116e-03 -6.51714259e-05 9.99997009e-01 -3.27320296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:234.47, Y:-34.01, Z:-3.27 [[ 9.74294704e-01 2.25256251e-01 3.07415421e-03 2.34468635e+02] [-2.25255395e-01 9.74299551e-01 -6.26259458e-04 -3.40056325e+01] [-3.13621592e-03 -8.23085491e-05 9.99995079e-01 -3.27313333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:234.50, Y:-34.01, Z:-3.27 [[ 9.74578185e-01 2.24039186e-01 1.95058084e-03 2.34499695e+02] [-2.24038836e-01 9.74580136e-01 -3.98593438e-04 -3.40061288e+01] [-1.99029789e-03 -4.85453932e-05 9.99998018e-01 -3.27359162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.53, Y:-34.01, Z:-3.28 [[ 9.75145536e-01 2.21564271e-01 -6.76164630e-04 2.34529513e+02] [-2.21564229e-01 9.75145770e-01 1.38342082e-04 -3.40075336e+01] [ 6.90010741e-04 1.49102313e-05 9.99999762e-01 -3.27561445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.56, Y:-34.01, Z:-3.28 [[ 9.75609099e-01 2.19511126e-01 -1.32354792e-03 2.34558724e+02] [-2.19510962e-01 9.75609996e-01 2.69869225e-04 -3.40107135e+01] [ 1.35050588e-03 2.72464053e-05 9.99999088e-01 -3.27605934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.59, Y:-34.01, Z:-3.28 [[ 9.76199925e-01 2.16871290e-01 -7.42042158e-04 2.34588058e+02] [-2.16871238e-01 9.76200207e-01 1.51026543e-04 -3.40136962e+01] [ 7.57135029e-04 1.34955009e-05 9.99999713e-01 -3.27558721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.62, Y:-34.02, Z:-3.28 [[ 9.76742025e-01 2.14417851e-01 -4.49525634e-05 2.34617920e+02] [-2.14417851e-01 9.76742026e-01 9.18242389e-06 -3.40179306e+01] [ 4.58759334e-05 6.69772751e-07 9.99999999e-01 -3.27512233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.65, Y:-34.02, Z:-3.27 [[ 9.77754959e-01 2.09741222e-01 1.96447293e-03 2.34647277e+02] [-2.09740839e-01 9.77756933e-01 -4.01404048e-04 -3.40203200e+01] [-2.00496800e-03 -1.95554023e-05 9.99997990e-01 -3.27455857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.68, Y:-34.02, Z:-3.27 [[ 9.78461881e-01 2.06415635e-01 2.22104728e-03 2.34678594e+02] [-2.06415137e-01 9.78464402e-01 -4.53419270e-04 -3.40239913e+01] [-2.26680852e-03 -1.48043072e-05 9.99997431e-01 -3.27406233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.71, Y:-34.03, Z:-3.27 [[ 9.78555540e-01 2.05976632e-01 1.63772907e-03 2.34708787e+02] [-2.05976360e-01 9.78556911e-01 -3.34429143e-04 -3.40291479e+01] [-1.67149569e-03 -1.00759839e-05 9.99998603e-01 -3.27441556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.74, Y:-34.03, Z:-3.27 [[ 9.78441946e-01 2.06519118e-01 1.10145636e-03 2.34738530e+02] [-2.06518995e-01 9.78442565e-01 -2.25285222e-04 -3.40334074e+01] [-1.12423749e-03 -7.04314997e-06 9.99999368e-01 -3.27452811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.77, Y:-34.03, Z:-3.27 [[ 9.77955753e-01 2.08809826e-01 1.00111471e-03 2.34768406e+02] [-2.08809726e-01 9.77956265e-01 -2.04770472e-04 -3.40340343e+01] [-1.02180449e-03 -8.78602591e-06 9.99999478e-01 -3.27409930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.80, Y:-34.04, Z:-3.27 [[ 9.77667246e-01 2.10156118e-01 1.07779988e-03 2.34798019e+02] [-2.10156003e-01 9.77667840e-01 -2.20411405e-04 -3.40380417e+01] [-1.10005108e-03 -1.10171027e-05 9.99999395e-01 -3.27417232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.83, Y:-34.04, Z:-3.27 [[ 9.77238570e-01 2.12139834e-01 1.21188223e-03 2.34826036e+02] [-2.12139689e-01 9.77239321e-01 -2.48220827e-04 -3.40389364e+01] [-1.23695650e-03 -1.45173543e-05 9.99999235e-01 -3.27427421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.735769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.85, Y:-34.04, Z:-3.27 [[ 9.77192762e-01 2.12351560e-01 1.05842444e-03 2.34854472e+02] [-2.12351449e-01 9.77193336e-01 -2.16747718e-04 -3.40401066e+01] [-1.08031203e-03 -1.29536632e-05 9.99999416e-01 -3.27446672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.88, Y:-34.04, Z:-3.28 [[ 9.77157931e-01 2.12512207e-01 9.69468779e-04 2.34883509e+02] [-2.12512115e-01 9.77158412e-01 -1.98410722e-04 -3.40409903e+01] [-9.89489272e-04 -1.21452496e-05 9.99999510e-01 -3.27547905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.91, Y:-34.04, Z:-3.28 [[ 9.76832734e-01 2.14003843e-01 -4.05275566e-04 2.34913180e+02] [-2.14003828e-01 9.76832818e-01 8.20657305e-05 -3.40405517e+01] [ 4.13448855e-04 6.56603042e-06 9.99999915e-01 -3.27680158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.94, Y:-34.04, Z:-3.28 [[ 9.76480037e-01 2.15602989e-01 -1.44539597e-03 2.34940753e+02] [-2.15602790e-01 9.76481106e-01 2.94008341e-04 -3.40431783e+01] [ 1.47479093e-03 2.45381290e-05 9.99998912e-01 -3.27718639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.855769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:234.97, Y:-34.04, Z:-3.28 [[ 9.75767320e-01 2.18783679e-01 -3.44075187e-03 2.34968814e+02] [-2.18782570e-01 9.75773384e-01 7.00055793e-04 -3.40397836e+01] [ 3.51055488e-03 6.96849720e-05 9.99993836e-01 -3.27798675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.885769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.00, Y:-34.04, Z:-3.28 [[ 9.75561225e-01 2.19695776e-01 -3.74989228e-03 2.34996865e+02] [-2.19694465e-01 9.75568429e-01 7.63226648e-04 -3.40409945e+01] [ 3.82595419e-03 7.92562535e-05 9.99992678e-01 -3.27803585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.02, Y:-34.04, Z:-3.28 [[ 9.75545674e-01 2.19770559e-01 -3.39702949e-03 2.35024107e+02] [-2.19769485e-01 9.75551586e-01 6.90912063e-04 -3.40431822e+01] [ 3.46581963e-03 7.25471463e-05 9.99993991e-01 -3.27903827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.05, Y:-34.04, Z:-3.28 [[ 9.76012489e-01 2.17701360e-01 -2.39557145e-03 2.35052592e+02] [-2.17700821e-01 9.76015428e-01 4.86870152e-04 -3.40433935e+01] [ 2.44410699e-03 4.63265207e-05 9.99997012e-01 -3.27791785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.08, Y:-34.05, Z:-3.28 [[ 9.76231920e-01 2.16720202e-01 -1.89556427e-03 2.35080380e+02] [-2.16719863e-01 9.76233759e-01 3.84923375e-04 -3.40456146e+01] [ 1.93393450e-03 3.50319439e-05 9.99998129e-01 -3.27736719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:235.11, Y:-34.05, Z:-3.28 [[ 9.76433648e-01 2.15810971e-01 -1.71933330e-03 2.35107829e+02] [-2.15810691e-01 9.76435161e-01 3.48766840e-04 -3.40476929e+01] [ 1.75408520e-03 3.05028309e-05 9.99998461e-01 -3.27714316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.14, Y:-34.05, Z:-3.28 [[ 9.76890379e-01 2.13739822e-01 -6.89772158e-04 2.35136378e+02] [-2.13739777e-01 9.76890622e-01 1.39408691e-04 -3.40500326e+01] [ 7.03629142e-04 1.12447389e-05 9.99999752e-01 -3.27825354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.16, Y:-34.05, Z:-3.28 [[ 9.77157471e-01 2.12513797e-01 -1.07800518e-03 2.35162800e+02] [-2.12513686e-01 9.77158066e-01 2.18138389e-04 -3.40545648e+01] [ 1.09973887e-03 1.59352972e-05 9.99999395e-01 -3.27937736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.19, Y:-34.06, Z:-3.28 [[ 9.77713476e-01 2.09899877e-01 -4.28957328e-03 2.35190946e+02] [-2.09898076e-01 9.77722885e-01 8.70852367e-04 -3.40569767e+01] [ 4.37680576e-03 4.89290834e-05 9.99990421e-01 -3.28042447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:235.22, Y:-34.06, Z:-3.28 [[ 9.77788656e-01 2.09498141e-01 -6.31446473e-03 2.35218170e+02] [-2.09494232e-01 9.77809043e-01 1.28167624e-03 -3.40608722e+01] [ 6.44284950e-03 6.96354521e-05 9.99979242e-01 -3.28044427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:235.25, Y:-34.07, Z:-3.28 [[ 9.77664477e-01 2.10043051e-01 -7.35435525e-03 2.35245936e+02] [-2.10037766e-01 9.77692134e-01 1.49248147e-03 -3.40654456e+01] [ 7.50378064e-03 8.55462333e-05 9.99971843e-01 -3.28042679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18576923100002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:235.27, Y:-34.07, Z:-3.28 [[ 9.76988862e-01 2.13145217e-01 -7.86640524e-03 2.35272695e+02] [-2.13139277e-01 9.77020523e-01 1.59562559e-03 -3.40672877e+01] [ 8.02573932e-03 1.17731492e-04 9.99967786e-01 -3.28051410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.30, Y:-34.07, Z:-3.28 [[ 9.76664264e-01 2.14665004e-01 -6.77136555e-03 2.35300904e+02] [-2.14660642e-01 9.76687731e-01 1.37309573e-03 -3.40709275e+01] [ 6.90826526e-03 1.12492144e-04 9.99976131e-01 -3.28008799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.33, Y:-34.07, Z:-3.28 [[ 9.76189930e-01 2.16893855e-01 -3.20567995e-03 2.35328631e+02] [-2.16892895e-01 9.76195191e-01 6.48487496e-04 -3.40722651e+01] [ 3.27002230e-03 6.22422414e-05 9.99994652e-01 -3.27837537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.36, Y:-34.08, Z:-3.28 [[ 9.75904431e-01 2.18191948e-01 -1.67769148e-03 2.35356236e+02] [-2.18191687e-01 9.75905873e-01 3.39186576e-04 -3.40754467e+01] [ 1.71127675e-03 3.50446515e-05 9.99998535e-01 -3.27714195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.38, Y:-34.08, Z:-3.28 [[ 9.75686288e-01 2.19169628e-01 -9.69982642e-04 2.35383711e+02] [-2.19169542e-01 9.75686770e-01 1.95504458e-04 -3.40774574e+01] [ 9.89247871e-04 2.18396317e-05 9.99999510e-01 -3.27708498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.41, Y:-34.08, Z:-3.28 [[ 9.75247821e-01 2.21114647e-01 -1.38862831e-05 2.35412403e+02] [-2.21114647e-01 9.75247821e-01 1.92210014e-06 -3.40765761e+01] [ 1.39675718e-05 1.19593662e-06 1.00000000e+00 -3.27784750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.44, Y:-34.08, Z:-3.28 [[ 9.75092975e-01 2.21796343e-01 2.69281436e-04 2.35441096e+02] [-2.21796336e-01 9.75093012e-01 -5.54090473e-05 -3.40780297e+01] [-2.74863970e-04 -5.69666313e-06 9.99999962e-01 -3.27802142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.47, Y:-34.08, Z:-3.28 [[ 9.75170675e-01 2.21454551e-01 1.93215680e-04 2.35470127e+02] [-2.21454548e-01 9.75170694e-01 -3.99958838e-05 -3.40752587e+01] [-1.97275539e-04 -3.78567807e-06 9.99999981e-01 -3.27721252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.425769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:235.50, Y:-34.08, Z:-3.28 [[ 9.75233905e-01 2.21173908e-01 -9.66079153e-04 2.35498734e+02] [-2.21173824e-01 9.75234383e-01 1.94581244e-04 -3.40772517e+01] [ 9.85189901e-04 2.39091945e-05 9.99999514e-01 -3.27748045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.53, Y:-34.08, Z:-3.28 [[ 9.75362375e-01 2.20597908e-01 -2.19095442e-03 2.35525759e+02] [-2.20597471e-01 9.75364834e-01 4.42084752e-04 -3.40790589e+01] [ 2.23450286e-03 5.21261706e-05 9.99997502e-01 -3.27835160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.55, Y:-34.08, Z:-3.28 [[ 9.75646329e-01 2.19327165e-01 -3.13628392e-03 2.35554430e+02] [-2.19326262e-01 9.75651367e-01 6.33198312e-04 -3.40773394e+01] [ 3.19879728e-03 7.00918195e-05 9.99994881e-01 -3.28018874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.515769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.58, Y:-34.08, Z:-3.28 [[ 9.75797543e-01 2.18663842e-01 -2.29762008e-03 2.35582668e+02] [-2.18663357e-01 9.75800247e-01 4.63478528e-04 -3.40789808e+01] [ 2.34336423e-03 5.01441092e-05 9.99997253e-01 -3.27994355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.61, Y:-34.08, Z:-3.28 [[ 9.76242324e-01 2.16681616e-01 5.23570104e-05 2.35611316e+02] [-2.16681616e-01 9.76242325e-01 -1.14777803e-05 -3.40768016e+01] [-5.36001536e-05 -1.39706712e-07 9.99999999e-01 -3.27900942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.64, Y:-34.08, Z:-3.28 [[ 9.76502719e-01 2.15503640e-01 7.87809784e-04 2.35638421e+02] [-2.15503581e-01 9.76503037e-01 -1.60137774e-04 -3.40791060e+01] [-8.03808920e-04 -1.34008580e-05 9.99999677e-01 -3.27917936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.605769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.67, Y:-34.08, Z:-3.28 [[ 9.76829850e-01 2.14005689e-01 2.23821991e-03 2.35667518e+02] [-2.14005213e-01 9.76832413e-01 -4.52709680e-04 -3.40780330e+01] [-2.28324821e-03 -3.67704009e-05 9.99997393e-01 -3.27799362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.635769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.70, Y:-34.08, Z:-3.28 [[ 9.77022180e-01 2.13121810e-01 2.59884518e-03 2.35695589e+02] [-2.13121166e-01 9.77025636e-01 -5.25337706e-04 -3.40797287e+01] [-2.65109928e-03 -4.06023247e-05 9.99996485e-01 -3.27743429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.72, Y:-34.08, Z:-3.28 [[ 9.77096935e-01 2.12782416e-01 2.28536086e-03 2.35724094e+02] [-2.12781915e-01 9.77099607e-01 -4.63177888e-04 -3.40815950e+01] [-2.33158131e-03 -3.37137655e-05 9.99997281e-01 -3.27714578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.75, Y:-34.08, Z:-3.28 [[ 9.77123825e-01 2.12666480e-01 1.41407970e-03 2.35751948e+02] [-2.12666288e-01 9.77124848e-01 -2.86553244e-04 -3.40799785e+01] [-1.44267268e-03 -2.07290781e-05 9.99998959e-01 -3.27821007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.78, Y:-34.08, Z:-3.28 [[ 9.77179780e-01 2.12409673e-01 1.34511719e-03 2.35779961e+02] [-2.12409498e-01 9.77180705e-01 -2.73147903e-04 -3.40818299e+01] [-1.37244182e-03 -1.88010600e-05 9.99999058e-01 -3.27968532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.81, Y:-34.08, Z:-3.28 [[ 9.77425537e-01 2.11276994e-01 1.16241186e-03 2.35807991e+02] [-2.11276864e-01 9.77426228e-01 -2.34906420e-04 -3.40783708e+01] [-1.18580216e-03 -1.59871984e-05 9.99999297e-01 -3.28068551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.84, Y:-34.08, Z:-3.28 [[ 9.77859461e-01 2.09262623e-01 1.69215641e-04 2.35836650e+02] [-2.09262620e-01 9.77859476e-01 -3.64463376e-05 -3.40790458e+01] [-1.73095974e-04 2.28887718e-07 9.99999985e-01 -3.28216459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.86, Y:-34.08, Z:-3.28 [[ 9.77884412e-01 2.09145996e-01 1.69397703e-04 2.35864605e+02] [-2.09145993e-01 9.77884427e-01 -3.55408975e-05 -3.40844997e+01] [-1.73084612e-04 -6.73961099e-07 9.99999985e-01 -3.28251993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.89, Y:-34.09, Z:-3.28 [[ 9.78460849e-01 2.06423695e-01 -1.90389910e-03 2.35891495e+02] [-2.06423345e-01 9.78462701e-01 3.80490220e-04 -3.40864028e+01] [ 1.94143645e-03 2.07144370e-05 9.99998115e-01 -3.28399928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.92, Y:-34.09, Z:-3.29 [[ 9.80109264e-01 1.98390300e-01 -5.20762274e-03 2.35919576e+02] [-1.98387564e-01 9.80123099e-01 1.04183361e-03 -3.40881531e+01] [ 5.31080102e-03 1.20168228e-05 9.99985898e-01 -3.28610880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:235.95, Y:-34.09, Z:-3.29 [[ 9.81047911e-01 1.93687199e-01 -5.50137860e-03 2.35947600e+02] [-1.93684078e-01 9.81063336e-01 1.09965722e-03 -3.40921886e+01] [ 5.61019037e-03 -1.32869723e-05 9.99984263e-01 -3.28633001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.98, Y:-34.10, Z:-3.29 [[ 9.82784309e-01 1.84722261e-01 -3.56217677e-03 2.35975557e+02] [-1.84720899e-01 9.82790763e-01 7.10467409e-04 -3.40972552e+01] [ 3.63211358e-03 -4.02277241e-05 9.99993403e-01 -3.28511575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.00, Y:-34.10, Z:-3.28 [[ 9.83657495e-01 1.80030384e-01 -2.64454497e-03 2.36001758e+02] [-1.80029615e-01 9.83661049e-01 5.27972964e-04 -3.41039156e+01] [ 2.69638706e-03 -4.32481501e-05 9.99996364e-01 -3.28486677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.03, Y:-34.11, Z:-3.29 [[ 9.85337423e-01 1.70609557e-01 -1.59447505e-03 2.36027692e+02] [-1.70609266e-01 9.85338712e-01 3.17811014e-04 -3.41141214e+01] [ 1.62531959e-03 -4.11188676e-05 9.99998678e-01 -3.28512026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.05, Y:-34.12, Z:-3.29 [[ 9.85956665e-01 1.66998827e-01 -9.20093372e-04 2.36054948e+02] [-1.66998728e-01 9.85957094e-01 1.83030038e-04 -3.41223249e+01] [ 9.37738389e-04 -2.68052631e-05 9.99999560e-01 -3.28529483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.08, Y:-34.13, Z:-3.29 [[ 9.86366394e-01 1.64563772e-01 3.18667898e-04 2.36080926e+02] [-1.64563759e-01 9.86366446e-01 -6.52600275e-05 -3.41303434e+01] [-3.25062758e-04 1.19291108e-05 9.99999947e-01 -3.28541139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.11, Y:-34.14, Z:-3.28 [[ 9.86475726e-01 1.63895422e-01 1.98325886e-03 2.36107924e+02] [-1.63894955e-01 9.86477717e-01 -3.96902780e-04 -3.41403122e+01] [-2.02149122e-03 6.64888376e-05 9.99997955e-01 -3.28309522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.13, Y:-34.15, Z:-3.28 [[ 9.86264661e-01 1.65150364e-01 2.71591355e-03 2.36134275e+02] [-1.65149494e-01 9.86268396e-01 -5.43115586e-04 -3.41469631e+01] [-2.76831544e-03 8.71239594e-05 9.99996164e-01 -3.28209373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.16, Y:-34.15, Z:-3.28 [[ 9.85949486e-01 1.67013148e-01 3.19681443e-03 2.36161295e+02] [-1.67011954e-01 9.85954664e-01 -6.38742093e-04 -3.41543394e+01] [-3.25859242e-03 9.58612125e-05 9.99994686e-01 -3.28175258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.19, Y:-34.16, Z:-3.28 [[ 9.85394664e-01 1.70262440e-01 2.83869922e-03 2.36186557e+02] [-1.70261512e-01 9.85398750e-01 -5.67193076e-04 -3.41647569e+01] [-2.89382234e-03 7.55878091e-05 9.99995810e-01 -3.28303724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.21, Y:-34.17, Z:-3.28 [[ 9.85266212e-01 1.71006973e-01 2.66592775e-03 2.36213903e+02] [-1.71006158e-01 9.85269816e-01 -5.32388777e-04 -3.41730882e+01] [-2.71770034e-03 6.86546122e-05 9.99996305e-01 -3.28389595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.235769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.24, Y:-34.18, Z:-3.28 [[ 9.85097515e-01 1.71963818e-01 3.36611076e-03 2.36240242e+02] [-1.71962526e-01 9.85103263e-01 -6.71746002e-04 -3.41828280e+01] [-3.43148270e-03 8.28904068e-05 9.99994109e-01 -3.28365102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.27, Y:-34.19, Z:-3.28 [[ 9.85060193e-01 1.72181844e-01 3.13515970e-03 2.36265902e+02] [-1.72180724e-01 9.85065179e-01 -6.25596251e-04 -3.41903040e+01] [-3.19605297e-03 7.64358963e-05 9.99994890e-01 -3.28348066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.29, Y:-34.20, Z:-3.28 [[ 9.85078989e-01 1.72074990e-01 3.09563841e-03 2.36292258e+02] [-1.72073899e-01 9.85083850e-01 -6.17443296e-04 -3.41984055e+01] [-3.15570995e-03 7.55518475e-05 9.99995018e-01 -3.28381935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.32, Y:-34.21, Z:-3.28 [[ 9.85562965e-01 1.69296745e-01 2.06277987e-03 2.36318234e+02] [-1.69296254e-01 9.85565122e-01 -4.11494046e-04 -3.42105193e+01] [-2.10266850e-03 5.63323860e-05 9.99997788e-01 -3.28463856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.355769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.34, Y:-34.22, Z:-3.29 [[ 9.85867369e-01 1.67526968e-01 4.96057648e-04 2.36344005e+02] [-1.67526939e-01 9.85867494e-01 -9.97362466e-05 -3.42193445e+01] [-5.05755621e-04 1.52236919e-05 9.99999872e-01 -3.28634228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.385769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.37, Y:-34.23, Z:-3.29 [[ 9.86253018e-01 1.65238373e-01 -1.12416605e-03 2.36369958e+02] [-1.65238226e-01 9.86253659e-01 2.22698671e-04 -3.42321886e+01] [ 1.14551125e-03 -3.38820326e-05 9.99999343e-01 -3.28816943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.40, Y:-34.24, Z:-3.29 [[ 9.86330482e-01 1.64767658e-01 -1.94918750e-03 2.36395849e+02] [-1.64767216e-01 9.86332406e-01 3.86141463e-04 -3.42409668e+01] [ 1.98617042e-03 -5.97008967e-05 9.99998026e-01 -3.28893572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.445769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.42, Y:-34.25, Z:-3.29 [[ 9.86430208e-01 1.64156458e-01 -2.84626519e-03 2.36421383e+02] [-1.64155512e-01 9.86434311e-01 5.64190923e-04 -3.42497664e+01] [ 2.90026923e-03 -8.93048486e-05 9.99995790e-01 -3.28942588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:236.45, Y:-34.26, Z:-3.29 [[ 9.86580867e-01 1.63177816e-01 -5.58513915e-03 2.36447229e+02] [-1.63174154e-01 9.86596659e-01 1.10837463e-03 -3.42637077e+01] [ 5.69114178e-03 -1.82150846e-04 9.99983789e-01 -3.29033556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50576923100002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:236.47, Y:-34.27, Z:-3.29 [[ 9.86645142e-01 1.62744147e-01 -6.76068503e-03 2.36473952e+02] [-1.62738772e-01 9.86668279e-01 1.34135757e-03 -3.42725654e+01] [ 6.88885156e-03 -2.23218355e-04 9.99976247e-01 -3.28586987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:236.50, Y:-34.28, Z:-3.29 [[ 9.86550471e-01 1.63347950e-01 -5.96786089e-03 2.36498829e+02] [-1.63343777e-01 9.86568503e-01 1.18330895e-03 -3.42846887e+01] [ 6.08099467e-03 -1.92581059e-04 9.99981492e-01 -3.29055634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.53, Y:-34.29, Z:-3.29 [[ 9.86423868e-01 1.64141698e-01 -5.04533579e-03 2.36526062e+02] [-1.64138728e-01 9.86436758e-01 1.00002332e-03 -3.42926986e+01] [ 5.14105020e-03 -1.58311872e-04 9.99986772e-01 -3.29033085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.55, Y:-34.30, Z:-3.29 [[ 9.86220116e-01 1.65370191e-01 -4.75211392e-03 2.36551658e+02] [-1.65367574e-01 9.86231555e-01 9.41318153e-04 -3.43007276e+01] [ 4.84235067e-03 -1.42501349e-04 9.99988266e-01 -3.29043687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:236.58, Y:-34.31, Z:-3.29 [[ 9.85793599e-01 1.67888345e-01 -4.94815323e-03 2.36577936e+02] [-1.67885540e-01 9.85806008e-01 9.79990101e-04 -3.43116358e+01] [ 5.04244810e-03 -1.35344593e-04 9.99987278e-01 -3.29100068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65576923100002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:236.61, Y:-34.32, Z:-3.29 [[ 9.85724699e-01 1.68279616e-01 -5.36550513e-03 2.36605111e+02] [-1.68276325e-01 9.85739291e-01 1.06234248e-03 -3.43187043e+01] [ 5.46775981e-03 -1.44289734e-04 9.99985041e-01 -3.29099185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.63, Y:-34.33, Z:-3.29 [[ 9.85837111e-01 1.67616418e-01 -5.47055854e-03 2.36632371e+02] [-1.67612986e-01 9.85852278e-01 1.08317094e-03 -3.43287844e+01] [ 5.57471983e-03 -1.50893463e-04 9.99984450e-01 -3.29142567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.66, Y:-34.34, Z:-3.29 [[ 9.86148869e-01 1.65808598e-01 -4.23289387e-03 2.36659720e+02] [-1.65806528e-01 9.86157945e-01 8.37752917e-04 -3.43375487e+01] [ 4.31320856e-03 -1.24307655e-04 9.99990690e-01 -3.29174324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.69, Y:-34.35, Z:-3.29 [[ 9.86596841e-01 1.63159172e-01 -2.39936380e-03 2.36686959e+02] [-1.63158500e-01 9.86599756e-01 4.74476724e-04 -3.43465872e+01] [ 2.44462697e-03 -7.66406385e-05 9.99997009e-01 -3.29199331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.71, Y:-34.36, Z:-3.29 [[ 9.87313034e-01 1.58785732e-01 2.54528294e-04 2.36713641e+02] [-1.58785724e-01 9.87313066e-01 -5.10040734e-05 -3.43585467e+01] [-2.59397830e-04 9.94152687e-06 9.99999966e-01 -3.29128808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:236.74, Y:-34.37, Z:-3.28 [[ 9.87438646e-01 1.58002686e-01 2.66176590e-04 2.36741542e+02] [-1.58002678e-01 9.87438682e-01 -5.30098363e-05 -3.43663554e+01] [-2.71208758e-04 1.02873470e-05 9.99999963e-01 -3.28442302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.77, Y:-34.38, Z:-3.29 [[ 9.87175317e-01 1.59639315e-01 4.26812077e-04 2.36767871e+02] [-1.59639293e-01 9.87175409e-01 -8.49010880e-05 -3.43803942e+01] [-4.34891938e-04 1.56762803e-05 9.99999905e-01 -3.29014524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:-34.39, Z:-3.29 [[ 9.87020670e-01 1.60593070e-01 2.51787268e-04 2.36795386e+02] [-1.60593062e-01 9.87020702e-01 -5.02452811e-05 -3.43905710e+01] [-2.56588289e-04 9.15784271e-06 9.99999967e-01 -3.29044091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.82, Y:-34.40, Z:-3.29 [[ 9.86870883e-01 1.61511167e-01 -5.60531891e-05 2.36822501e+02] [-1.61511167e-01 9.86870885e-01 1.05372517e-05 -3.43996850e+01] [ 5.70191441e-05 -1.34569092e-06 9.99999998e-01 -3.29059117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.85, Y:-34.41, Z:-3.29 [[ 9.86316974e-01 1.64852513e-01 -1.57374183e-03 2.36851192e+02] [-1.64852226e-01 9.86318228e-01 3.11309877e-04 -3.44111669e+01] [ 1.60353047e-03 -4.76153726e-05 9.99998713e-01 -3.29194029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.955769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:236.88, Y:-34.42, Z:-3.29 [[ 9.85449955e-01 1.69938050e-01 -3.07341855e-03 2.36877649e+02] [-1.69936982e-01 9.85454744e-01 6.07388320e-04 -3.44231942e+01] [ 3.13193328e-03 -7.62633200e-05 9.99995093e-01 -3.29303375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.985769231 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:236.91, Y:-34.43, Z:-3.29 [[ 9.85064661e-01 1.72161895e-01 -2.80992884e-03 2.36906593e+02] [-1.72161011e-01 9.85068667e-01 5.55368383e-04 -3.44310105e+01] [ 2.86358613e-03 -6.33135779e-05 9.99995898e-01 -3.28731719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.015769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.93, Y:-34.44, Z:-3.29 [[ 9.84689839e-01 1.74301267e-01 -2.23382628e-03 2.36933888e+02] [-1.74300714e-01 9.84692371e-01 4.41386077e-04 -3.44399808e+01] [ 2.27656585e-03 -4.52708678e-05 9.99997408e-01 -3.29372081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.96, Y:-34.45, Z:-3.29 [[ 9.84388443e-01 1.75999332e-01 -1.90499939e-03 2.36962544e+02] [-1.75998934e-01 9.84390285e-01 3.76326024e-04 -3.44482677e+01] [ 1.94149602e-03 -3.51731282e-05 9.99998115e-01 -3.29340968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.075769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.99, Y:-34.46, Z:-3.29 [[ 9.83658412e-01 1.80034092e-01 -1.96294624e-03 2.36989509e+02] [-1.80033677e-01 9.83660371e-01 3.87561921e-04 -3.44593670e+01] [ 2.00064678e-03 -2.78321143e-05 9.99997998e-01 -3.29254303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.105769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:237.02, Y:-34.47, Z:-3.29 [[ 9.82507224e-01 1.86195780e-01 -3.26887257e-03 2.37018625e+02] [-1.86194661e-01 9.82512662e-01 6.46147335e-04 -3.44714811e+01] [ 3.33201860e-03 -2.61978052e-05 9.99994448e-01 -3.29271841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.135769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:237.05, Y:-34.48, Z:-3.29 [[ 9.81840166e-01 1.89677724e-01 -3.49993210e-03 2.37047505e+02] [-1.89676462e-01 9.81846404e-01 6.92016111e-04 -3.44796709e+01] [ 3.56765578e-03 -1.55944764e-05 9.99993636e-01 -3.29315138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.165769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:237.08, Y:-34.49, Z:-3.29 [[ 9.81143913e-01 1.93259878e-01 -2.69103941e-03 2.37076649e+02] [-1.93259147e-01 9.81147603e-01 5.31595565e-04 -3.44871777e+01] [ 2.74304296e-03 -1.50377367e-06 9.99996238e-01 -3.29436171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.195769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.11, Y:-34.49, Z:-3.29 [[ 9.79728030e-01 2.00331784e-01 -4.04689969e-04 2.37105800e+02] [-2.00331768e-01 9.79728114e-01 7.96805307e-05 -3.44940851e+01] [ 4.12448683e-04 3.00700751e-06 9.99999915e-01 -3.29331505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.13, Y:-34.50, Z:-3.29 [[ 9.78899136e-01 2.04344029e-01 9.48072018e-06 2.37134630e+02] [-2.04344029e-01 9.78899136e-01 -2.16966972e-06 -3.44991181e+01] [-9.72402789e-06 1.86559260e-07 1.00000000e+00 -3.29350231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:237.16, Y:-34.50, Z:-3.29 [[ 9.77558234e-01 2.10665179e-01 -2.85841631e-04 2.37162891e+02] [-2.10665171e-01 9.77558276e-01 5.58721053e-05 -3.45034900e+01] [ 2.91197159e-04 5.59863971e-06 9.99999958e-01 -3.29397374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:237.19, Y:-34.51, Z:-3.30 [[ 9.77251037e-01 2.12083064e-01 -1.08803454e-03 2.37191625e+02] [-2.12082957e-01 9.77251643e-01 2.14300403e-04 -3.45089232e+01] [ 1.10873303e-03 2.13282911e-05 9.99999385e-01 -3.29500018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.22, Y:-34.51, Z:-3.30 [[ 9.77237219e-01 2.12141254e-01 -1.87250036e-03 2.37221150e+02] [-2.12140935e-01 9.77239012e-01 3.69492954e-04 -3.45146529e+01] [ 1.90826511e-03 3.61517121e-05 9.99998179e-01 -3.29544998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.25, Y:-34.52, Z:-3.30 [[ 9.77672050e-01 2.10130103e-01 -1.64381276e-03 2.37250608e+02] [-2.10129854e-01 9.77673432e-01 3.24285073e-04 -3.45194913e+01] [ 1.67525412e-03 2.83696844e-05 9.99998596e-01 -3.29502497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.28, Y:-34.52, Z:-3.29 [[ 9.77798031e-01 2.09549291e-01 -3.25621295e-04 2.37279523e+02] [-2.09549281e-01 9.77798085e-01 6.39814228e-05 -3.45237522e+01] [ 3.31799141e-04 5.67279909e-06 9.99999945e-01 -3.29491079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.31, Y:-34.53, Z:-3.29 [[ 9.77922094e-01 2.08968271e-01 7.99624650e-04 2.37307537e+02] [-2.08968211e-01 9.77922421e-01 -1.58155807e-04 -3.45277292e+01] [-8.15020420e-04 -1.24320743e-05 9.99999668e-01 -3.29476259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.34, Y:-34.53, Z:-3.29 [[ 9.77869930e-01 2.09195466e-01 2.76704223e-03 2.37336687e+02] [-2.09194757e-01 9.77873844e-01 -5.46479470e-04 -3.45312801e+01] [-2.82013925e-03 -4.44648872e-05 9.99996022e-01 -3.29462588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:237.37, Y:-34.53, Z:-3.29 [[ 9.77770859e-01 2.09654482e-01 3.02403806e-03 2.37365585e+02] [-2.09653638e-01 9.77775534e-01 -5.97244729e-04 -3.45344674e+01] [-3.08204546e-03 -5.00320874e-05 9.99995249e-01 -3.29427008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.39, Y:-34.53, Z:-3.29 [[ 9.77491547e-01 2.10971160e-01 1.20207643e-03 2.37393946e+02] [-2.10971027e-01 9.77492286e-01 -2.37907416e-04 -3.45324602e+01] [-1.22521204e-03 -2.10508109e-05 9.99999249e-01 -3.29493503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:237.42, Y:-34.53, Z:-3.30 [[ 9.77199717e-01 2.12322191e-01 -3.61489838e-05 2.37423252e+02] [-2.12322191e-01 9.77199717e-01 6.53536575e-06 -3.45344187e+01] [ 3.67123799e-05 1.28887387e-06 9.99999999e-01 -3.29570439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.45, Y:-34.54, Z:-3.30 [[ 9.76822178e-01 2.14052124e-01 -3.48540473e-04 2.37451566e+02] [-2.14052113e-01 9.76822240e-01 6.79860407e-05 -3.45361808e+01] [ 3.55014642e-04 8.19555247e-06 9.99999937e-01 -3.29562612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.48, Y:-34.53, Z:-3.29 [[ 9.76309007e-01 2.16364283e-01 2.68706044e-03 2.37479100e+02] [-2.16363641e-01 9.76312702e-01 -5.30810754e-04 -3.45338071e+01] [-2.73825973e-03 -6.31468606e-05 9.99996249e-01 -3.29410459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:237.51, Y:-34.54, Z:-3.29 [[ 9.76323366e-01 2.16269160e-01 4.50942512e-03 2.37507859e+02] [-2.16267359e-01 9.76333774e-01 -8.89061072e-04 -3.45358988e+01] [-4.59498054e-03 -1.07230365e-04 9.99989437e-01 -3.29336064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.54, Y:-34.54, Z:-3.29 [[ 9.76894894e-01 2.13647695e-01 5.57024441e-03 2.37537760e+02] [-2.13644907e-01 9.76910768e-01 -1.09779695e-03 -3.45357614e+01] [-5.67617353e-03 -1.17622111e-04 9.99983883e-01 -3.29392234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.675769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.57, Y:-34.54, Z:-3.29 [[ 9.76902351e-01 2.13613597e-01 5.57031092e-03 2.37566554e+02] [-2.13610810e-01 9.76918224e-01 -1.09745932e-03 -3.45413475e+01] [-5.67617049e-03 -1.17768039e-04 9.99983883e-01 -3.29428810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.705769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:237.60, Y:-34.55, Z:-3.30 [[ 9.77492118e-01 2.10912969e-01 4.98779570e-03 2.37595392e+02] [-2.10910700e-01 9.77504839e-01 -9.82644427e-04 -3.45453037e+01] [-5.08284689e-03 -9.14522991e-05 9.99987078e-01 -3.29538944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.735769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:237.62, Y:-34.55, Z:-3.30 [[ 9.78220931e-01 2.07526247e-01 4.08247455e-03 2.37623591e+02] [-2.07524698e-01 9.78229448e-01 -8.04198017e-04 -3.45497962e+01] [-4.16048902e-03 -6.05309645e-05 9.99991343e-01 -3.29611307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.65, Y:-34.55, Z:-3.30 [[ 9.79304374e-01 2.02382186e-01 2.09615332e-03 2.37650909e+02] [-2.02381766e-01 9.79306617e-01 -4.13224459e-04 -3.45547287e+01] [-2.13640609e-03 -1.95506907e-05 9.99997718e-01 -3.29680734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.795769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.68, Y:-34.56, Z:-3.30 [[ 9.79559936e-01 2.01134946e-01 2.65808596e-03 2.37679196e+02] [-2.01134265e-01 9.79563542e-01 -5.23523333e-04 -3.45606293e+01] [-2.70906293e-03 -2.18096840e-05 9.99996330e-01 -3.29719067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.71, Y:-34.57, Z:-3.30 [[ 9.79780456e-01 2.00027260e-01 4.39915367e-03 2.37706703e+02] [-2.00025388e-01 9.79790332e-01 -8.65842423e-04 -3.45680656e+01] [-4.48344032e-03 -3.16069367e-05 9.99989949e-01 -3.29606149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.855769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:237.73, Y:-34.57, Z:-3.30 [[ 9.79833320e-01 1.99766444e-01 4.47580413e-03 2.37733876e+02] [-1.99764505e-01 9.79843542e-01 -8.80797048e-04 -3.45743642e+01] [-4.56154147e-03 -3.10724997e-05 9.99989596e-01 -3.29648746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.885769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:237.76, Y:-34.58, Z:-3.30 [[ 9.79874944e-01 1.99571533e-01 4.03693506e-03 2.37762112e+02] [-1.99569955e-01 9.79883260e-01 -7.94176630e-04 -3.45807104e+01] [-4.11422013e-03 -2.74571664e-05 9.99991536e-01 -3.29715179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.79, Y:-34.59, Z:-3.30 [[ 9.79784498e-01 2.00040080e-01 2.51066415e-03 2.37788455e+02] [-2.00039470e-01 9.79787715e-01 -4.94134760e-04 -3.45892974e+01] [-2.55876465e-03 -1.80863500e-05 9.99996726e-01 -3.29838658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.945769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.82, Y:-34.60, Z:-3.30 [[ 9.79615538e-01 2.00877220e-01 1.31928420e-03 2.37815477e+02] [-2.00877052e-01 9.79616426e-01 -2.59951802e-04 -3.45977531e+01] [-1.34461087e-03 -1.03610976e-05 9.99999096e-01 -3.29904556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97576923100002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:237.84, Y:-34.61, Z:-3.30 [[ 9.78947344e-01 2.04112950e-01 4.73841929e-05 2.37842505e+02] [-2.04112949e-01 9.78947345e-01 -9.89646164e-06 -3.46074993e+01] [-4.84066258e-05 1.63874750e-08 9.99999999e-01 -3.29885977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00576923100002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:237.87, Y:-34.61, Z:-3.30 [[ 9.78516822e-01 2.06166949e-01 1.34139553e-04 2.37869643e+02] [-2.06166947e-01 9.78516831e-01 -2.70699823e-05 -3.46125552e+01] [-1.36838746e-04 -1.16670907e-06 9.99999991e-01 -3.29877890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:237.90, Y:-34.62, Z:-3.30 [[ 9.77946962e-01 2.08852979e-01 4.15863928e-04 2.37898343e+02] [-2.08852963e-01 9.77947050e-01 -8.22202438e-05 -3.46172393e+01] [-4.23864845e-04 -6.44737589e-06 9.99999910e-01 -3.29854715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.93, Y:-34.62, Z:-3.30 [[ 9.76852562e-01 2.13912981e-01 5.55733384e-04 2.37925079e+02] [-2.13912953e-01 9.76852720e-01 -1.10063137e-04 -3.46210015e+01] [-5.66413602e-04 -1.13631122e-05 9.99999840e-01 -3.29827708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:237.95, Y:-34.63, Z:-3.30 [[ 9.76632730e-01 2.14914132e-01 6.53520008e-04 2.37952776e+02] [-2.14914093e-01 9.76632948e-01 -1.29062906e-04 -3.46256206e+01] [-6.65986615e-04 -1.44036015e-05 9.99999778e-01 -3.29850861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.98, Y:-34.63, Z:-3.30 [[ 9.76713203e-01 2.14543306e-01 1.57790419e-03 2.37980321e+02] [-2.14543085e-01 9.76714476e-01 -3.10183131e-04 -3.46296690e+01] [-1.60770958e-03 -3.55684730e-05 9.99998707e-01 -3.29910492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.01, Y:-34.63, Z:-3.30 [[ 9.76996828e-01 2.13238574e-01 2.55107472e-03 2.38008340e+02] [-2.13237993e-01 9.77000158e-01 -5.00690671e-04 -3.46349885e+01] [-2.59916697e-03 -5.48128564e-05 9.99996621e-01 -3.29891969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.04, Y:-34.64, Z:-3.30 [[ 9.77329468e-01 2.11693543e-01 3.59928689e-03 2.38036146e+02] [-2.11692378e-01 9.77336093e-01 -7.06102469e-04 -3.46402678e+01] [-3.66719032e-03 -7.18468515e-05 9.99993273e-01 -3.29873587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21576923100002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:238.06, Y:-34.64, Z:-3.29 [[ 9.77814460e-01 2.09424092e-01 4.52016649e-03 2.38064998e+02] [-2.09422232e-01 9.77824904e-01 -8.86196491e-04 -3.46441093e+01] [-4.60552226e-03 -8.00876133e-05 9.99989391e-01 -3.29161233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.09, Y:-34.65, Z:-3.30 [[ 9.78118302e-01 2.07995737e-01 4.72868573e-03 2.38093144e+02] [-2.07993687e-01 9.78129729e-01 -9.26820913e-04 -3.46498811e+01] [-4.81804289e-03 -7.69962806e-05 9.99988390e-01 -3.29754447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27576923100003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.12, Y:-34.65, Z:-3.30 [[ 9.79024029e-01 2.03706438e-01 3.95437593e-03 2.38121264e+02] [-2.03704969e-01 9.79032014e-01 -7.74976647e-04 -3.46547068e+01] [-4.02932837e-03 -4.68052672e-05 9.99991881e-01 -3.29884727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.15, Y:-34.66, Z:-3.30 [[ 9.79581763e-01 2.01008235e-01 3.90637567e-03 2.38149095e+02] [-2.01006781e-01 9.79589551e-01 -7.65522708e-04 -3.46596515e+01] [-3.98052116e-03 -3.53159140e-05 9.99992077e-01 -3.29961357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:238.18, Y:-34.66, Z:-3.30 [[ 9.80122053e-01 1.98346086e-01 4.42615555e-03 2.38177568e+02] [-1.98344193e-01 9.80132047e-01 -8.66834340e-04 -3.46649680e+01] [-4.51015009e-03 -2.82987984e-05 9.99989829e-01 -3.29941010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.21, Y:-34.67, Z:-3.30 [[ 9.81061971e-01 1.93593001e-01 6.25770145e-03 2.38205563e+02] [-1.93589126e-01 9.81081928e-01 -1.22497893e-03 -3.46705916e+01] [-6.37646516e-03 -9.64270851e-06 9.99979670e-01 -3.29880331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.23, Y:-34.68, Z:-3.30 [[ 9.81430318e-01 1.91703647e-01 6.65153231e-03 2.38233871e+02] [-1.91699227e-01 9.81452858e-01 -1.30171223e-03 -3.46774095e+01] [-6.77770837e-03 2.44624892e-06 9.99977031e-01 -3.29914501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.425769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:238.26, Y:-34.69, Z:-3.30 [[ 9.82142694e-01 1.88073866e-01 4.89382926e-03 2.38261295e+02] [-1.88071430e-01 9.82154886e-01 -9.57553095e-04 -3.46863343e+01] [-4.98658903e-03 2.00643104e-05 9.99987567e-01 -3.29968224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.455769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.29, Y:-34.69, Z:-3.30 [[ 9.82334554e-01 1.87087779e-01 4.12153661e-03 2.38291420e+02] [-1.87086044e-01 9.82343200e-01 -8.06063438e-04 -3.46936523e+01] [-4.19956808e-03 2.07419904e-05 9.99991182e-01 -3.29998610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.485769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.32, Y:-34.70, Z:-3.30 [[ 9.82414153e-01 1.86666356e-01 4.25488027e-03 2.38320418e+02] [-1.86664502e-01 9.82423366e-01 -8.32244000e-04 -3.47004751e+01] [-4.33544575e-03 2.33731760e-05 9.99990602e-01 -3.30009077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.515769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.35, Y:-34.71, Z:-3.30 [[ 9.82015657e-01 1.88684061e-01 6.60112241e-03 2.38348768e+02] [-1.88679646e-01 9.82037843e-01 -1.29105669e-03 -3.47096363e+01] [-6.72615383e-03 2.23404469e-05 9.99977379e-01 -3.29904133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.545769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:238.38, Y:-34.72, Z:-3.30 [[ 9.81623896e-01 1.90676734e-01 7.54392259e-03 2.38376310e+02] [-1.90671027e-01 9.81652883e-01 -1.47528246e-03 -3.47170914e+01] [-7.68681541e-03 9.76504931e-06 9.99970456e-01 -3.29923460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.41, Y:-34.73, Z:-3.30 [[ 9.80644907e-01 1.95721335e-01 5.35960388e-03 2.38405076e+02] [-1.95718531e-01 9.80659553e-01 -1.04797620e-03 -3.47271088e+01] [-5.46105805e-03 -2.12812747e-05 9.99985088e-01 -3.30021067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.605769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.43, Y:-34.73, Z:-3.30 [[ 9.80174718e-01 1.98096420e-01 3.91544306e-03 2.38433832e+02] [-1.98094942e-01 9.80182538e-01 -7.65583658e-04 -3.47340785e+01] [-3.98950830e-03 -2.52237194e-05 9.99992042e-01 -3.30067252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.635769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:238.46, Y:-34.74, Z:-3.30 [[ 9.79835106e-01 1.99782825e-01 3.16049138e-03 2.38461463e+02] [-1.99781870e-01 9.79840202e-01 -6.18060291e-04 -3.47409169e+01] [-3.22025434e-03 -2.58117082e-05 9.99994815e-01 -3.30081490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.665769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.49, Y:-34.75, Z:-3.30 [[ 9.79337554e-01 2.02195348e-01 3.87258107e-03 2.38488614e+02] [-2.02193935e-01 9.79345210e-01 -7.57058900e-04 -3.47493696e+01] [-3.94566751e-03 -4.15961933e-05 9.99992215e-01 -3.30044593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.695769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:238.52, Y:-34.76, Z:-3.30 [[ 9.79184979e-01 2.02933879e-01 3.82340831e-03 2.38517031e+02] [-2.02932508e-01 9.79192442e-01 -7.47206086e-04 -3.47564418e+01] [-3.89548595e-03 -4.42408631e-05 9.99992412e-01 -3.30090100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:238.55, Y:-34.77, Z:-3.30 [[ 9.79010669e-01 2.03785647e-01 3.08549864e-03 2.38545450e+02] [-2.03784758e-01 9.79015530e-01 -6.02981150e-04 -3.47652288e+01] [-3.14362999e-03 -3.84526163e-05 9.99995058e-01 -3.30174322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.57, Y:-34.77, Z:-3.30 [[ 9.78911970e-01 2.04263055e-01 2.82125472e-03 2.38573787e+02] [-2.04262314e-01 9.78916035e-01 -5.51409722e-04 -3.47718000e+01] [-2.87440411e-03 -3.64944391e-05 9.99995868e-01 -3.30157614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.60, Y:-34.78, Z:-3.30 [[ 9.78756123e-01 2.05005847e-01 3.00899345e-03 2.38602550e+02] [-2.05005009e-01 9.78760748e-01 -5.87852159e-04 -3.47782816e+01] [-3.06559781e-03 -4.14948291e-05 9.99995300e-01 -3.30097254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:238.63, Y:-34.78, Z:-3.30 [[ 9.78273410e-01 2.07247934e-01 5.42492629e-03 2.38630857e+02] [-2.07245245e-01 9.78288447e-01 -1.05955087e-03 -3.47831972e+01] [-5.52673245e-03 -8.77597303e-05 9.99984724e-01 -3.30009057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.66, Y:-34.79, Z:-3.30 [[ 9.77975593e-01 2.08610068e-01 6.75122599e-03 2.38660263e+02] [-2.08605938e-01 9.77998888e-01 -1.31817130e-03 -3.47882226e+01] [-6.87767532e-03 -1.19206471e-04 9.99976341e-01 -3.30021452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.69, Y:-34.79, Z:-3.30 [[ 9.77817404e-01 2.09321750e-01 7.58479903e-03 2.38689177e+02] [-2.09316560e-01 9.77846811e-01 -1.48070808e-03 -3.47931618e+01] [-7.72671595e-03 -1.39761902e-04 9.99970139e-01 -3.30028684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.72, Y:-34.80, Z:-3.30 [[ 9.77792510e-01 2.09458750e-01 6.98846400e-03 2.38717546e+02] [-2.09454348e-01 9.77817475e-01 -1.36420724e-03 -3.47989883e+01] [-7.11918736e-03 -1.29852547e-04 9.99974650e-01 -3.30084061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.75, Y:-34.80, Z:-3.30 [[ 9.77779658e-01 2.09545712e-01 6.12661522e-03 2.38747183e+02] [-2.09542331e-01 9.77798845e-01 -1.19572423e-03 -3.48045419e+01] [-6.24115617e-03 -1.14630412e-04 9.99980517e-01 -3.30150905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:238.78, Y:-34.81, Z:-3.30 [[ 9.77363535e-01 2.11481079e-01 6.02275772e-03 2.38775734e+02] [-2.11477850e-01 9.77382084e-01 -1.17533737e-03 -3.48083691e+01] [-6.13509711e-03 -1.24947964e-04 9.99981172e-01 -3.30096886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.80, Y:-34.81, Z:-3.30 [[ 9.76902810e-01 2.13581712e-01 6.61446810e-03 2.38804085e+02] [-2.13577866e-01 9.76925191e-01 -1.29070815e-03 -3.48134865e+01] [-6.73751217e-03 -1.51807561e-04 9.99977291e-01 -3.30076817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:238.83, Y:-34.82, Z:-3.30 [[ 9.76462055e-01 2.15573325e-01 7.07085212e-03 2.38832476e+02] [-2.15568984e-01 9.76487640e-01 -1.37939442e-03 -3.48181376e+01] [-7.20196034e-03 -1.77330095e-04 9.99974050e-01 -3.30090411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.86, Y:-34.82, Z:-3.30 [[ 9.75336235e-01 2.20611409e-01 7.05937901e-03 2.38861596e+02] [-2.20607217e-01 9.75361759e-01 -1.37684304e-03 -3.48191467e+01] [-7.18919561e-03 -2.14465047e-04 9.99974134e-01 -3.29975347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.89, Y:-34.82, Z:-3.30 [[ 9.74663342e-01 2.23551247e-01 7.49730250e-03 2.38889289e+02] [-2.23546608e-01 9.74692145e-01 -1.46192584e-03 -3.48210704e+01] [-7.63437720e-03 -2.51111016e-04 9.99970826e-01 -3.30018438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.92, Y:-34.82, Z:-3.30 [[ 9.74066892e-01 2.26138036e-01 7.43500262e-03 2.38917730e+02] [-2.26133553e-01 9.74095229e-01 -1.44921672e-03 -3.48239880e+01] [-7.57012360e-03 -2.69669536e-04 9.99971310e-01 -3.30081806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.95, Y:-34.82, Z:-3.30 [[ 9.74012061e-01 2.26418479e-01 5.93101691e-03 2.38945602e+02] [-2.26415632e-01 9.74030095e-01 -1.15596693e-03 -3.48237864e+01] [-6.03872124e-03 -2.16949213e-04 9.99981743e-01 -3.30339513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.175769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:238.97, Y:-34.82, Z:-3.30 [[ 9.74354680e-01 2.24970623e-01 4.60173121e-03 2.38973452e+02] [-2.24968894e-01 9.74365533e-01 -8.96765998e-04 -3.48247471e+01] [-4.68551429e-03 -1.61478231e-04 9.99989010e-01 -3.30444199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.205769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.00, Y:-34.82, Z:-3.31 [[ 9.75161226e-01 2.21456047e-01 4.21925342e-03 2.39001608e+02] [-2.21454559e-01 9.75170345e-01 -8.22386372e-04 -3.48215165e+01] [-4.29661325e-03 -1.32413603e-04 9.99990761e-01 -3.30531070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.235769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:239.03, Y:-34.82, Z:-3.30 [[ 9.75529898e-01 2.19805092e-01 5.20951837e-03 2.39029098e+02] [-2.19802806e-01 9.75543796e-01 -1.01438600e-03 -3.48236735e+01] [-5.30508053e-03 -1.55502887e-04 9.99985916e-01 -3.30477131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.06, Y:-34.83, Z:-3.30 [[ 9.75948603e-01 2.17922670e-01 5.83393827e-03 2.39057490e+02] [-2.17919774e-01 9.75966026e-01 -1.13520777e-03 -3.48264713e+01] [-5.94111305e-03 -1.63426076e-04 9.99982338e-01 -3.30465959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.295769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.09, Y:-34.83, Z:-3.31 [[ 9.77160182e-01 2.12478945e-01 3.26739392e-03 2.39086129e+02] [-2.12478005e-01 9.77165642e-01 -6.36002601e-04 -3.48256308e+01] [-3.32792224e-03 -7.27729241e-05 9.99994460e-01 -3.30568154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.325769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.11, Y:-34.83, Z:-3.31 [[ 9.77838282e-01 2.09351423e-01 2.06799838e-03 2.39113672e+02] [-2.09351040e-01 9.77840468e-01 -4.02795066e-04 -3.48276865e+01] [-2.10649823e-03 -3.90691764e-05 9.99997781e-01 -3.30653956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.355769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.14, Y:-34.83, Z:-3.31 [[ 9.79234529e-01 2.02729912e-01 5.66149919e-04 2.39140584e+02] [-2.02729882e-01 9.79234692e-01 -1.10944978e-04 -3.48302703e+01] [-5.76885507e-04 -6.13435336e-06 9.99999834e-01 -3.30669236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.385769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.17, Y:-34.84, Z:-3.31 [[ 9.80039797e-01 1.98800066e-01 7.27815263e-04 2.39168030e+02] [-1.98800015e-01 9.80040067e-01 -1.42237178e-04 -3.48350054e+01] [-7.41564880e-04 -5.29158967e-06 9.99999725e-01 -3.30666475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.415769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.20, Y:-34.84, Z:-3.31 [[ 9.81682461e-01 1.90506649e-01 2.60055912e-03 2.39196565e+02] [-1.90505978e-01 9.81685905e-01 -5.05502674e-04 -3.48401236e+01] [-2.64923386e-03 8.21049312e-07 9.99996491e-01 -3.30684079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.445769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.22, Y:-34.85, Z:-3.31 [[ 9.82393485e-01 1.86776581e-01 4.18918434e-03 2.39224864e+02] [-1.86774809e-01 9.82402417e-01 -8.13734476e-04 -3.48457988e+01] [-4.26745137e-03 1.69733431e-05 9.99990894e-01 -3.30715139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47576923100002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:239.25, Y:-34.85, Z:-3.31 [[ 9.82975345e-01 1.83649973e-01 5.67082627e-03 2.39252016e+02] [-1.83646676e-01 9.82991702e-01 -1.10115625e-03 -3.48513200e+01] [-5.77660248e-03 4.09810488e-05 9.99983314e-01 -3.30678581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.28, Y:-34.86, Z:-3.31 [[ 9.83445250e-01 1.81107533e-01 5.95834750e-03 2.39279941e+02] [-1.81103850e-01 9.83463298e-01 -1.15644618e-03 -3.48567646e+01] [-6.06925720e-03 5.82218270e-05 9.99981580e-01 -3.30651468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.31, Y:-34.86, Z:-3.31 [[ 9.83646230e-01 1.80039315e-01 5.09308379e-03 2.39307426e+02] [-1.80036610e-01 9.83659414e-01 -9.88431769e-04 -3.48623020e+01] [-5.18781640e-03 5.53256415e-05 9.99986542e-01 -3.30749636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.33, Y:-34.87, Z:-3.31 [[ 9.84236554e-01 1.76817686e-01 3.72973886e-03 2.39334732e+02] [-1.76816212e-01 9.84243620e-01 -7.23722764e-04 -3.48721510e+01] [-3.79893866e-03 5.28361016e-05 9.99992783e-01 -3.30828730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59576923100002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:239.36, Y:-34.88, Z:-3.30 [[ 9.84544274e-01 1.75074578e-01 4.63305038e-03 2.39362822e+02] [-1.75072288e-01 9.84555172e-01 -8.98532628e-04 -3.48798086e+01] [-4.71880393e-03 7.35264231e-05 9.99988864e-01 -3.30171086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62576923100002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:239.39, Y:-34.89, Z:-3.30 [[ 9.84550258e-01 1.75040924e-01 4.63308409e-03 2.39391633e+02] [-1.75038634e-01 9.84561156e-01 -8.98358719e-04 -3.48853051e+01] [-4.71880417e-03 7.35105988e-05 9.99988864e-01 -3.30207663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.42, Y:-34.90, Z:-3.31 [[ 9.84754906e-01 1.73779923e-01 7.63635243e-03 2.39419133e+02] [-1.73773668e-01 9.84784505e-01 -1.48019679e-03 -3.48955767e+01] [-7.77739003e-03 1.30634077e-04 9.99969747e-01 -3.30575519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.45, Y:-34.90, Z:-3.31 [[ 9.84719140e-01 1.73969618e-01 7.92383602e-03 2.39447801e+02] [-1.73962893e-01 9.84751011e-01 -1.53542670e-03 -3.49030243e+01] [-8.07012313e-03 1.33510619e-04 9.99967427e-01 -3.30626469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.48, Y:-34.91, Z:-3.31 [[ 9.84718433e-01 1.73995203e-01 7.43482411e-03 2.39476775e+02] [-1.73989285e-01 9.84746492e-01 -1.44050613e-03 -3.49111302e+01] [-7.57205812e-03 1.24913214e-04 9.99971324e-01 -3.30721447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.50, Y:-34.92, Z:-3.31 [[ 9.84756899e-01 1.73756213e-01 7.91376207e-03 2.39504980e+02] [-1.73749502e-01 9.84788688e-01 -1.53303578e-03 -3.49223924e+01] [-8.05975786e-03 1.34655339e-04 9.99967511e-01 -3.30777010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:239.53, Y:-34.93, Z:-3.31 [[ 9.84689886e-01 1.74112441e-01 8.40753748e-03 2.39533910e+02] [-1.74104880e-01 9.84725768e-01 -1.62857657e-03 -3.49297357e+01] [-8.56267425e-03 1.39849573e-04 9.99963330e-01 -3.30771603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.56, Y:-34.94, Z:-3.31 [[ 9.84225325e-01 1.76754653e-01 7.63562164e-03 2.39563678e+02] [-1.76748498e-01 9.84254937e-01 -1.47892089e-03 -3.49382206e+01] [-7.77680444e-03 1.06006741e-04 9.99969755e-01 -3.30919983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.59, Y:-34.95, Z:-3.31 [[ 9.83947408e-01 1.78331685e-01 6.73119923e-03 2.39591812e+02] [-1.78326937e-01 9.83970428e-01 -1.30381242e-03 -3.49457622e+01] [-6.85581205e-03 8.25287056e-05 9.99976495e-01 -3.30970055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.62, Y:-34.95, Z:-3.31 [[ 9.83781235e-01 1.79260913e-01 6.32504513e-03 2.39621564e+02] [-1.79256741e-01 9.83801565e-01 -1.22500301e-03 -3.49547677e+01] [-6.44218446e-03 7.13279925e-05 9.99979246e-01 -3.31014217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:239.65, Y:-34.97, Z:-3.31 [[ 9.83981292e-01 1.78170720e-01 6.00091027e-03 2.39649518e+02] [-1.78166945e-01 9.83999588e-01 -1.16230121e-03 -3.49666091e+01] [-6.11198128e-03 7.45188010e-05 9.99981319e-01 -3.31000977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.925769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.68, Y:-34.98, Z:-3.31 [[ 9.84183183e-01 1.77080294e-01 5.10218594e-03 2.39680267e+02] [-1.77077551e-01 9.84196406e-01 -9.87932309e-04 -3.49752004e+01] [-5.19649641e-03 6.88237702e-05 9.99986496e-01 -3.31106090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.955769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:239.71, Y:-34.98, Z:-3.31 [[ 9.84203864e-01 1.76998361e-01 3.78619651e-03 2.39709481e+02] [-1.76996849e-01 9.84211145e-01 -7.33337313e-04 -3.49828334e+01] [-3.85621631e-03 5.16085636e-05 9.99992563e-01 -3.31214079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.985769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.74, Y:-34.99, Z:-3.31 [[ 9.83787817e-01 1.79306198e-01 3.28913406e-03 2.39739066e+02] [-1.79305070e-01 9.83793315e-01 -6.37062742e-04 -3.49915757e+01] [-3.35005739e-03 3.69761530e-05 9.99994388e-01 -3.31352411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.015769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:239.77, Y:-35.00, Z:-3.31 [[ 9.83385558e-01 1.81489832e-01 3.77957375e-03 2.39767607e+02] [-1.81488358e-01 9.83392821e-01 -7.32156555e-04 -3.49978122e+01] [-3.84968466e-03 3.40435488e-05 9.99992589e-01 -3.31350565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.045769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:239.80, Y:-35.00, Z:-3.31 [[ 9.82402107e-01 1.86735236e-01 4.00641456e-03 2.39797679e+02] [-1.86733624e-01 9.82410277e-01 -7.75942422e-04 -3.50039589e+01] [-4.08083862e-03 1.41551606e-05 9.99991673e-01 -3.31304755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.075769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.83, Y:-35.01, Z:-3.31 [[ 9.81994303e-01 1.88876444e-01 3.58864624e-03 2.39826507e+02] [-1.88875165e-01 9.82000860e-01 -6.95135507e-04 -3.50097393e+01] [-3.65534842e-03 4.81295559e-06 9.99993319e-01 -3.31313785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.105769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.86, Y:-35.02, Z:-3.31 [[ 9.81729159e-01 1.90260442e-01 2.97039885e-03 2.39855571e+02] [-1.90259571e-01 9.81733652e-01 -5.75479678e-04 -3.50159732e+01] [-3.02563153e-03 -1.81631909e-07 9.99995423e-01 -3.31449458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.88, Y:-35.02, Z:-3.32 [[ 9.81725328e-01 1.90264152e-01 3.86437708e-03 2.39884313e+02] [-1.90262680e-01 9.81732933e-01 -7.48393978e-04 -3.50238664e+01] [-3.93617879e-03 -5.29417876e-07 9.99992253e-01 -3.31627935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.91, Y:-35.03, Z:-3.32 [[ 9.82025096e-01 1.88674846e-01 5.33971046e-03 2.39913268e+02] [-1.88672013e-01 9.82039613e-01 -1.03407114e-03 -3.50306145e+01] [-5.43891041e-03 8.02989182e-06 9.99985209e-01 -3.31571654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.94, Y:-35.04, Z:-3.31 [[ 9.82487696e-01 1.86188454e-01 7.19627036e-03 2.39943903e+02] [-1.86183244e-01 9.82514050e-01 -1.39310550e-03 -3.50381701e+01] [-7.32981690e-03 2.88840578e-05 9.99973136e-01 -3.31366932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.98, Y:-35.04, Z:-3.31 [[ 9.82552407e-01 1.85867421e-01 6.63854288e-03 2.39975006e+02] [-1.85862979e-01 9.82574832e-01 -1.28527108e-03 -3.50438392e+01] [-6.76175518e-03 2.89868377e-05 9.99977139e-01 -3.31368317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.01, Y:-35.05, Z:-3.31 [[ 9.82385088e-01 1.86790604e-01 5.36750063e-03 2.40005181e+02] [-1.86787715e-01 9.82399751e-01 -1.03904365e-03 -3.50486125e+01] [-5.46711487e-03 1.81578132e-05 9.99985055e-01 -3.31426885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.04, Y:-35.05, Z:-3.32 [[ 9.81447655e-01 1.91681603e-01 4.32019616e-03 2.40035272e+02] [-1.91679776e-01 9.81457163e-01 -8.36848862e-04 -3.50527609e+01] [-4.40049600e-03 -6.77087985e-06 9.99990318e-01 -3.31547908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.06, Y:-35.06, Z:-3.32 [[ 9.80919572e-01 1.94334505e-01 5.55821394e-03 2.40063003e+02] [-1.94331523e-01 9.80935319e-01 -1.07681912e-03 -3.50579929e+01] [-5.66151147e-03 -2.38632327e-05 9.99983973e-01 -3.31535593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.09, Y:-35.06, Z:-3.32 [[ 9.80211679e-01 1.97829020e-01 6.98164168e-03 2.40091071e+02] [-1.97824405e-01 9.80236541e-01 -1.35240429e-03 -3.50627445e+01] [-7.11120511e-03 -5.54966266e-05 9.99974714e-01 -3.31518667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.12, Y:-35.07, Z:-3.32 [[ 9.80075874e-01 1.98497969e-01 7.05954917e-03 2.40122354e+02] [-1.98493272e-01 9.80101297e-01 -1.36693414e-03 -3.50684756e+01] [-7.19040695e-03 -6.15738421e-05 9.99974147e-01 -3.31572112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.15, Y:-35.07, Z:-3.32 [[ 9.80027392e-01 1.98753755e-01 6.57691382e-03 2.40152392e+02] [-1.98749683e-01 9.80049459e-01 -1.27370098e-03 -3.50746166e+01] [-6.69885368e-03 -5.88976840e-05 9.99977561e-01 -3.31694386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.18, Y:-35.08, Z:-3.32 [[ 9.80141545e-01 1.98209215e-01 5.97154887e-03 2.40181952e+02] [-1.98205847e-01 9.80159734e-01 -1.15660562e-03 -3.50814091e+01] [-6.08232165e-03 -4.99586808e-05 9.99981501e-01 -3.31742049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.21, Y:-35.09, Z:-3.32 [[ 9.80090481e-01 1.98483434e-01 5.19375280e-03 2.40210428e+02] [-1.98475649e-01 9.80103822e-01 -1.97881031e-03 -3.50863276e+01] [-5.48317803e-03 9.08579693e-04 9.99984555e-01 -3.31752848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.24, Y:-35.09, Z:-3.32 [[ 9.79981594e-01 1.98991183e-01 6.21160584e-03 2.40240813e+02] [-1.98993427e-01 9.80000790e-01 -2.60881169e-04 -3.50910422e+01] [-6.13929169e-03 -9.80409988e-04 9.99980674e-01 -3.31826207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.27, Y:-35.10, Z:-3.32 [[ 9.79804243e-01 1.99845993e-01 6.72488039e-03 2.40270067e+02] [-1.99841751e-01 9.79827319e-01 -1.30375758e-03 -3.50967810e+01] [-6.84977225e-03 -6.64846636e-05 9.99976538e-01 -3.31818691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.30, Y:-35.10, Z:-3.32 [[ 9.79624144e-01 2.00700346e-01 7.47711406e-03 2.40299471e+02] [-2.00695128e-01 9.79652676e-01 -1.44942566e-03 -3.51031119e+01] [-7.61587503e-03 -8.07279930e-05 9.99970996e-01 -3.31783669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.33, Y:-35.11, Z:-3.32 [[ 9.79200863e-01 2.02765267e-01 7.20532649e-03 2.40329921e+02] [-2.02760478e-01 9.79227368e-01 -1.39674011e-03 -3.51080596e+01] [-7.33886327e-03 -9.32663215e-05 9.99973066e-01 -3.31749318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.36, Y:-35.11, Z:-3.32 [[ 9.78274712e-01 2.07218344e-01 6.25670042e-03 2.40360007e+02] [-2.07214823e-01 9.78294713e-01 -1.21299573e-03 -3.51101141e+01] [-6.37225191e-03 -1.09838021e-04 9.99979691e-01 -3.31806650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.39, Y:-35.11, Z:-3.32 [[ 9.77779614e-01 2.09530345e-01 6.63781073e-03 2.40388919e+02] [-2.09526435e-01 9.77802136e-01 -1.28676877e-03 -3.51131224e+01] [-6.76008261e-03 -1.32620553e-04 9.99977142e-01 -3.31803795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.42, Y:-35.12, Z:-3.32 [[ 9.77332586e-01 2.11579570e-01 7.42305800e-03 2.40418235e+02] [-2.11574742e-01 9.77360762e-01 -1.43872642e-03 -3.51158827e+01] [-7.55941074e-03 -1.64417373e-04 9.99971414e-01 -3.31827625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.45, Y:-35.12, Z:-3.32 [[ 9.76947755e-01 2.13306940e-01 8.55764636e-03 2.40446879e+02] [-2.13300594e-01 9.76985213e-01 -1.65813093e-03 -3.51180316e+01] [-8.71438479e-03 -2.05443764e-04 9.99962008e-01 -3.31806707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.48, Y:-35.12, Z:-3.32 [[ 9.76477607e-01 2.15415966e-01 9.35121159e-03 2.40475105e+02] [-2.15408490e-01 9.76522351e-01 -1.81141350e-03 -3.51174114e+01] [-9.52187452e-03 -2.45525648e-04 9.99954636e-01 -3.31885043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.50, Y:-35.12, Z:-3.32 [[ 9.76582811e-01 2.14969437e-01 8.61136054e-03 2.40504416e+02] [-2.14963084e-01 9.76620751e-01 -1.66758774e-03 -3.51181790e+01] [-8.76851380e-03 -2.22587096e-04 9.99961531e-01 -3.31873231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.53, Y:-35.12, Z:-3.32 [[ 9.76767985e-01 2.14159265e-01 7.75319402e-03 2.40532317e+02] [-2.14154092e-01 9.76798736e-01 -1.50114029e-03 -3.51211880e+01] [-7.89479322e-03 -1.94112450e-04 9.99968817e-01 -3.31918941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.56, Y:-35.12, Z:-3.32 [[ 9.77120523e-01 2.12582052e-01 6.65992658e-03 2.40560936e+02] [-2.12578200e-01 9.77143207e-01 -1.28909997e-03 -3.51242701e+01] [-6.78174154e-03 -1.56149167e-04 9.99976992e-01 -3.31997754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.59, Y:-35.13, Z:-3.32 [[ 9.77522515e-01 2.10748166e-01 5.91119550e-03 2.40589778e+02] [-2.10745100e-01 9.77540380e-01 -1.14395401e-03 -3.51282368e+01] [-6.01951850e-03 -1.27514689e-04 9.99981874e-01 -3.32096944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.62, Y:-35.13, Z:-3.32 [[ 9.78433918e-01 2.06453706e-01 6.62843232e-03 2.40618393e+02] [-2.06449755e-01 9.78456363e-01 -1.28230355e-03 -3.51342420e+01] [-6.75036810e-03 -1.13788942e-04 9.99977210e-01 -3.32131858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.64, Y:-35.14, Z:-3.32 [[ 9.79571810e-01 2.00969240e-01 7.10161220e-03 2.40644986e+02] [-2.00964561e-01 9.79597549e-01 -1.37367681e-03 -3.51417422e+01] [-7.23278869e-03 -8.15572984e-05 9.99973840e-01 -3.32070208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.67, Y:-35.15, Z:-3.32 [[ 9.80045633e-01 1.98650164e-01 6.97629597e-03 2.40673185e+02] [-1.98645594e-01 9.80070461e-01 -1.34896260e-03 -3.51483971e+01] [-7.10523325e-03 -6.37655531e-05 9.99974755e-01 -3.32079952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.70, Y:-35.15, Z:-3.32 [[ 9.80326841e-01 1.97268587e-01 6.66259477e-03 2.40700089e+02] [-1.97264389e-01 9.80349479e-01 -1.28807448e-03 -3.51547527e+01] [-6.78576795e-03 -5.15587023e-05 9.99976975e-01 -3.32122366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.73, Y:-35.16, Z:-3.32 [[ 9.80465564e-01 1.96579658e-01 6.61176751e-03 2.40728022e+02] [-1.96575511e-01 9.80487856e-01 -1.27778713e-03 -3.51611543e+01] [-6.73394471e-03 -4.68852929e-05 9.99977326e-01 -3.32184798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:240.76, Y:-35.17, Z:-3.32 [[ 9.80605307e-01 1.95854286e-01 7.37092925e-03 2.40756015e+02] [-1.95849114e-01 9.80633008e-01 -1.42409111e-03 -3.51685557e+01] [-7.50709087e-03 -4.71186618e-05 9.99971820e-01 -3.32210749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06576923100002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:240.78, Y:-35.18, Z:-3.32 [[ 9.80683786e-01 1.95440542e-01 7.89349709e-03 2.40783972e+02] [-1.95434601e-01 9.80715551e-01 -1.52464071e-03 -3.51754824e+01] [-8.03925195e-03 -4.74720343e-05 9.99967684e-01 -3.32168810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:240.81, Y:-35.18, Z:-3.32 [[ 9.80846222e-01 1.94601243e-01 8.42888414e-03 2.40812243e+02] [-1.94594442e-01 9.80882437e-01 -1.62751811e-03 -3.51843239e+01] [-8.58446146e-03 -4.38690164e-05 9.99963152e-01 -3.32084418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:240.84, Y:-35.19, Z:-3.32 [[ 9.80902784e-01 1.94305785e-01 8.65968092e-03 2.40840939e+02] [-1.94298597e-01 9.80941007e-01 -1.67186702e-03 -3.51914802e+01] [-8.81948956e-03 -4.26248399e-05 9.99961107e-01 -3.32109927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.87, Y:-35.20, Z:-3.32 [[ 9.80953599e-01 1.94008469e-01 9.52636241e-03 2.40869204e+02] [-1.93999758e-01 9.80999853e-01 -1.83896313e-03 -3.51988639e+01] [-9.70213455e-03 -4.41745019e-05 9.99952932e-01 -3.32244579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18576923100002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:240.90, Y:-35.21, Z:-3.32 [[ 9.81009504e-01 1.93691675e-01 1.01925855e-02 2.40898734e+02] [-1.93681691e-01 9.81062451e-01 -1.96710087e-03 -3.52060448e+01] [-1.03805740e-02 -4.43725476e-05 9.99946119e-01 -3.32336739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:240.93, Y:-35.21, Z:-3.32 [[ 9.81133748e-01 1.93042545e-01 1.05425040e-02 2.40928629e+02] [-1.93031826e-01 9.81190386e-01 -2.03459193e-03 -3.52144665e+01] [-1.07369664e-02 -3.88319998e-05 9.99942356e-01 -3.32387969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:240.96, Y:-35.22, Z:-3.32 [[ 9.81358817e-01 1.91875727e-01 1.08893677e-02 2.40957698e+02] [-1.91864217e-01 9.81419230e-01 -2.10182631e-03 -3.52228701e+01] [-1.10903243e-02 -2.66342283e-05 9.99938500e-01 -3.32394417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:240.99, Y:-35.23, Z:-3.32 [[ 9.81538911e-01 1.91038813e-01 9.24868728e-03 2.40988353e+02] [-1.91030472e-01 9.81582483e-01 -1.78520304e-03 -3.52309865e+01] [-9.41939250e-03 -1.45348540e-05 9.99955636e-01 -3.32349797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:241.02, Y:-35.24, Z:-3.32 [[ 9.81298846e-01 1.92293724e-01 8.70045002e-03 2.41018037e+02] [-1.92286389e-01 9.81337416e-01 -1.67966028e-03 -3.52369560e+01] [-8.86106527e-03 -2.47294245e-05 9.99960740e-01 -3.32437109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:241.05, Y:-35.24, Z:-3.32 [[ 9.80844897e-01 1.94597988e-01 8.65506312e-03 2.41048230e+02] [-1.94590820e-01 9.80883082e-01 -1.67089814e-03 -3.52433458e+01] [-8.81475841e-03 -4.53039153e-05 9.99961148e-01 -3.32489673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:241.08, Y:-35.25, Z:-3.33 [[ 9.79908846e-01 1.99253024e-01 8.76843967e-03 2.41077009e+02] [-1.99245853e-01 9.79948072e-01 -1.69282794e-03 -3.52493533e+01] [-8.92991664e-03 -8.82581644e-05 9.99960124e-01 -3.32532344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:241.11, Y:-35.25, Z:-3.33 [[ 9.79608343e-01 2.00744242e-01 8.32129445e-03 2.41106767e+02] [-2.00737838e-01 9.79643680e-01 -1.60636111e-03 -3.52549964e+01] [-8.47437126e-03 -9.67939116e-05 9.99964087e-01 -3.32653361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.425769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:241.14, Y:-35.26, Z:-3.33 [[ 9.79562960e-01 2.01030604e-01 6.56536506e-03 2.41135887e+02] [-2.01026625e-01 9.79584958e-01 -1.26732397e-03 -3.52618253e+01] [-6.68610376e-03 -7.83895579e-05 9.99977645e-01 -3.32776506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.455769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:241.16, Y:-35.27, Z:-3.33 [[ 9.79686294e-01 2.00445935e-01 6.01596292e-03 2.41163747e+02] [-2.00442580e-01 9.79704763e-01 -1.16162863e-03 -3.52683988e+01] [-6.12671126e-03 -6.78234815e-05 9.99981229e-01 -3.32853091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.485769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:241.19, Y:-35.27, Z:-3.33 [[ 9.79762612e-01 2.00058194e-01 6.47632807e-03 2.41192356e+02] [-2.00054300e-01 9.79784014e-01 -1.25018884e-03 -3.52746403e+01] [-6.59551323e-03 -7.07289965e-05 9.99978247e-01 -3.32868387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.515769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:241.22, Y:-35.28, Z:-3.33 [[ 9.79770237e-01 2.00020848e-01 6.47633986e-03 2.41221985e+02] [-2.00016954e-01 9.79791639e-01 -1.25012780e-03 -3.52803034e+01] [-6.59551526e-03 -7.05397564e-05 9.99978247e-01 -3.32905892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.545769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:241.25, Y:-35.29, Z:-3.33 [[ 9.79576088e-01 2.00899512e-01 8.37097346e-03 2.41250286e+02] [-2.00893042e-01 9.79611850e-01 -1.61533065e-03 -3.52858054e+01] [-8.52482393e-03 -9.93310444e-05 9.99963658e-01 -3.32777893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.575769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:241.28, Y:-35.29, Z:-3.33 [[ 9.79299022e-01 2.02256860e-01 8.09861421e-03 2.41279162e+02] [-2.02250853e-01 9.79332503e-01 -1.56254577e-03 -3.52905443e+01] [-8.24727173e-03 -1.07752088e-04 9.99965985e-01 -3.32777435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.605769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:241.31, Y:-35.30, Z:-3.33 [[ 9.78873802e-01 2.04343994e-01 7.04353936e-03 2.41308634e+02] [-2.04339505e-01 9.78899137e-01 -1.35885056e-03 -3.52952800e+01] [-7.17258755e-03 -1.09130125e-04 9.99974271e-01 -3.32840936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.635769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:241.34, Y:-35.30, Z:-3.33 [[ 9.77971047e-01 2.08675885e-01 5.19680982e-03 2.41336753e+02] [-2.08673501e-01 9.77984849e-01 -1.00277455e-03 -3.52981717e+01] [-5.29165613e-03 -1.03752024e-04 9.99985994e-01 -3.33038648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.665769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:241.37, Y:-35.30, Z:-3.33 [[ 9.77571299e-01 2.10538151e-01 5.29555014e-03 2.41365106e+02] [-2.10535706e-01 9.77585635e-01 -1.02142435e-03 -3.53024975e+01] [-5.39190254e-03 -1.16387258e-04 9.99985457e-01 -3.33099995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.695769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:241.39, Y:-35.31, Z:-3.33 [[ 9.77210174e-01 2.12206738e-01 5.34562716e-03 2.41394621e+02] [-2.12204273e-01 9.77224787e-01 -1.03067437e-03 -3.53073342e+01] [-5.44259541e-03 -1.27179449e-04 9.99985181e-01 -3.33186443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:241.42, Y:-35.31, Z:-3.33 [[ 9.76951730e-01 2.13402637e-01 4.96297185e-03 2.41421860e+02] [-2.13400527e-01 9.76964329e-01 -9.57058702e-04 -3.53116336e+01] [-5.05288531e-03 -1.24100652e-04 9.99987226e-01 -3.33287077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:241.45, Y:-35.32, Z:-3.33 [[ 9.77160255e-01 2.12426810e-01 5.71725044e-03 2.41450942e+02] [-2.12423997e-01 9.77176970e-01 -1.10181747e-03 -3.53172351e+01] [-5.82082104e-03 -1.37828953e-04 9.99983049e-01 -3.33215364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:241.48, Y:-35.33, Z:-3.33 [[ 9.78194752e-01 2.07501293e-01 8.84537124e-03 2.41480461e+02] [-2.07494363e-01 9.78234729e-01 -1.70420840e-03 -3.53251544e+01] [-9.00647478e-03 -1.68316954e-04 9.99959427e-01 -3.33061885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:241.51, Y:-35.33, Z:-3.33 [[ 9.78799945e-01 2.04577021e-01 9.94531089e-03 2.41511041e+02] [-2.04568110e-01 9.78850457e-01 -1.91607475e-03 -3.53330912e+01] [-1.01269570e-02 -1.59039596e-04 9.99948708e-01 -3.33085497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84576923100002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:241.54, Y:-35.34, Z:-3.33 [[ 9.79460036e-01 2.01409191e-01 9.61123745e-03 2.41539767e+02] [-2.01400714e-01 9.79507184e-01 -1.85196881e-03 -3.53435435e+01] [-9.78727967e-03 -1.21780647e-04 9.99952096e-01 -3.33197855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:241.57, Y:-35.35, Z:-3.33 [[ 9.79398061e-01 2.01742967e-01 8.90016383e-03 2.41571204e+02] [-2.01735715e-01 9.79438493e-01 -1.71451454e-03 -3.53510656e+01] [-9.06305430e-03 -1.16288700e-04 9.99958923e-01 -3.33266139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90576923100002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:241.60, Y:-35.36, Z:-3.33 [[ 9.79122062e-01 2.03110228e-01 8.13778098e-03 2.41602903e+02] [-2.03104202e-01 9.79155872e-01 -1.56888157e-03 -3.53580348e+01] [-8.28681192e-03 -1.16690956e-04 9.99965657e-01 -3.33279006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93576923100002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:241.63, Y:-35.37, Z:-3.33 [[ 9.78138035e-01 2.07786021e-01 8.42340372e-03 2.41632787e+02] [-2.07779719e-01 9.78174291e-01 -1.62611931e-03 -3.53657664e+01] [-8.57744182e-03 -1.59643308e-04 9.99963200e-01 -3.33219361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96576923100002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:241.66, Y:-35.37, Z:-3.33 [[ 9.77534541e-01 2.10604664e-01 8.47913597e-03 2.41662877e+02] [-2.10598384e-01 9.77571297e-01 -1.63693940e-03 -3.53731606e+01] [-8.63370703e-03 -1.85527536e-04 9.99962712e-01 -3.33247359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:241.69, Y:-35.38, Z:-3.33 [[ 9.76979740e-01 2.13162010e-01 8.51739528e-03 2.41691860e+02] [-2.13155768e-01 9.77016844e-01 -1.64458353e-03 -3.53804328e+01] [-8.67220139e-03 -2.08807139e-04 9.99962374e-01 -3.33241399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:241.72, Y:-35.39, Z:-3.33 [[ 9.76187214e-01 2.16693670e-01 1.01181744e-02 2.41721571e+02] [-2.16685049e-01 9.76239608e-01 -1.95384871e-03 -3.53882060e+01] [-1.03011492e-02 -2.85134972e-04 9.99946901e-01 -3.33099996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:241.75, Y:-35.40, Z:-3.33 [[ 9.75878215e-01 2.17991745e-01 1.18873408e-02 2.41752475e+02] [-2.17979942e-01 9.75950550e-01 -2.29547207e-03 -3.53951280e+01] [-1.21018508e-02 -3.51100676e-04 9.99926708e-01 -3.33080623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:241.78, Y:-35.40, Z:-3.33 [[ 9.75583269e-01 2.19090621e-01 1.53813007e-02 2.41784329e+02] [-2.19070981e-01 9.75704401e-01 -2.97110212e-03 -3.54021466e+01] [-1.56585434e-02 -4.71039117e-04 9.99877287e-01 -3.33106313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:241.82, Y:-35.41, Z:-3.33 [[ 9.75216474e-01 2.20710597e-01 1.54809978e-02 2.41815849e+02] [-2.20690862e-01 9.75339215e-01 -2.99311283e-03 -3.54080188e+01] [-1.57598359e-02 -4.97581802e-04 9.99875682e-01 -3.33194133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14576923100003 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:241.85, Y:-35.41, Z:-3.33 [[ 9.74816823e-01 2.22546435e-01 1.43264397e-02 2.41846544e+02] [-2.22529700e-01 9.74921970e-01 -2.77203707e-03 -3.54127937e+01] [-1.45840678e-02 -4.85829954e-04 9.99893529e-01 -3.33285595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.175769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:241.88, Y:-35.42, Z:-3.33 [[ 9.74397859e-01 2.24450048e-01 1.30762834e-02 2.41877599e+02] [-2.24436274e-01 9.74485483e-01 -2.53043254e-03 -3.54176712e+01] [-1.33106040e-02 -4.69144269e-04 9.99911300e-01 -3.33413686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.205769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:241.91, Y:-35.42, Z:-3.34 [[ 9.73986063e-01 2.26370095e-01 1.03792882e-02 2.41908930e+02] [-2.26361524e-01 9.74041285e-01 -2.00871907e-03 -3.54228613e+01] [-1.05645691e-02 -3.93007109e-04 9.99944116e-01 -3.33585955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.235769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:241.94, Y:-35.43, Z:-3.34 [[ 9.74373352e-01 2.24722572e-01 9.81515939e-03 2.41938376e+02] [-2.24714821e-01 9.74422721e-01 -1.89979536e-03 -3.54283224e+01] [-9.99104122e-03 -3.54501811e-04 9.99950025e-01 -3.33694150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.265769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:241.97, Y:-35.44, Z:-3.34 [[ 9.75580160e-01 2.19420931e-01 9.88966148e-03 2.41969650e+02] [-2.19412793e-01 9.75630239e-01 -1.91396707e-03 -3.54364352e+01] [-1.00686172e-02 -3.02689945e-04 9.99949264e-01 -3.33718797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.295769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:242.00, Y:-35.44, Z:-3.33 [[ 9.76046766e-01 2.17361131e-01 9.31931929e-03 2.42000504e+02] [-2.17353796e-01 9.76091220e-01 -1.80510507e-03 -3.54435471e+01] [-9.48886541e-03 -2.63722451e-04 9.99954945e-01 -3.33416988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.325769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:242.03, Y:-35.45, Z:-3.34 [[ 9.76448306e-01 2.15553731e-01 9.23554860e-03 2.42030508e+02] [-2.15546430e-01 9.76491951e-01 -1.79051427e-03 -3.54510490e+01] [-9.40439091e-03 -2.42344904e-04 9.99955748e-01 -3.33725984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.355769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:242.06, Y:-35.46, Z:-3.34 [[ 9.76891534e-01 2.13545259e-01 9.01964642e-03 2.42060854e+02] [-2.13538201e-01 9.76933148e-01 -1.74973866e-03 -3.54598460e+01] [-9.18523996e-03 -2.16734181e-04 9.99957791e-01 -3.33776587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.385769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:242.09, Y:-35.47, Z:-3.33 [[ 9.76972526e-01 2.13168735e-01 9.15280717e-03 2.42091441e+02] [-2.13161452e-01 9.77015375e-01 -1.77539377e-03 -3.54668146e+01] [-9.32089178e-03 -2.16514731e-04 9.99956536e-01 -3.33430332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.415769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:242.12, Y:-35.47, Z:-3.34 [[ 9.77125001e-01 2.12441530e-01 9.76368021e-03 2.42122379e+02] [-2.12433190e-01 9.77173755e-01 -1.89549540e-03 -3.54748974e+01] [-9.94349400e-03 -2.21993785e-04 9.99950538e-01 -3.33994888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.445769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:242.15, Y:-35.48, Z:-3.34 [[ 9.76940168e-01 2.13324527e-01 8.97517935e-03 2.42153022e+02] [-2.13317502e-01 9.76981372e-01 -1.74400245e-03 -3.54831453e+01] [-9.14062153e-03 -2.10776786e-04 9.99958201e-01 -3.33891235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47576923100002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.18, Y:-35.49, Z:-3.34 [[ 9.76555571e-01 2.15133858e-01 7.52588707e-03 2.42183473e+02] [-2.15128966e-01 9.76584552e-01 -1.46325655e-03 -3.54893722e+01] [-7.66446108e-03 -1.90084962e-04 9.99970610e-01 -3.33876903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50576923100002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:242.21, Y:-35.49, Z:-3.34 [[ 9.75597179e-01 2.19513768e-01 4.88370874e-03 2.42213494e+02] [-2.19511762e-01 9.75609391e-01 -9.49640935e-04 -3.54936472e+01] [-4.97305137e-03 -1.45564495e-04 9.99987624e-01 -3.33985244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53576923100002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:242.24, Y:-35.50, Z:-3.34 [[ 9.75090321e-01 2.21757322e-01 4.74929285e-03 2.42242730e+02] [-2.21755450e-01 9.75101875e-01 -9.23821370e-04 -3.54976058e+01] [-4.83590851e-03 -1.52372298e-04 9.99988295e-01 -3.34080159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:242.27, Y:-35.50, Z:-3.34 [[ 9.74499835e-01 2.24323470e-01 5.38994402e-03 2.42271678e+02] [-2.24321099e-01 9.74514723e-01 -1.04835226e-03 -3.55014095e+01] [-5.48774982e-03 -1.87459061e-04 9.99984925e-01 -3.34102097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59576923100002 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:242.30, Y:-35.50, Z:-3.34 [[ 9.73352346e-01 2.29184882e-01 7.71367497e-03 2.42299605e+02] [-2.29180181e-01 9.73382861e-01 -1.49996750e-03 -3.55017638e+01] [-7.85212889e-03 -3.07824534e-04 9.99969124e-01 -3.33945210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:242.33, Y:-35.50, Z:-3.34 [[ 9.72967462e-01 2.30780289e-01 8.64735805e-03 2.42329852e+02] [-2.30774449e-01 9.73005821e-01 -1.68081534e-03 -3.55041836e+01] [-8.80182877e-03 -3.60210658e-04 9.99961198e-01 -3.33942696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.36, Y:-35.51, Z:-3.34 [[ 9.72783237e-01 2.31548823e-01 8.82701472e-03 2.42359740e+02] [-2.31542772e-01 9.72823212e-01 -1.71551694e-03 -3.55064202e+01] [-8.98435074e-03 -3.75005333e-04 9.99959570e-01 -3.34008977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.39, Y:-35.51, Z:-3.34 [[ 9.73065709e-01 2.30405539e-01 7.51083132e-03 2.42389692e+02] [-2.30401125e-01 9.73094647e-01 -1.45958131e-03 -3.55062816e+01] [-7.64504537e-03 -3.10235462e-04 9.99970728e-01 -3.34164771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71576923100002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:242.42, Y:-35.51, Z:-3.34 [[ 9.73413306e-01 2.28942835e-01 7.19123257e-03 2.42418415e+02] [-2.28938749e-01 9.73439827e-01 -1.39736909e-03 -3.55086800e+01] [-7.32014983e-03 -2.86134122e-04 9.99973166e-01 -3.34243086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:242.45, Y:-35.51, Z:-3.34 [[ 9.74363450e-01 2.24804650e-01 8.87341584e-03 2.42448369e+02] [-2.24798262e-01 9.74403802e-01 -1.72377144e-03 -3.55080346e+01] [-9.03380197e-03 -3.15148571e-04 9.99959145e-01 -3.34170666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.48, Y:-35.51, Z:-3.34 [[ 9.74765369e-01 2.23041892e-01 9.20808291e-03 2.42477052e+02] [-2.23034937e-01 9.74808811e-01 -1.78858343e-03 -3.55107991e+01] [-9.37504938e-03 -3.10274996e-04 9.99956005e-01 -3.34129703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80576923100003 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:242.51, Y:-35.51, Z:-3.34 [[ 9.75183178e-01 2.21212600e-01 9.09695134e-03 2.42506122e+02] [-2.21205734e-01 9.75225565e-01 -1.76670379e-03 -3.55141276e+01] [-9.26239664e-03 -2.89437984e-04 9.99957061e-01 -3.34188779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83576923100003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:242.53, Y:-35.52, Z:-3.34 [[ 9.76196761e-01 2.16725635e-01 8.35962588e-03 2.42534977e+02] [-2.16719676e-01 9.76232527e-01 -1.62315135e-03 -3.55159040e+01] [-8.51271721e-03 -2.27180323e-04 9.99963740e-01 -3.34323528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86576923100003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:242.56, Y:-35.52, Z:-3.34 [[ 9.76669895e-01 2.14585263e-01 8.31148783e-03 2.42563074e+02] [-2.14579297e-01 9.76705238e-01 -1.61344922e-03 -3.55194760e+01] [-8.46409612e-03 -2.07665936e-04 9.99964157e-01 -3.34373951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89576923100003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:242.59, Y:-35.52, Z:-3.34 [[ 9.77044137e-01 2.12870407e-01 8.42288007e-03 2.42591096e+02] [-2.12864222e-01 9.77080422e-01 -1.63450345e-03 -3.55240470e+01] [-8.57776863e-03 -1.95947795e-04 9.99963191e-01 -3.34397914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.925769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:242.62, Y:-35.53, Z:-3.34 [[ 9.77479758e-01 2.10832629e-01 9.10635000e-03 2.42618703e+02] [-2.10825315e-01 9.77522156e-01 -1.76668294e-03 -3.55292998e+01] [-9.27413329e-03 -1.92952296e-04 9.99956976e-01 -3.34376075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.955769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:242.65, Y:-35.53, Z:-3.34 [[ 9.77560703e-01 2.10465275e-01 8.91295194e-03 2.42647471e+02] [-2.10458258e-01 9.77601316e-01 -1.72860439e-03 -3.55343645e+01] [-9.07712475e-03 -1.85988616e-04 9.99958785e-01 -3.34390109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.985769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:242.68, Y:-35.54, Z:-3.34 [[ 9.77476672e-01 2.10926625e-01 7.02240725e-03 2.42675978e+02] [-2.10922283e-01 9.77501886e-01 -1.36173788e-03 -3.55374678e+01] [-7.15164310e-03 -1.50115157e-04 9.99974415e-01 -3.34435121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.015769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.70, Y:-35.54, Z:-3.35 [[ 9.77352150e-01 2.11530729e-01 6.12576537e-03 2.42703220e+02] [-2.11527438e-01 9.77371338e-01 -1.18771468e-03 -3.55416574e+01] [-6.23838565e-03 -1.34951959e-04 9.99980532e-01 -3.34583602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.045769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:242.73, Y:-35.55, Z:-3.35 [[ 9.77226861e-01 2.12116429e-01 5.85506134e-03 2.42731579e+02] [-2.12113435e-01 9.77244393e-01 -1.13481697e-03 -3.55464890e+01] [-5.96253919e-03 -1.32963552e-04 9.99982215e-01 -3.34710202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.075769231 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:242.76, Y:-35.55, Z:-3.35 [[ 9.77016681e-01 2.13066386e-01 6.41245655e-03 2.42760080e+02] [-2.13062817e-01 9.77037713e-01 -1.24249451e-03 -3.55508889e+01] [-6.52994570e-03 -1.52318201e-04 9.99978668e-01 -3.34663431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.105769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.79, Y:-35.56, Z:-3.35 [[ 9.76953585e-01 2.13345996e-01 6.72156164e-03 2.42788647e+02] [-2.13342084e-01 9.76976694e-01 -1.30203374e-03 -3.55559623e+01] [-6.84459276e-03 -1.61965434e-04 9.99976562e-01 -3.34624848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.135769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.82, Y:-35.56, Z:-3.35 [[ 9.77394439e-01 2.11307180e-01 7.02755832e-03 2.42816296e+02] [-2.11302853e-01 9.77419691e-01 -1.36100096e-03 -3.55616932e+01] [-7.15646316e-03 -1.54708351e-04 9.99974380e-01 -3.34668348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.165769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.84, Y:-35.57, Z:-3.35 [[ 9.77988118e-01 2.08509175e-01 7.94767564e-03 2.42843262e+02] [-2.08503554e-01 9.78020399e-01 -1.53863572e-03 -3.55671190e+01] [-8.09380857e-03 -1.52351166e-04 9.99967233e-01 -3.34760241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.195769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.87, Y:-35.57, Z:-3.35 [[ 9.78678296e-01 2.05202418e-01 8.98668703e-03 2.42871496e+02] [-2.05195098e-01 9.78719545e-01 -1.73906476e-03 -3.55728387e+01] [-9.15230653e-03 -1.42039189e-04 9.99958107e-01 -3.34770134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:242.90, Y:-35.58, Z:-3.35 [[ 9.79936514e-01 1.99116047e-01 8.78796535e-03 2.42899722e+02] [-1.99108806e-01 9.79975914e-01 -1.70015856e-03 -3.55794193e+01] [-8.95052323e-03 -8.37138391e-05 9.99959940e-01 -3.34818409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25576923100002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:242.93, Y:-35.59, Z:-3.35 [[ 9.80422907e-01 1.96750520e-01 7.75610041e-03 2.42928067e+02] [-1.96744808e-01 9.80453584e-01 -1.50030187e-03 -3.55863159e+01] [-7.89968161e-03 -5.50421681e-05 9.99968796e-01 -3.34874318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.96, Y:-35.60, Z:-3.35 [[ 9.81380216e-01 1.91977094e-01 6.13729381e-03 2.42956291e+02] [-1.91973426e-01 9.81399407e-01 -1.18689575e-03 -3.55951135e+01] [-6.25099330e-03 -1.34013059e-05 9.99980462e-01 -3.34907657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31576923100002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:242.99, Y:-35.60, Z:-3.35 [[ 9.81754981e-01 1.90060496e-01 5.84508209e-03 2.42985370e+02] [-1.90057135e-01 9.81772381e-01 -1.13039807e-03 -3.56031908e+01] [-5.95338417e-03 -1.12562115e-06 9.99982278e-01 -3.34928957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.01, Y:-35.61, Z:-3.35 [[ 9.82102028e-01 1.88260594e-01 5.79266758e-03 2.43012716e+02] [-1.88257262e-01 9.82119111e-01 -1.12020142e-03 -3.56107387e+01] [-5.89997932e-03 9.64035201e-06 9.99982595e-01 -3.34957477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.04, Y:-35.62, Z:-3.35 [[ 9.82332521e-01 1.87049450e-01 5.94313995e-03 2.43039796e+02] [-1.87045921e-01 9.82350499e-01 -1.14907723e-03 -3.56221265e+01] [-6.05318076e-03 1.71358456e-05 9.99981679e-01 -3.34896703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.07, Y:-35.63, Z:-3.35 [[ 9.82320711e-01 1.87084374e-01 6.74228631e-03 2.43068822e+02] [-1.87079835e-01 9.82343849e-01 -1.30323046e-03 -3.56306252e+01] [-6.86705754e-03 1.88444622e-05 9.99976421e-01 -3.34858970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.10, Y:-35.64, Z:-3.35 [[ 9.82322807e-01 1.87073365e-01 6.74232743e-03 2.43098446e+02] [-1.87068828e-01 9.82345945e-01 -1.30301770e-03 -3.56363091e+01] [-6.86705792e-03 1.87047120e-05 9.99976421e-01 -3.34896475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.13, Y:-35.64, Z:-3.35 [[ 9.82189103e-01 1.87745028e-01 7.50802074e-03 2.43126889e+02] [-1.87739422e-01 9.82217799e-01 -1.45094640e-03 -3.56445503e+01] [-7.64691958e-03 1.55522734e-05 9.99970762e-01 -3.34881949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.15, Y:-35.65, Z:-3.35 [[ 9.81417210e-01 1.91693982e-01 8.58351042e-03 2.43154231e+02] [-1.91686808e-01 9.81454745e-01 -1.65856198e-03 -3.56533051e+01] [-8.74226339e-03 -1.76044462e-05 9.99961786e-01 -3.34861682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.18, Y:-35.66, Z:-3.35 [[ 9.80906177e-01 1.94278786e-01 8.87835608e-03 2.43183616e+02] [-1.94271218e-01 9.80946355e-01 -1.71526623e-03 -3.56600020e+01] [-9.04243087e-03 -4.22938108e-05 9.99959115e-01 -3.34945982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.21, Y:-35.67, Z:-3.35 [[ 9.79972931e-01 1.98965863e-01 8.10190161e-03 2.43212490e+02] [-1.98959723e-01 9.80006418e-01 -1.56509579e-03 -3.56679635e+01] [-8.25131621e-03 -7.82005887e-05 9.99965954e-01 -3.35024694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58576923100003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:243.24, Y:-35.67, Z:-3.35 [[ 9.79567180e-01 2.00965661e-01 7.80661953e-03 2.43240739e+02] [-2.00960025e-01 9.79598282e-01 -1.50793593e-03 -3.56745843e+01] [-7.95039443e-03 -9.16939058e-05 9.99968391e-01 -3.35020933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.27, Y:-35.68, Z:-3.35 [[ 9.79261013e-01 2.02445159e-01 7.98915116e-03 2.43269708e+02] [-2.02439307e-01 9.79293596e-01 -1.54286350e-03 -3.56810190e+01] [-8.13606981e-03 -1.06452157e-04 9.99966896e-01 -3.34967914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.30, Y:-35.69, Z:-3.35 [[ 9.78834469e-01 2.04433774e-01 9.48230849e-03 2.43297913e+02] [-2.04425626e-01 9.78880386e-01 -1.83098710e-03 -3.56863915e+01] [-9.65636140e-03 -1.46193562e-04 9.99953366e-01 -3.34953824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.675769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.33, Y:-35.69, Z:-3.35 [[ 9.78781083e-01 2.04668313e-01 9.92332240e-03 2.43327414e+02] [-2.04659406e-01 9.78831373e-01 -1.91576776e-03 -3.56921973e+01] [-1.01053562e-02 -1.55784023e-04 9.99948927e-01 -3.34994383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.705769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:243.36, Y:-35.70, Z:-3.35 [[ 9.78855288e-01 2.04292792e-01 1.03335041e-02 2.43355792e+02] [-2.04283115e-01 9.78909817e-01 -1.99473552e-03 -3.56986061e+01] [-1.05230787e-02 -1.58402986e-04 9.99944618e-01 -3.35097347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.735769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.38, Y:-35.71, Z:-3.35 [[ 9.79310108e-01 2.02181259e-01 8.62849143e-03 2.43384219e+02] [-2.02174432e-01 9.79348112e-01 -1.66538671e-03 -3.57050826e+01] [-8.78700678e-03 -1.13530321e-04 9.99961387e-01 -3.35195886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.765769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:243.41, Y:-35.71, Z:-3.35 [[ 9.79499967e-01 2.01315881e-01 7.19242556e-03 2.43412969e+02] [-2.01311116e-01 9.79526369e-01 -1.38798519e-03 -3.57103662e+01] [-7.32459396e-03 -8.83837671e-05 9.99973171e-01 -3.35278821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.795769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:243.44, Y:-35.72, Z:-3.35 [[ 9.79689004e-01 2.00432022e-01 6.03825002e-03 2.43441459e+02] [-2.00428647e-01 9.79707609e-01 -1.16523093e-03 -3.57156697e+01] [-6.14926908e-03 -6.86743528e-05 9.99981091e-01 -3.35303630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.825769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.47, Y:-35.72, Z:-3.35 [[ 9.80267738e-01 1.97549354e-01 7.02954144e-03 2.43471855e+02] [-1.97544709e-01 9.80292941e-01 -1.35593478e-03 -3.57230299e+01] [-7.15887389e-03 -5.94696007e-05 9.99974373e-01 -3.35291704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.855769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.50, Y:-35.73, Z:-3.35 [[ 9.80660628e-01 1.95569120e-01 7.57975219e-03 2.43502705e+02] [-1.95563659e-01 9.80689919e-01 -1.46227093e-03 -3.57301194e+01] [-7.71936160e-03 -4.83325430e-05 9.99970204e-01 -3.35317911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.885769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:243.53, Y:-35.74, Z:-3.35 [[ 9.81413030e-01 1.91712374e-01 8.65040068e-03 2.43534389e+02] [-1.91705115e-01 9.81451153e-01 -1.66843027e-03 -3.57404354e+01] [-8.80980445e-03 -2.09068567e-05 9.99961193e-01 -3.35304490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.915769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.57, Y:-35.75, Z:-3.35 [[ 9.81738037e-01 1.90036424e-01 8.75127628e-03 2.43565073e+02] [-1.90028909e-01 9.81777041e-01 -1.68996241e-03 -3.57487227e+01] [-8.91295654e-03 -3.89511276e-06 9.99960279e-01 -3.35259408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.945769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.60, Y:-35.76, Z:-3.35 [[ 9.82019013e-01 1.88604811e-01 8.17823615e-03 2.43596863e+02] [-1.88598194e-01 9.82053066e-01 -1.57994468e-03 -3.57595602e+01] [-8.32944706e-03 9.13514936e-06 9.99965310e-01 -3.35270720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.63, Y:-35.77, Z:-3.35 [[ 9.82108547e-01 1.88091480e-01 9.18680137e-03 2.43629161e+02] [-1.88083087e-01 9.82151513e-01 -1.77693383e-03 -3.57680624e+01] [-9.35705698e-03 1.72599485e-05 9.99956222e-01 -3.35334107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.66, Y:-35.78, Z:-3.35 [[ 9.82190244e-01 1.87578645e-01 1.07970448e-02 2.43659937e+02] [-1.87566992e-01 9.82249587e-01 -2.09102867e-03 -3.57764480e+01] [-1.09976251e-02 2.86187472e-05 9.99939524e-01 -3.35448335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.69, Y:-35.79, Z:-3.36 [[ 9.82328004e-01 1.86793891e-01 1.18209569e-02 2.43691515e+02] [-1.86779836e-01 9.82399125e-01 -2.29177108e-03 -3.57853867e+01] [-1.20409865e-02 4.33545195e-05 9.99927504e-01 -3.35561627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.72, Y:-35.80, Z:-3.36 [[ 9.82731571e-01 1.84864203e-01 7.99286756e-03 2.43721239e+02] [-1.84857708e-01 9.82764074e-01 -1.55042085e-03 -3.57977578e+01] [-8.14172040e-03 4.61043456e-05 9.99966855e-01 -3.35753056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.75, Y:-35.81, Z:-3.36 [[ 9.82903297e-01 1.84056112e-01 4.94536184e-03 2.43752741e+02] [-1.84053616e-01 9.82915737e-01 -9.59174926e-04 -3.58078217e+01] [-5.03741599e-03 3.25644684e-05 9.99987312e-01 -3.35866510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.78, Y:-35.82, Z:-3.36 [[ 9.83145125e-01 1.82801520e-01 3.04418393e-03 2.43783308e+02] [-1.82800568e-01 9.83149838e-01 -5.90224519e-04 -3.58207598e+01] [-3.10078288e-03 2.37978050e-05 9.99995192e-01 -3.35849461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.82, Y:-35.83, Z:-3.36 [[ 9.83012337e-01 1.83481494e-01 4.61363997e-03 2.43815675e+02] [-1.83479307e-01 9.83023164e-01 -8.96456415e-04 -3.58297580e+01] [-4.69979812e-03 3.47202505e-05 9.99988955e-01 -3.35772653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:243.85, Y:-35.84, Z:-3.36 [[ 9.82630237e-01 1.85455722e-01 6.63269634e-03 2.43847076e+02] [-1.85451232e-01 9.82652621e-01 -1.29119238e-03 -3.58380052e+01] [-6.75709546e-03 3.87229639e-05 9.99977170e-01 -3.35744954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.88, Y:-35.85, Z:-3.36 [[ 9.81630388e-01 1.90574109e-01 9.12635936e-03 2.43878576e+02] [-1.90565804e-01 9.81672812e-01 -1.77911437e-03 -3.58486210e+01] [-9.29815199e-03 7.26071529e-06 9.99956771e-01 -3.35743473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.91, Y:-35.86, Z:-3.36 [[ 9.81036063e-01 1.93591105e-01 9.52513286e-03 2.43910674e+02] [-1.93582182e-01 9.81082302e-01 -1.85879453e-03 -3.58582225e+01] [-9.70478536e-03 -2.03515390e-05 9.99952907e-01 -3.35795043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27576923100003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.94, Y:-35.87, Z:-3.36 [[ 9.79780711e-01 1.99902791e-01 8.28452049e-03 2.43941727e+02] [-1.99896256e-01 9.79815732e-01 -1.61796314e-03 -3.58705847e+01] [-8.44073885e-03 -7.07955585e-05 9.99964374e-01 -3.35788759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30576923100003 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:243.97, Y:-35.88, Z:-3.36 [[ 9.79142325e-01 2.03032348e-01 7.62712509e-03 2.43972619e+02] [-2.03026893e-01 9.79172027e-01 -1.49091844e-03 -3.58787239e+01] [-7.77097221e-03 -8.86901661e-05 9.99969802e-01 -3.35784755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.00, Y:-35.89, Z:-3.36 [[ 9.78581591e-01 2.05713955e-01 7.73559292e-03 2.44003977e+02] [-2.05708417e-01 9.78612158e-01 -1.51354669e-03 -3.58864110e+01] [-7.88150296e-03 -1.10147643e-04 9.99968934e-01 -3.35826860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.04, Y:-35.89, Z:-3.36 [[ 9.77819356e-01 2.09250060e-01 9.14980936e-03 2.44035571e+02] [-2.09242447e-01 9.77862151e-01 -1.79228391e-03 -3.58935337e+01] [-9.32228778e-03 -1.61998600e-04 9.99956533e-01 -3.35803761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.07, Y:-35.90, Z:-3.36 [[ 9.77524493e-01 2.10602584e-01 9.61341052e-03 2.44066929e+02] [-2.10594226e-01 9.77571746e-01 -1.88505103e-03 -3.59004870e+01] [-9.79479512e-03 -1.81845199e-04 9.99952013e-01 -3.35789432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.425769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.10, Y:-35.91, Z:-3.36 [[ 9.77215632e-01 2.12024313e-01 9.76213284e-03 2.44098853e+02] [-2.12015756e-01 9.77264371e-01 -1.91520480e-03 -3.59080253e+01] [-9.94625460e-03 -1.98157898e-04 9.99950515e-01 -3.35833580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.455769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.13, Y:-35.92, Z:-3.36 [[ 9.76550195e-01 2.15159460e-01 7.49162554e-03 2.44130857e+02] [-2.15154505e-01 9.76578914e-01 -1.47061821e-03 -3.59158342e+01] [-7.63258096e-03 -1.75724484e-04 9.99970856e-01 -3.35983821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.485769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.16, Y:-35.92, Z:-3.36 [[ 9.76263031e-01 2.16474334e-01 7.02551203e-03 2.44162519e+02] [-2.16470002e-01 9.76288294e-01 -1.38033826e-03 -3.59226499e+01] [-7.15773296e-03 -1.73239397e-04 9.99974368e-01 -3.36101004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.19, Y:-35.93, Z:-3.36 [[ 9.75940061e-01 2.17861404e-01 8.79808339e-03 2.44193660e+02] [-2.17854649e-01 9.75979691e-01 -1.73065892e-03 -3.59292397e+01] [-8.96379449e-03 -2.27684001e-04 9.99959798e-01 -3.36071327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.23, Y:-35.93, Z:-3.36 [[ 9.75745557e-01 2.18692155e-01 9.71331723e-03 2.44226077e+02] [-2.18683944e-01 9.75793869e-01 -1.91253747e-03 -3.59346604e+01] [-9.89645234e-03 -2.57996584e-04 9.99950996e-01 -3.36030807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.26, Y:-35.94, Z:-3.36 [[ 9.75432874e-01 2.20061282e-01 1.01853550e-02 2.44258584e+02] [-2.20052308e-01 9.75486008e-01 -2.00743245e-03 -3.59389812e+01] [-1.03774295e-02 -2.83195279e-04 9.99946113e-01 -3.35938961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.29, Y:-35.94, Z:-3.36 [[ 9.74536729e-01 2.24032105e-01 9.36908795e-03 2.44290938e+02] [-2.24024680e-01 9.74581719e-01 -1.84810978e-03 -3.59403793e+01] [-9.54497777e-03 -2.97856071e-04 9.99954401e-01 -3.35982696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.32, Y:-35.94, Z:-3.36 [[ 9.74192435e-01 2.25527710e-01 9.29259694e-03 2.44323808e+02] [-2.25520459e-01 9.74236705e-01 -1.83455361e-03 -3.59443098e+01] [-9.46693170e-03 -3.08462481e-04 9.99955140e-01 -3.36145555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.36, Y:-35.95, Z:-3.36 [[ 9.74172356e-01 2.25619385e-01 9.17139775e-03 2.44356961e+02] [-2.25612311e-01 9.74215480e-01 -1.81222754e-03 -3.59470269e+01] [-9.34379132e-03 -3.03758269e-04 9.99956300e-01 -3.36269460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.39, Y:-35.95, Z:-3.36 [[ 9.74551581e-01 2.23968227e-01 9.35141124e-03 2.44389128e+02] [-2.23960781e-01 9.74596403e-01 -1.84948717e-03 -3.59525507e+01] [-9.52807812e-03 -2.91928724e-04 9.99954564e-01 -3.36327499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.42, Y:-35.96, Z:-3.36 [[ 9.75129412e-01 2.21437971e-01 9.37305146e-03 2.44421222e+02] [-2.21430357e-01 9.75174422e-01 -1.85551016e-03 -3.59584979e+01] [-9.55124045e-03 -2.66115604e-04 9.99954350e-01 -3.36282954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.45, Y:-35.96, Z:-3.36 [[ 9.76286486e-01 2.16276620e-01 9.44037617e-03 2.44452171e+02] [-2.16268636e-01 9.76332104e-01 -1.87072556e-03 -3.59647297e+01] [-9.62153653e-03 -2.15293191e-04 9.99953689e-01 -3.36337835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.48, Y:-35.97, Z:-3.36 [[ 9.76806149e-01 2.13918988e-01 9.40290480e-03 2.44483251e+02] [-2.13910942e-01 9.76851386e-01 -1.86504572e-03 -3.59719969e+01] [-9.58420928e-03 -1.89596095e-04 9.99954052e-01 -3.36332713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.51, Y:-35.98, Z:-3.36 [[ 9.77355775e-01 2.11364726e-01 1.00320022e-02 2.44514920e+02] [-2.11355415e-01 9.77407245e-01 -1.99157299e-03 -3.59805246e+01] [-1.02262999e-02 -1.73842626e-04 9.99947695e-01 -3.36336499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.55, Y:-35.99, Z:-3.36 [[ 9.77381198e-01 2.11230339e-01 1.03796321e-02 2.44546793e+02] [-2.11220344e-01 9.77436296e-01 -2.06246355e-03 -3.59880495e+01] [-1.05810840e-02 -1.76576369e-04 9.99944003e-01 -3.36386217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.58, Y:-36.00, Z:-3.36 [[ 9.77204373e-01 2.12049677e-01 1.03221821e-02 2.44578719e+02] [-2.12039817e-01 9.77258871e-01 -2.05302754e-03 -3.59955483e+01] [-1.05227879e-02 -1.82486117e-04 9.99944617e-01 -3.36412732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.61, Y:-36.00, Z:-3.36 [[ 9.76443216e-01 2.15514305e-01 1.05938938e-02 2.44609656e+02] [-2.15504099e-01 9.76500658e-01 -2.10918868e-03 -3.60043298e+01] [-1.07995046e-02 -2.23524580e-04 9.99941659e-01 -3.36454678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.64, Y:-36.01, Z:-3.36 [[ 9.75834035e-01 2.18253585e-01 1.06446605e-02 2.44641913e+02] [-2.18243424e-01 9.75892058e-01 -2.12120274e-03 -3.60114010e+01] [-1.08509998e-02 -2.53185334e-04 9.99941094e-01 -3.36484435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.67, Y:-36.02, Z:-3.37 [[ 9.75149237e-01 2.21299808e-01 1.05052654e-02 2.44674044e+02] [-2.21290067e-01 9.75205781e-01 -2.09538091e-03 -3.60184120e+01] [-1.07085029e-02 -2.81401783e-04 9.99942623e-01 -3.36553812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.71, Y:-36.02, Z:-3.37 [[ 9.74157302e-01 2.25637473e-01 1.02607286e-02 2.44705318e+02] [-2.25628400e-01 9.74211285e-01 -2.04852034e-03 -3.60241729e+01] [-1.04583405e-02 -3.19530725e-04 9.99945259e-01 -3.36711848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.74, Y:-36.03, Z:-3.37 [[ 9.73993202e-01 2.26350579e-01 1.01319909e-02 2.44737320e+02] [-2.26341753e-01 9.74045847e-01 -2.02455426e-03 -3.60302500e+01] [-1.03272827e-02 -3.21390502e-04 9.99946621e-01 -3.36800946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.77, Y:-36.04, Z:-3.37 [[ 9.74160056e-01 2.25648737e-01 9.73822299e-03 2.44768325e+02] [-2.25640531e-01 9.74208683e-01 -1.94762701e-03 -3.60368475e+01] [-9.92654097e-03 -3.00037368e-04 9.99950686e-01 -3.36873263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.80, Y:-36.04, Z:-3.37 [[ 9.74392377e-01 2.24689005e-01 8.62241213e-03 2.44800916e+02] [-2.24682523e-01 9.74430493e-01 -1.72567761e-03 -3.60430501e+01] [-8.78968208e-03 -2.55818208e-04 9.99961337e-01 -3.36890704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.83, Y:-36.05, Z:-3.37 [[ 9.74596459e-01 2.23835209e-01 7.71634129e-03 2.44832500e+02] [-2.23829981e-01 9.74626980e-01 -1.54558674e-03 -3.60481489e+01] [-7.86651114e-03 -2.20825163e-04 9.99969034e-01 -3.36911238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.86, Y:-36.05, Z:-3.37 [[ 9.74746933e-01 2.23193158e-01 7.29591463e-03 2.44864029e+02] [-2.23188458e-01 9.74774216e-01 -1.46253303e-03 -3.60527858e+01] [-7.43829684e-03 -2.02764358e-04 9.99972315e-01 -3.36926385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.90, Y:-36.06, Z:-3.37 [[ 9.75259889e-01 2.20929958e-01 7.62252492e-03 2.44896361e+02] [-2.20924748e-01 9.75289658e-01 -1.52941174e-03 -3.60565945e+01] [-7.77206260e-03 -1.92430473e-04 9.99969779e-01 -3.36949989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.93, Y:-36.06, Z:-3.37 [[ 9.75565084e-01 2.19562160e-01 8.07623876e-03 2.44929089e+02] [-2.19556252e-01 9.75598494e-01 -1.62190091e-03 -3.60628558e+01] [-8.23527444e-03 -1.90918817e-04 9.99966071e-01 -3.37004949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.96, Y:-36.07, Z:-3.37 [[ 9.76342593e-01 2.16046024e-01 8.90266297e-03 2.44962045e+02] [-2.16038683e-01 9.76383165e-01 -1.78971403e-03 -3.60679613e+01] [-9.07907085e-03 -1.75945547e-04 9.99958769e-01 -3.37117192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.99, Y:-36.07, Z:-3.37 [[ 9.76870441e-01 2.13666934e-01 8.40142460e-03 2.44993195e+02] [-2.13660293e-01 9.76906557e-01 -1.69061491e-03 -3.60741428e+01] [-8.56863529e-03 -1.43539108e-04 9.99963278e-01 -3.37223326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.03, Y:-36.08, Z:-3.37 [[ 9.78040829e-01 2.08319020e-01 6.27081148e-03 2.45025587e+02] [-2.08315207e-01 9.78060929e-01 -1.26240473e-03 -3.60820492e+01] [-6.39621862e-03 -7.16220299e-05 9.99979541e-01 -3.37298365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.06, Y:-36.09, Z:-3.37 [[ 9.78023823e-01 2.08398846e-01 6.27070945e-03 2.45058391e+02] [-2.08395032e-01 9.78043923e-01 -1.26291124e-03 -3.60888032e+01] [-6.39621852e-03 -7.16274232e-05 9.99979541e-01 -3.37340026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.09, Y:-36.10, Z:-3.37 [[ 9.78420323e-01 2.06522275e-01 6.49777164e-03 2.45089896e+02] [-2.06518138e-01 9.78441897e-01 -1.30868536e-03 -3.60966774e+01] [-6.62796469e-03 -6.14633429e-05 9.99978033e-01 -3.37345242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.12, Y:-36.10, Z:-3.37 [[ 9.78674974e-01 2.05274507e-01 7.59417436e-03 2.45122195e+02] [-2.05268805e-01 9.78704436e-01 -1.53119602e-03 -3.61045001e+01] [-7.74676764e-03 -6.03038763e-05 9.99969992e-01 -3.37355466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.15, Y:-36.11, Z:-3.37 [[ 9.79125206e-01 2.03006873e-01 1.01015517e-02 2.45152857e+02] [-2.02996635e-01 9.79177311e-01 -2.03950208e-03 -3.61118665e+01] [-1.03052431e-02 -5.36530986e-05 9.99946898e-01 -3.37397904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.19, Y:-36.12, Z:-3.37 [[ 9.79207825e-01 2.02607961e-01 1.01019713e-02 2.45185214e+02] [-2.02597682e-01 9.79259931e-01 -2.04140825e-03 -3.61190920e+01] [-1.03060613e-02 -4.76730270e-05 9.99946890e-01 -3.37454510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.22, Y:-36.13, Z:-3.37 [[ 9.78982180e-01 2.03839284e-01 6.59066215e-03 2.45215956e+02] [-2.03834934e-01 9.79004364e-01 -1.33232765e-03 -3.61260674e+01] [-6.72386772e-03 -3.90821592e-05 9.99977394e-01 -3.37477241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.25, Y:-36.13, Z:-3.38 [[ 9.78658481e-01 2.05444435e-01 4.49008082e-03 2.45248096e+02] [-2.05442432e-01 9.78668781e-01 -9.07707208e-04 -3.61328910e+01] [-4.58078532e-03 -3.41177676e-05 9.99989508e-01 -3.37607143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.28, Y:-36.14, Z:-3.38 [[ 9.78409568e-01 2.06648798e-01 3.31551285e-03 2.45279655e+02] [-2.06647712e-01 9.78415185e-01 -6.70486989e-04 -3.61392000e+01] [-3.38250345e-03 -2.91322602e-05 9.99994279e-01 -3.37699855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.31, Y:-36.15, Z:-3.38 [[ 9.78260356e-01 2.07291719e-01 6.06795058e-03 2.45312358e+02] [-2.07288081e-01 9.78279173e-01 -1.22934286e-03 -3.61461363e+01] [-6.19098227e-03 -5.51964447e-05 9.99980834e-01 -3.37787372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.34, Y:-36.15, Z:-3.38 [[ 9.78258800e-01 2.07240829e-01 7.80755831e-03 2.45344078e+02] [-2.07234787e-01 9.78289954e-01 -1.58400768e-03 -3.61528923e+01] [-7.96632692e-03 -6.84282311e-05 9.99968266e-01 -3.37673934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.38, Y:-36.16, Z:-3.38 [[ 9.78195981e-01 2.07485296e-01 9.08153435e-03 2.45376939e+02] [-2.07477114e-01 9.78238133e-01 -1.84438021e-03 -3.61587299e+01] [-9.26658499e-03 -8.00452251e-05 9.99957061e-01 -3.37638530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.41, Y:-36.17, Z:-3.38 [[ 9.78188460e-01 2.07507366e-01 9.38244147e-03 2.45408200e+02] [-2.07498614e-01 9.78233452e-01 -1.90749420e-03 -3.61652034e+01] [-9.57403720e-03 -8.09547921e-05 9.99954165e-01 -3.37685874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:-36.17, Z:-3.38 [[ 9.78190514e-01 2.07494036e-01 9.46277580e-03 2.45439198e+02] [-2.07485115e-01 9.78236280e-01 -1.92562877e-03 -3.61717818e+01] [-9.65638707e-03 -7.97533332e-05 9.99953373e-01 -3.37763587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.47, Y:-36.18, Z:-3.38 [[ 9.78304043e-01 2.06996326e-01 8.58608202e-03 2.45471150e+02] [-2.06988951e-01 9.78341718e-01 -1.74855460e-03 -3.61791488e+01] [-8.76206661e-03 -6.66060755e-05 9.99961610e-01 -3.37829131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:-36.19, Z:-3.38 [[ 9.78337501e-01 2.06859538e-01 8.05392426e-03 2.45503283e+02] [-2.06853033e-01 9.78370650e-01 -1.64160949e-03 -3.61861930e+01] [-8.21930569e-03 -5.99305366e-05 9.99966219e-01 -3.37833802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.54, Y:-36.19, Z:-3.38 [[ 9.78302371e-01 2.07020034e-01 8.19616439e-03 2.45535923e+02] [-2.07013289e-01 9.78336702e-01 -1.67223972e-03 -3.61922387e+01] [-8.36479556e-03 -6.07588624e-05 9.99965013e-01 -3.37746101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.57, Y:-36.20, Z:-3.38 [[ 9.78231464e-01 2.07329911e-01 8.80399418e-03 2.45567271e+02] [-2.07322123e-01 9.78271079e-01 -1.79824337e-03 -3.61987659e+01] [-8.98552252e-03 -6.61645192e-05 9.99959627e-01 -3.37738839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.60, Y:-36.21, Z:-3.38 [[ 9.78100434e-01 2.07886839e-01 1.01292842e-02 2.45599010e+02] [-2.07876536e-01 9.78152880e-01 -2.07117444e-03 -3.62057612e+01] [-1.03385584e-02 -7.98238916e-05 9.99946552e-01 -3.37808790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.63, Y:-36.21, Z:-3.38 [[ 9.77715928e-01 2.09589155e-01 1.19979082e-02 2.45629845e+02] [-2.09574796e-01 9.77789534e-01 -2.45595936e-03 -3.62137802e+01] [-1.22461715e-02 -1.13228565e-04 9.99925006e-01 -3.37812201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:-36.22, Z:-3.38 [[ 9.77427754e-01 2.10920230e-01 1.21507893e-02 2.45661799e+02] [-2.10905578e-01 9.77503268e-01 -2.48942758e-03 -3.62203948e+01] [-1.24025069e-02 -1.29433636e-04 9.99923078e-01 -3.37851991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:-36.22, Z:-3.38 [[ 9.77129268e-01 2.12425522e-01 9.68453967e-03 2.45694810e+02] [-2.12416275e-01 9.77177253e-01 -1.98556000e-03 -3.62246988e+01] [-9.88529549e-03 -1.17005055e-04 9.99951132e-01 -3.37952751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.73, Y:-36.23, Z:-3.38 [[ 9.77115506e-01 2.12532193e-01 8.68073241e-03 2.45726181e+02] [-2.12524754e-01 9.77154059e-01 -1.78132327e-03 -3.62307312e+01] [-8.86100145e-03 -1.04311928e-04 9.99960735e-01 -3.38052308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.76, Y:-36.24, Z:-3.38 [[ 9.77237178e-01 2.11983635e-01 8.39268750e-03 2.45758459e+02] [-2.11976648e-01 9.77273211e-01 -1.72370650e-03 -3.62377622e+01] [-8.56734623e-03 -9.45836923e-05 9.99963295e-01 -3.38109551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:-36.24, Z:-3.38 [[ 9.77811755e-01 2.09263029e-01 9.65179371e-03 2.45790118e+02] [-2.09253633e-01 9.77859386e-01 -1.98463097e-03 -3.62449393e+01] [-9.85340696e-03 -7.90774027e-05 9.99951451e-01 -3.38040540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:-36.25, Z:-3.38 [[ 9.78166169e-01 2.07563725e-01 1.04040880e-02 2.45822822e+02] [-2.07552689e-01 9.78221496e-01 -2.14142021e-03 -3.62514093e+01] [-1.06219837e-02 -6.47316291e-05 9.99943583e-01 -3.38076564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.86, Y:-36.26, Z:-3.38 [[ 9.78704548e-01 2.05003478e-01 1.05347591e-02 2.45855606e+02] [-2.04991992e-01 9.78761244e-01 -2.17037636e-03 -3.62572637e+01] [-1.07559486e-02 -3.53840269e-05 9.99942152e-01 -3.38128764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.89, Y:-36.26, Z:-3.38 [[ 9.78723752e-01 2.04955872e-01 9.63883548e-03 2.45887107e+02] [-2.04946235e-01 9.78771214e-01 -1.98772909e-03 -3.62639473e+01] [-9.84161145e-03 -3.00053727e-05 9.99951570e-01 -3.38223350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.92, Y:-36.27, Z:-3.38 [[ 9.78572228e-01 2.05756463e-01 7.78919295e-03 2.45919210e+02] [-2.05750193e-01 9.78603227e-01 -1.60664178e-03 -3.62714641e+01] [-7.95310629e-03 -3.04129288e-05 9.99968373e-01 -3.38439690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.95, Y:-36.28, Z:-3.39 [[ 9.78451322e-01 2.06346266e-01 7.36407107e-03 2.45950530e+02] [-2.06340665e-01 9.78479033e-01 -1.52067173e-03 -3.62791677e+01] [-7.51937407e-03 -3.16040569e-05 9.99971729e-01 -3.38578559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.98, Y:-36.29, Z:-3.39 [[ 9.78330834e-01 2.06935220e-01 6.82597099e-03 2.45981273e+02] [-2.06930419e-01 9.78354646e-01 -1.40998713e-03 -3.62871925e+01] [-6.96999643e-03 -3.30671546e-05 9.99975709e-01 -3.38631343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.01, Y:-36.30, Z:-3.39 [[ 9.78239563e-01 2.07358900e-01 7.04582063e-03 2.46012834e+02] [-2.07353786e-01 9.78264936e-01 -1.45670699e-03 -3.62959196e+01] [-7.19474042e-03 -3.59691763e-05 9.99974117e-01 -3.38671952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.04, Y:-36.31, Z:-3.39 [[ 9.77993730e-01 2.08420206e-01 9.44894241e-03 2.46043723e+02] [-2.08411033e-01 9.78039373e-01 -1.95628588e-03 -3.63068221e+01] [-9.64916721e-03 -5.60285218e-05 9.99953444e-01 -3.38545438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.08, Y:-36.32, Z:-3.39 [[ 9.77835326e-01 2.09082377e-01 1.10740344e-02 2.46075511e+02] [-2.09069791e-01 9.77898029e-01 -2.29517235e-03 -3.63152260e+01] [-1.13091565e-02 -7.09454541e-05 9.99936047e-01 -3.38539441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.11, Y:-36.33, Z:-3.39 [[ 9.77438883e-01 2.10839837e-01 1.26409037e-02 2.46106318e+02] [-2.10823548e-01 9.77520615e-01 -2.62274854e-03 -3.63269415e+01] [-1.29097238e-02 -1.01423768e-04 9.99916661e-01 -3.38619337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:-36.34, Z:-3.39 [[ 9.77146446e-01 2.12212092e-01 1.22821739e-02 2.46137169e+02] [-2.12196793e-01 9.77223626e-01 -2.55067355e-03 -3.63361646e+01] [-1.25437143e-02 -1.13856315e-04 9.99921318e-01 -3.38693466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.17, Y:-36.35, Z:-3.39 [[ 9.76772784e-01 2.13987454e-01 1.11489208e-02 2.46169282e+02] [-2.13974943e-01 9.76836401e-01 -2.31715497e-03 -3.63455096e+01] [-1.13865137e-02 -1.22255773e-04 9.99935164e-01 -3.38724601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.20, Y:-36.36, Z:-3.39 [[ 9.75994290e-01 2.17636214e-01 8.34405128e-03 2.46200843e+02] [-2.17629331e-01 9.76029950e-01 -1.73522476e-03 -3.63558599e+01] [-8.52169170e-03 -1.22340839e-04 9.99963682e-01 -3.38910237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.23, Y:-36.36, Z:-3.39 [[ 9.75495719e-01 2.19894353e-01 7.38750292e-03 2.46232571e+02] [-2.19889013e-01 9.75523684e-01 -1.53748864e-03 -3.63645938e+01] [-7.54476913e-03 -1.24617139e-04 9.99971530e-01 -3.38933538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.26, Y:-36.37, Z:-3.39 [[ 9.74988664e-01 2.22122154e-01 7.67163041e-03 2.46262969e+02] [-2.22116451e-01 9.75018834e-01 -1.59828824e-03 -3.63740443e+01] [-7.83499937e-03 -1.45682406e-04 9.99969295e-01 -3.38924358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.29, Y:-36.38, Z:-3.39 [[ 9.74194087e-01 2.25564400e-01 8.15985894e-03 2.46294720e+02] [-2.25558056e-01 9.74228242e-01 -1.70160161e-03 -3.63849885e+01] [-8.33338578e-03 -1.82831688e-04 9.99965260e-01 -3.38810064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.33, Y:-36.39, Z:-3.39 [[ 9.73641771e-01 2.27923409e-01 8.52178739e-03 2.46326066e+02] [-2.27916564e-01 9.73679041e-01 -1.77887644e-03 -3.63920971e+01] [-8.70293336e-03 -2.10268091e-04 9.99962107e-01 -3.38895714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.36, Y:-36.40, Z:-3.39 [[ 9.72521416e-01 2.32633720e-01 9.14591925e-03 2.46357111e+02] [-2.32626025e-01 9.72564384e-01 -1.91115007e-03 -3.63996567e+01] [-9.33959326e-03 -2.68944470e-04 9.99956349e-01 -3.39001026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.39, Y:-36.41, Z:-3.39 [[ 9.71971233e-01 2.34918778e-01 9.22439171e-03 2.46389131e+02] [-2.34911044e-01 9.72014960e-01 -1.92845917e-03 -3.64074010e+01] [-9.41927801e-03 -2.92504655e-04 9.99955595e-01 -3.39032483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.42, Y:-36.41, Z:-3.39 [[ 9.71632368e-01 2.36309455e-01 9.40123566e-03 2.46420910e+02] [-2.36301470e-01 9.71677799e-01 -1.96729018e-03 -3.64137580e+01] [-9.59986124e-03 -3.10042993e-04 9.99953872e-01 -3.39057510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.45, Y:-36.42, Z:-3.39 [[ 9.71305726e-01 2.37651513e-01 9.32443898e-03 2.46452026e+02] [-2.37643704e-01 9.71350429e-01 -1.95284773e-03 -3.64188489e+01] [-9.52139502e-03 -3.19082034e-04 9.99954620e-01 -3.39135633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.48, Y:-36.43, Z:-3.39 [[ 9.71378941e-01 2.37353578e-01 9.28613107e-03 2.46483052e+02] [-2.37345802e-01 9.71423276e-01 -1.94661441e-03 -3.64259527e+01] [-9.48279976e-03 -3.13123984e-04 9.99954988e-01 -3.39188709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.51, Y:-36.43, Z:-3.39 [[ 9.71674821e-01 2.36157728e-01 8.80731138e-03 2.46514709e+02] [-2.36150678e-01 9.71714694e-01 -1.84696202e-03 -3.64335217e+01] [-8.99436824e-03 -2.85206059e-04 9.99959509e-01 -3.39250269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.55, Y:-36.44, Z:-3.39 [[ 9.72015481e-01 2.34754844e-01 8.72162991e-03 2.46545887e+02] [-2.34747860e-01 9.72054572e-01 -1.83062158e-03 -3.64411773e+01] [-8.90764751e-03 -2.67991439e-04 9.99960290e-01 -3.39280812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.58, Y:-36.45, Z:-3.39 [[ 9.72464911e-01 2.32817210e-01 1.03991893e-02 2.46576580e+02] [-2.32807146e-01 9.72520467e-01 -2.18493029e-03 -3.64483138e+01] [-1.06221138e-02 -2.96237550e-04 9.99943540e-01 -3.39200822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.61, Y:-36.46, Z:-3.39 [[ 9.72496199e-01 2.32616621e-01 1.18596640e-02 2.46608643e+02] [-2.32603488e-01 9.72568454e-01 -2.49410302e-03 -3.64551486e+01] [-1.21145049e-02 -3.33093508e-04 9.99926561e-01 -3.39187488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.64, Y:-36.46, Z:-3.39 [[ 9.71999176e-01 2.34632814e-01 1.28469224e-02 2.46640224e+02] [-2.34617547e-01 9.72083995e-01 -2.70424228e-03 -3.64607653e+01] [-1.31227916e-02 -3.85592142e-04 9.99913818e-01 -3.39087080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.67, Y:-36.47, Z:-3.39 [[ 9.71378303e-01 2.37209034e-01 1.24926519e-02 2.46673011e+02] [-2.37194783e-01 9.71458547e-01 -2.63173398e-03 -3.64671225e+01] [-1.27603645e-02 -4.06782556e-04 9.99918500e-01 -3.39088951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.71, Y:-36.47, Z:-3.39 [[ 9.70778982e-01 2.39671880e-01 1.20647583e-02 2.46705473e+02] [-2.39658753e-01 9.70853857e-01 -2.54369298e-03 -3.64730412e+01] [-1.23227688e-02 -4.22061236e-04 9.99923983e-01 -3.39172038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.74, Y:-36.48, Z:-3.39 [[ 9.70382863e-01 2.41267631e-01 1.21256101e-02 2.46737545e+02] [-2.41254468e-01 9.70458518e-01 -2.55871846e-03 -3.64797681e+01] [-1.23847375e-02 -4.42421070e-04 9.99923208e-01 -3.39271552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.77, Y:-36.49, Z:-3.39 [[ 9.70586399e-01 2.40395914e-01 1.31090717e-02 2.46769707e+02] [-2.40380416e-01 9.70674811e-01 -2.76878822e-03 -3.64872068e+01] [-1.33902511e-02 -4.63815931e-04 9.99910239e-01 -3.39377707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.80, Y:-36.49, Z:-3.39 [[ 9.71039076e-01 2.38530817e-01 1.36441604e-02 2.46801007e+02] [-2.38513806e-01 9.71134823e-01 -2.88451126e-03 -3.64937312e+01] [-1.39383641e-02 -4.53347473e-04 9.99902754e-01 -3.39416668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.83, Y:-36.50, Z:-3.40 [[ 9.71826716e-01 2.35346491e-01 1.28399026e-02 2.46833114e+02] [-2.35331121e-01 9.71911459e-01 -2.71666728e-03 -3.64992735e+01] [-1.31186066e-02 -3.81498826e-04 9.99913875e-01 -3.39554959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.86, Y:-36.51, Z:-3.40 [[ 9.71984696e-01 2.34767034e-01 1.14101374e-02 2.46864533e+02] [-2.34754832e-01 9.72051609e-01 -2.41616334e-03 -3.65057457e+01] [-1.16584779e-02 -3.30111094e-04 9.99931983e-01 -3.39663843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.90, Y:-36.51, Z:-3.40 [[ 9.71885306e-01 2.35240897e-01 1.00335730e-02 2.46895652e+02] [-2.35231471e-01 9.71937053e-01 -2.12627090e-03 -3.65122923e+01] [-1.02521873e-02 -2.93720693e-04 9.99947402e-01 -3.39701163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.93, Y:-36.52, Z:-3.40 [[ 9.71450282e-01 2.37086804e-01 8.61373196e-03 2.46927986e+02] [-2.37079916e-01 9.71488433e-01 -1.82686230e-03 -3.65161453e+01] [-8.80126591e-03 -2.67436954e-04 9.99961232e-01 -3.39844723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.96, Y:-36.52, Z:-3.40 [[ 9.71200092e-01 2.38079646e-01 9.40549607e-03 2.46961141e+02] [-2.38071472e-01 9.71245588e-01 -1.99568640e-03 -3.65208912e+01] [-9.61017886e-03 -3.00969483e-04 9.99953776e-01 -3.39917589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.99, Y:-36.52, Z:-3.40 [[ 9.70658320e-01 2.40115781e-01 1.29166039e-02 2.46992892e+02] [-2.40100498e-01 9.70744158e-01 -2.74415151e-03 -3.65243026e+01] [-1.31976319e-02 -4.37649552e-04 9.99912812e-01 -3.39865659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.03, Y:-36.53, Z:-3.40 [[ 9.70370919e-01 2.41250029e-01 1.33680280e-02 2.47025656e+02] [-2.41233732e-01 9.70462882e-01 -2.84263731e-03 -3.65302022e+01] [-1.36589613e-02 -4.66406693e-04 9.99906603e-01 -3.39805965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.06, Y:-36.53, Z:-3.40 [[ 9.70214475e-01 2.42070279e-01 9.26563975e-03 2.47058092e+02] [-2.42062477e-01 9.70258662e-01 -1.97140967e-03 -3.65337873e+01] [-9.46728692e-03 -3.30173514e-04 9.99955130e-01 -3.39921154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.09, Y:-36.54, Z:-3.40 [[ 9.70182752e-01 2.42197406e-01 9.26526775e-03 2.47090811e+02] [-2.42189592e-01 9.70226936e-01 -1.97315625e-03 -3.65409159e+01] [-9.46730566e-03 -3.29629256e-04 9.99955130e-01 -3.39962830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.12, Y:-36.55, Z:-3.40 [[ 9.70199022e-01 2.42220211e-01 6.57468884e-03 2.47122748e+02] [-2.42216274e-01 9.70221271e-01 -1.40066746e-03 -3.65451039e+01] [-6.71817293e-03 -2.33570435e-04 9.99977406e-01 -3.40166756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.16, Y:-36.55, Z:-3.40 [[ 9.70220518e-01 2.42174889e-01 4.84446002e-03 2.47155464e+02] [-2.42172752e-01 9.70232598e-01 -1.03172696e-03 -3.65494289e+01] [-4.95011140e-03 -1.72193549e-04 9.99987733e-01 -3.40371332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.19, Y:-36.55, Z:-3.40 [[ 9.70265966e-01 2.41993512e-01 4.80584308e-03 2.47187738e+02] [-2.41991403e-01 9.70277853e-01 -1.02442119e-03 -3.65542511e+01] [-4.91090638e-03 -1.69011693e-04 9.99987927e-01 -3.40449951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.22, Y:-36.56, Z:-3.40 [[ 9.70476310e-01 2.41045072e-01 8.54435283e-03 2.47220031e+02] [-2.41038337e-01 9.70513879e-01 -1.82481958e-03 -3.65591386e+01] [-8.73227678e-03 -2.88572428e-04 9.99961831e-01 -3.40198619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.25, Y:-36.56, Z:-3.40 [[ 9.70532602e-01 2.40737801e-01 1.05725791e-02 2.47251861e+02] [-2.40727443e-01 9.70590123e-01 -2.26060262e-03 -3.65649039e+01] [-1.08058534e-02 -3.51121403e-04 9.99941553e-01 -3.40119562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.28, Y:-36.57, Z:-3.40 [[ 9.70624659e-01 2.40249644e-01 1.29568562e-02 2.47284992e+02] [-2.40234006e-01 9.70711044e-01 -2.77324535e-03 -3.65698185e+01] [-1.32436346e-02 -4.20897148e-04 9.99912211e-01 -3.40096504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.32, Y:-36.58, Z:-3.40 [[ 9.70603171e-01 2.40326117e-01 1.31469133e-02 2.47316672e+02] [-2.40309990e-01 9.70692112e-01 -2.81645273e-03 -3.65766605e+01] [-1.34384722e-02 -4.25676647e-04 9.99909609e-01 -3.40231400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.35, Y:-36.58, Z:-3.40 [[ 9.70627592e-01 2.40238425e-01 1.29451308e-02 2.47348542e+02] [-2.40222751e-01 9.70713823e-01 -2.77549430e-03 -3.65832201e+01] [-1.32327978e-02 -4.15743581e-04 9.99912356e-01 -3.40326202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.38, Y:-36.59, Z:-3.40 [[ 9.70806459e-01 2.39596386e-01 1.13309960e-02 2.47380395e+02] [-2.39584313e-01 9.70872518e-01 -2.43128259e-03 -3.65869237e+01] [-1.15834791e-02 -3.54424038e-04 9.99932846e-01 -3.40426325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.41, Y:-36.59, Z:-3.40 [[ 9.70837336e-01 2.39518286e-01 1.02886927e-02 2.47412500e+02] [-2.39508310e-01 9.70891801e-01 -2.20923711e-03 -3.65922742e+01] [-1.05183601e-02 -3.19417532e-04 9.99944630e-01 -3.40473720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.44, Y:-36.60, Z:-3.40 [[ 9.71030286e-01 2.38787793e-01 8.97624978e-03 2.47444571e+02] [-2.38780156e-01 9.71071736e-01 -1.92881079e-03 -3.65990158e+01] [-9.17715892e-03 -2.70416630e-04 9.99957852e-01 -3.40471880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.48, Y:-36.61, Z:-3.40 [[ 9.71140522e-01 2.38321737e-01 9.42525283e-03 2.47475729e+02] [-2.38313276e-01 9.71186219e-01 -2.02724518e-03 -3.66055691e+01] [-9.63681225e-03 -2.77422938e-04 9.99953526e-01 -3.40470613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.51, Y:-36.61, Z:-3.40 [[ 9.71282526e-01 2.37718946e-01 9.99783158e-03 2.47506532e+02] [-2.37709371e-01 9.71333939e-01 -2.15264613e-03 -3.66104447e+01] [-1.02229579e-02 -2.85750678e-04 9.99947703e-01 -3.40427040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.54, Y:-36.61, Z:-3.41 [[ 9.71562132e-01 2.36516936e-01 1.12588880e-02 2.47538186e+02] [-2.36504711e-01 9.71627318e-01 -2.42433463e-03 -3.66140316e+01] [-1.15128393e-02 -3.07388331e-04 9.99933678e-01 -3.40544582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.57, Y:-36.62, Z:-3.41 [[ 9.71922071e-01 2.35022920e-01 1.14767349e-02 2.47569584e+02] [-2.35010090e-01 9.71989784e-01 -2.47320270e-03 -3.66205116e+01] [-1.17365284e-02 -2.93388202e-04 9.99931082e-01 -3.40559079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.60, Y:-36.63, Z:-3.41 [[ 9.72464979e-01 2.32747717e-01 1.18475567e-02 2.47601142e+02] [-2.32733858e-01 9.72537108e-01 -2.55453391e-03 -3.66270898e+01] [-1.21167505e-02 -2.73132826e-04 9.99926552e-01 -3.40553184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.63, Y:-36.63, Z:-3.41 [[ 9.73722687e-01 2.27413690e-01 1.21302558e-02 2.47633202e+02] [-2.27398723e-01 9.73798218e-01 -2.61748168e-03 -3.66330775e+01] [-1.24076726e-02 -2.09703375e-04 9.99923000e-01 -3.40590389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.67, Y:-36.64, Z:-3.41 [[ 9.74220282e-01 2.25324603e-01 1.11204713e-02 2.47665239e+02] [-2.25311866e-01 9.74283735e-01 -2.40152162e-03 -3.66404420e+01] [-1.13756162e-02 -1.65963064e-04 9.99935282e-01 -3.40681772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.70, Y:-36.65, Z:-3.41 [[ 9.74718894e-01 2.23284656e-01 8.18778144e-03 2.47697286e+02] [-2.23277672e-01 9.74753277e-01 -1.76911088e-03 -3.66491973e+01] [-8.37608211e-03 -1.03762977e-04 9.99964915e-01 -3.40754975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.73, Y:-36.66, Z:-3.41 [[ 9.74606021e-01 2.23792887e-01 7.73607541e-03 2.47728545e+02] [-2.23786656e-01 9.74636719e-01 -1.67299627e-03 -3.66558148e+01] [-7.91426782e-03 -1.00718210e-04 9.99968677e-01 -3.40807458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.76, Y:-36.66, Z:-3.41 [[ 9.74185673e-01 2.25597421e-01 8.25093420e-03 2.47760166e+02] [-2.25590383e-01 9.74220606e-01 -1.78611342e-03 -3.66615017e+01] [-8.44117269e-03 -1.21325294e-04 9.99964365e-01 -3.40735842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.79, Y:-36.67, Z:-3.41 [[ 9.72997860e-01 2.30536272e-01 1.13221610e-02 2.47790007e+02] [-2.30523320e-01 9.73063707e-01 -2.45376665e-03 -3.66651031e+01] [-1.15828662e-02 -2.22512451e-04 9.99932892e-01 -3.40681643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.82, Y:-36.67, Z:-3.41 [[ 9.72363594e-01 2.33168315e-01 1.18986685e-02 2.47820697e+02] [-2.33154206e-01 9.72436356e-01 -2.57885652e-03 -3.66704744e+01] [-1.21720054e-02 -2.66638397e-04 9.99925883e-01 -3.40724235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.85, Y:-36.67, Z:-3.41 [[ 9.71245959e-01 2.37842495e-01 1.05940560e-02 2.47852898e+02] [-2.37831588e-01 9.71303693e-01 -2.29608953e-03 -3.66740550e+01] [-1.08361534e-02 -2.89533492e-04 9.99941245e-01 -3.40828041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.88, Y:-36.68, Z:-3.41 [[ 9.70827078e-01 2.39569245e-01 1.00678088e-02 2.47883524e+02] [-2.39559471e-01 9.70879236e-01 -2.18369479e-03 -3.66780989e+01] [-1.02977726e-02 -2.91848902e-04 9.99946934e-01 -3.40907722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.91, Y:-36.68, Z:-3.41 [[ 9.70652223e-01 2.40272711e-01 1.01629863e-02 2.47913599e+02] [-2.40262768e-01 9.70705380e-01 -2.20629635e-03 -3.66816637e+01] [-1.03953782e-02 -3.00240753e-04 9.99945922e-01 -3.40977182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.94, Y:-36.68, Z:-3.41 [[ 9.71010695e-01 2.38779310e-01 1.10757519e-02 2.47943673e+02] [-2.38767404e-01 9.71073810e-01 -2.40446273e-03 -3.66828733e+01] [-1.13295085e-02 -3.09769508e-04 9.99935771e-01 -3.41033166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.98, Y:-36.69, Z:-3.41 [[ 9.71365044e-01 2.37307495e-01 1.16234460e-02 2.47975220e+02] [-2.37294280e-01 9.71434536e-01 -2.52319754e-03 -3.66872876e+01] [-1.18901905e-02 -3.07231342e-04 9.99929262e-01 -3.41044012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.01, Y:-36.69, Z:-3.41 [[ 9.72055239e-01 2.34475600e-01 1.13932079e-02 2.48007178e+02] [-2.34462705e-01 9.72121969e-01 -2.47349175e-03 -3.66884803e+01] [-1.16555612e-02 -2.66911739e-04 9.99932036e-01 -3.41095543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.04, Y:-36.69, Z:-3.41 [[ 9.72363325e-01 2.33239093e-01 1.04446288e-02 2.48037070e+02] [-2.33228183e-01 9.72419391e-01 -2.26773078e-03 -3.66929586e+01] [-1.06854831e-02 -2.30923551e-04 9.99942882e-01 -3.41178842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.07, Y:-36.70, Z:-3.41 [[ 9.72706824e-01 2.31825202e-01 9.92519885e-03 2.48067705e+02] [-2.31815270e-01 9.72757438e-01 -2.15556114e-03 -3.66986832e+01] [-1.01545244e-02 -2.04083628e-04 9.99948421e-01 -3.41289902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.10, Y:-36.70, Z:-3.41 [[ 9.73927590e-01 2.26630814e-01 1.01746928e-02 2.48097043e+02] [-2.26620090e-01 9.73980724e-01 -2.21003152e-03 -3.67043379e+01] [-1.04108159e-02 -1.53379115e-04 9.99945794e-01 -3.41302269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.13, Y:-36.71, Z:-3.41 [[ 9.74749782e-01 2.23049205e-01 1.05789956e-02 2.48128144e+02] [-2.23037399e-01 9.74807180e-01 -2.29796821e-03 -3.67103730e+01] [-1.08250409e-02 -1.19567662e-04 9.99941400e-01 -3.41349957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.16, Y:-36.72, Z:-3.41 [[ 9.76152408e-01 2.16828008e-01 1.05873538e-02 2.48158860e+02] [-2.16815815e-01 9.76209820e-01 -2.30000958e-03 -3.67178575e+01] [-1.08341852e-02 -5.03458540e-05 9.99941307e-01 -3.41373818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.19, Y:-36.73, Z:-3.41 [[ 9.76706784e-01 2.14311613e-01 1.06954031e-02 2.48188544e+02] [-2.14299013e-01 9.76765341e-01 -2.32395788e-03 -3.67260345e+01] [-1.09449502e-02 -2.21888995e-05 9.99940102e-01 -3.41414289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.22, Y:-36.74, Z:-3.42 [[ 9.77787993e-01 2.09359956e-01 9.95240185e-03 2.48218958e+02] [-2.09348787e-01 9.77838641e-01 -2.16278623e-03 -3.67356553e+01] [-1.01846439e-02 3.12231533e-05 9.99948135e-01 -3.41590341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.25, Y:-36.74, Z:-3.42 [[ 9.78351897e-01 2.06729622e-01 9.50941389e-03 2.48249751e+02] [-2.06719286e-01 9.78398109e-01 -2.06804854e-03 -3.67448874e+01] [-9.73151946e-03 5.74999634e-05 9.99952646e-01 -3.41718990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.28, Y:-36.76, Z:-3.42 [[ 9.78763355e-01 2.04771193e-01 9.54216318e-03 2.48280362e+02] [-2.04760675e-01 9.78809865e-01 -2.07694000e-03 -3.67560943e+01] [-9.76526094e-03 7.89729865e-05 9.99952316e-01 -3.41768182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.31, Y:-36.77, Z:-3.42 [[ 9.79114110e-01 2.03060731e-01 1.00944630e-02 2.48310975e+02] [-2.03048857e-01 9.79166140e-01 -2.19831798e-03 -3.67722045e+01] [-1.03305485e-02 1.02734967e-04 9.99946633e-01 -3.41622059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.34, Y:-36.78, Z:-3.42 [[ 9.78965615e-01 2.03780773e-01 9.98607767e-03 2.48343051e+02] [-2.03769171e-01 9.79016541e-01 -2.17660461e-03 -3.67819007e+01] [-1.02200854e-02 9.59663008e-05 9.99947769e-01 -3.41581413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.37, Y:-36.79, Z:-3.42 [[ 9.78087117e-01 2.07949602e-01 1.01269702e-02 2.48374268e+02] [-2.07937871e-01 9.78139540e-01 -2.20946319e-03 -3.67903830e+01] [-1.03650469e-02 5.52668612e-05 9.99946280e-01 -3.41699726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.41, Y:-36.80, Z:-3.42 [[ 9.77494052e-01 2.10723298e-01 1.00533950e-02 2.48406241e+02] [-2.10711865e-01 9.77545749e-01 -2.19532052e-03 -3.67993483e+01] [-1.02902588e-02 2.75431408e-05 9.99947054e-01 -3.41737135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.44, Y:-36.81, Z:-3.42 [[ 9.76954972e-01 2.13193653e-01 1.03657282e-02 2.48437676e+02] [-2.13181615e-01 9.77009962e-01 -2.26558988e-03 -3.68088226e+01] [-1.06104291e-02 3.59661487e-06 9.99943708e-01 -3.41716957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.47, Y:-36.82, Z:-3.42 [[ 9.76056019e-01 2.17273903e-01 1.03295612e-02 2.48469057e+02] [-2.17262155e-01 9.76110675e-01 -2.25969555e-03 -3.68166524e+01] [-1.05737678e-02 -3.86332776e-05 9.99944095e-01 -3.41531876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.50, Y:-36.82, Z:-3.42 [[ 9.75410199e-01 2.20127506e-01 1.09006848e-02 2.48500549e+02] [-2.20114580e-01 9.75471105e-01 -2.38656023e-03 -3.68210822e+01] [-1.11586506e-02 -7.15244697e-05 9.99937738e-01 -3.41590344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.53, Y:-36.82, Z:-3.42 [[ 9.73930899e-01 2.26520028e-01 1.21359128e-02 2.48532301e+02] [-2.26504474e-01 9.74006495e-01 -2.65923371e-03 -3.68231203e+01] [-1.24228276e-02 -1.58928685e-04 9.99922821e-01 -3.41684542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.56, Y:-36.83, Z:-3.42 [[ 9.73401563e-01 2.28761989e-01 1.25439254e-02 2.48563389e+02] [-2.28745553e-01 9.73482365e-01 -2.74900825e-03 -3.68286977e+01] [-1.28401587e-02 -1.93478216e-04 9.99917543e-01 -3.41677915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.59, Y:-36.83, Z:-3.42 [[ 9.73130605e-01 2.29911766e-01 1.25461302e-02 2.48594798e+02] [-2.29895394e-01 9.73211455e-01 -2.75148075e-03 -3.68342628e+01] [-1.28426354e-02 -2.06747427e-04 9.99917509e-01 -3.41643065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.63, Y:-36.84, Z:-3.42 [[ 9.73023316e-01 2.30400534e-01 1.18836223e-02 2.48625905e+02] [-2.30385858e-01 9.73095861e-01 -2.60812698e-03 -3.68388253e+01] [-1.21648175e-02 -2.00050164e-04 9.99925986e-01 -3.41741904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.66, Y:-36.84, Z:-3.42 [[ 9.73051751e-01 2.30404677e-01 9.16374995e-03 2.48657383e+02] [-2.30395949e-01 9.73094888e-01 -2.01134620e-03 -3.68407635e+01] [-9.38062181e-03 -1.54146921e-04 9.99955989e-01 -3.42058615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:248.69, Y:-36.85, Z:-3.42 [[ 9.73541590e-01 2.28318211e-01 9.35771567e-03 2.48687266e+02] [-2.28309012e-01 9.73586553e-01 -2.05406261e-03 -3.68465102e+01] [-9.57952604e-03 -1.36735444e-04 9.99954106e-01 -3.42082800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.72, Y:-36.85, Z:-3.42 [[ 9.73881407e-01 2.26821500e-01 1.03446811e-02 2.48717466e+02] [-2.26810166e-01 9.73936337e-01 -2.27146005e-03 -3.68518533e+01] [-1.05902768e-02 -1.34146114e-04 9.99943912e-01 -3.42025721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:248.75, Y:-36.86, Z:-3.42 [[ 9.74312263e-01 2.24931055e-01 1.10288092e-02 2.48747080e+02] [-2.24918051e-01 9.74374674e-01 -2.42169249e-03 -3.68566909e+01] [-1.12909062e-02 -1.21093574e-04 9.99936248e-01 -3.41973768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:248.78, Y:-36.86, Z:-3.42 [[ 9.74616453e-01 2.23596268e-01 1.12906401e-02 2.48777237e+02] [-2.23582551e-01 9.74681844e-01 -2.47903741e-03 -3.68632201e+01] [-1.15590855e-02 -1.08279471e-04 9.99933186e-01 -3.42045808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:248.81, Y:-36.88, Z:-3.42 [[ 9.75101837e-01 2.21477586e-01 1.11394500e-02 2.48806535e+02] [-2.21464096e-01 9.75165459e-01 -2.44581720e-03 -3.68750148e+01] [-1.14045006e-02 -8.20673803e-05 9.99934963e-01 -3.42148079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92576923100003 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:248.84, Y:-36.88, Z:-3.42 [[ 9.74817272e-01 2.22663255e-01 1.23434371e-02 2.48835999e+02] [-2.22646782e-01 9.74895412e-01 -2.71049328e-03 -3.68800775e+01] [-1.26370874e-02 -1.05990873e-04 9.99920143e-01 -3.42106354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.955769231 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:248.87, Y:-36.88, Z:-3.42 [[ 9.74211525e-01 2.25259581e-01 1.30393997e-02 2.48866206e+02] [-2.25241429e-01 9.74298773e-01 -2.86347230e-03 -3.68838687e+01] [-1.33492957e-02 -1.47385313e-04 9.99910883e-01 -3.42157616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.985769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:248.90, Y:-36.89, Z:-3.42 [[ 9.73464486e-01 2.28455189e-01 1.32333263e-02 2.48896377e+02] [-2.28436788e-01 9.73554410e-01 -2.90605888e-03 -3.68890814e+01] [-1.35472674e-02 -1.94033452e-04 9.99908213e-01 -3.42198448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01576923100004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:248.92, Y:-36.89, Z:-3.42 [[ 9.72828232e-01 2.31142853e-01 1.33496552e-02 2.48924017e+02] [-2.31124380e-01 9.72919795e-01 -2.93156225e-03 -3.68949688e+01] [-1.36657535e-02 -2.33524259e-04 9.99906592e-01 -3.42289984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04576923100007 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:248.95, Y:-36.90, Z:-3.42 [[ 9.71817929e-01 2.35320440e-01 1.39356917e-02 2.48953678e+02] [-2.35300746e-01 9.71917793e-01 -3.05976426e-03 -3.69004917e+01] [-1.42643718e-02 -3.05544872e-04 9.99898212e-01 -3.42287364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07576923100004 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:248.98, Y:-36.90, Z:-3.42 [[ 9.71600866e-01 2.36196847e-01 1.42410090e-02 2.48981765e+02] [-2.36176379e-01 9.71705173e-01 -3.12645215e-03 -3.69046545e+01] [-1.45765203e-02 -3.25726320e-04 9.99893704e-01 -3.42347634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10576923100007 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:249.01, Y:-36.91, Z:-3.42 [[ 9.71752966e-01 2.35681445e-01 1.22649644e-02 2.49011967e+02] [-2.35666226e-01 9.71830325e-01 -2.69236302e-03 -3.69077773e+01] [-1.25540044e-02 -2.74126119e-04 9.99921158e-01 -3.42470710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:249.04, Y:-36.91, Z:-3.43 [[ 9.71762099e-01 2.35643787e-01 1.22649654e-02 2.49041442e+02] [-2.35628565e-01 9.71839457e-01 -2.69235834e-03 -3.69141949e+01] [-1.25540149e-02 -2.73644406e-04 9.99921158e-01 -3.42508219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16576923100007 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:249.07, Y:-36.92, Z:-3.43 [[ 9.72219729e-01 2.33831344e-01 1.05689172e-02 2.49070228e+02] [-2.33819938e-01 9.72277150e-01 -2.31960183e-03 -3.69192999e+01] [-1.08183123e-02 -2.16060894e-04 9.99941457e-01 -3.42624086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:249.10, Y:-36.92, Z:-3.43 [[ 9.73356717e-01 2.29076956e-01 1.00224454e-02 2.49098721e+02] [-2.29066445e-01 9.73408303e-01 -2.19984745e-03 -3.69249860e+01] [-1.02598660e-02 -1.54569654e-04 9.99947354e-01 -3.42671142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2257692310001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:249.13, Y:-36.93, Z:-3.43 [[ 9.73951887e-01 2.26506357e-01 1.06109177e-02 2.49127838e+02] [-2.26494425e-01 9.74009677e-01 -2.32887492e-03 -3.69316724e+01] [-1.08626415e-02 -1.35101584e-04 9.99940991e-01 -3.42636082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:249.16, Y:-36.94, Z:-3.43 [[ 9.74472787e-01 2.24216946e-01 1.13819087e-02 2.49157982e+02] [-2.24203063e-01 9.74539249e-01 -2.49793480e-03 -3.69385383e+01] [-1.16521961e-02 -1.17689305e-04 9.99932104e-01 -3.42649084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2857692310001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:249.19, Y:-36.94, Z:-3.43 [[ 9.74766403e-01 2.22903913e-01 1.20127212e-02 2.49188253e+02] [-2.22888348e-01 9.74840415e-01 -2.63637630e-03 -3.69449550e+01] [-1.22981447e-02 -1.07644545e-04 9.99924369e-01 -3.42649739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31576923100005 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:249.22, Y:-36.95, Z:-3.43 [[ 9.74670900e-01 2.23348506e-01 1.14926625e-02 2.49217602e+02] [-2.23334290e-01 9.74738649e-01 -2.52223249e-03 -3.69500363e+01] [-1.17656792e-02 -1.08359009e-04 9.99930776e-01 -3.42751143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.345769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:249.25, Y:-36.95, Z:-3.43 [[ 9.74406708e-01 2.24563378e-01 1.01418630e-02 2.49247230e+02] [-2.24552372e-01 9.74459480e-01 -2.22597531e-03 -3.69531971e+01] [-1.03827071e-02 -1.08374117e-04 9.99946092e-01 -3.42845788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:249.28, Y:-36.96, Z:-3.43 [[ 9.74376387e-01 2.24693701e-01 1.01684805e-02 2.49275477e+02] [-2.24682646e-01 9.74429438e-01 -2.23159303e-03 -3.69577773e+01] [-1.04098916e-02 -1.10269549e-04 9.99945810e-01 -3.42805840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.405769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:249.30, Y:-36.96, Z:-3.43 [[ 9.74507371e-01 2.24076306e-01 1.11889746e-02 2.49304649e+02] [-2.24062885e-01 9.74571596e-01 -2.45509015e-03 -3.69625444e+01] [-1.14545843e-02 -1.14530479e-04 9.99934388e-01 -3.42772638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43576923100005 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:249.33, Y:-36.97, Z:-3.43 [[ 9.74723459e-01 2.23056372e-01 1.26503923e-02 2.49333091e+02] [-2.23039135e-01 9.74805540e-01 -2.77540515e-03 -3.69688840e+01] [-1.29507443e-02 -1.16280059e-04 9.99916129e-01 -3.42869770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.465769231 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:249.36, Y:-36.98, Z:-3.43 [[ 9.74861903e-01 2.22488724e-01 1.19598373e-02 2.49361154e+02] [-2.22473280e-01 9.74935258e-01 -2.62349477e-03 -3.69766837e+01] [-1.22437651e-02 -1.03199138e-04 9.99925037e-01 -3.42998221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:249.39, Y:-36.99, Z:-3.43 [[ 9.75155969e-01 2.21294638e-01 9.97590328e-03 2.49389679e+02] [-2.21283834e-01 9.75206992e-01 -2.18799132e-03 -3.69858830e+01] [-1.02127614e-02 -7.38733289e-05 9.99947846e-01 -3.43289293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.525769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:249.42, Y:-36.99, Z:-3.43 [[ 9.75225124e-01 2.21028205e-01 9.08239699e-03 2.49418074e+02] [-2.21019240e-01 9.75267414e-01 -1.99183166e-03 -3.69928860e+01] [-9.29801680e-03 -6.49001978e-05 9.99956770e-01 -3.43385992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:249.45, Y:-37.00, Z:-3.43 [[ 9.75192253e-01 2.21166526e-01 9.24323411e-03 2.49445628e+02] [-2.21157248e-01 9.75236055e-01 -2.02691126e-03 -3.69996111e+01] [-9.46262009e-03 -6.75800608e-05 9.99955226e-01 -3.43400180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58576923100003 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:249.47, Y:-37.01, Z:-3.43 [[ 9.74973872e-01 2.22044721e-01 1.10494389e-02 2.49474455e+02] [-2.22031525e-01 9.75036478e-01 -2.42249222e-03 -3.70075718e+01] [-1.13115076e-02 -9.14571570e-05 9.99936019e-01 -3.43326137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61576923100006 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:249.50, Y:-37.01, Z:-3.43 [[ 9.74898518e-01 2.22319361e-01 1.21235687e-02 2.49504037e+02] [-2.22303500e-01 9.74973892e-01 -2.65766788e-03 -3.70146504e+01] [-1.24110140e-02 -1.04155272e-04 9.99922975e-01 -3.43348450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64576923100003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:249.53, Y:-37.02, Z:-3.43 [[ 9.74653213e-01 2.23345231e-01 1.29623242e-02 2.49533315e+02] [-2.23327190e-01 9.74739397e-01 -2.84153565e-03 -3.70219600e+01] [-1.32695315e-02 -1.25327582e-04 9.99911948e-01 -3.43393617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67576923100006 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:249.56, Y:-37.03, Z:-3.43 [[ 9.74598589e-01 2.23556586e-01 1.34180063e-02 2.49563100e+02] [-2.23537274e-01 9.74690943e-01 -2.94142799e-03 -3.70290568e+01] [-1.37359848e-02 -1.32712974e-04 9.99905648e-01 -3.43459193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70576923100003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:249.59, Y:-37.04, Z:-3.43 [[ 9.74584214e-01 2.23630052e-01 1.32367047e-02 2.49592419e+02] [-2.23611265e-01 9.74674090e-01 -2.90168396e-03 -3.70369839e+01] [-1.35503768e-02 -1.31940899e-04 9.99908181e-01 -3.43481018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73576923100006 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:249.62, Y:-37.05, Z:-3.44 [[ 9.74936462e-01 2.22164871e-01 1.19022967e-02 2.49621715e+02] [-2.22149571e-01 9.75009108e-01 -2.60916175e-03 -3.70480102e+01] [-1.21845118e-02 -1.00323190e-04 9.99925761e-01 -3.43545259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76576923100004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:249.65, Y:-37.06, Z:-3.44 [[ 9.75302304e-01 2.20570346e-01 1.15817935e-02 2.49651203e+02] [-2.20555747e-01 9.75371066e-01 -2.53889603e-03 -3.70557071e+01] [-1.18565514e-02 -7.82399611e-05 9.99929706e-01 -3.43622242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79576923100007 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:249.68, Y:-37.06, Z:-3.44 [[ 9.75839738e-01 2.18143311e-01 1.22597825e-02 2.49680287e+02] [-2.18126759e-01 9.75916745e-01 -2.68767304e-03 -3.70644368e+01] [-1.25508250e-02 -5.14484762e-05 9.99921234e-01 -3.43688944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82576923100004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:249.71, Y:-37.07, Z:-3.44 [[ 9.75857811e-01 2.18063567e-01 1.22397965e-02 2.49710434e+02] [-2.18047062e-01 9.75934566e-01 -2.68343117e-03 -3.70711947e+01] [-1.25303990e-02 -5.02043896e-05 9.99921490e-01 -3.43637649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85576923100007 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:249.74, Y:-37.08, Z:-3.44 [[ 9.75721367e-01 2.18698172e-01 1.17866143e-02 2.49740301e+02] [-2.18682912e-01 9.75792553e-01 -2.58407632e-03 -3.70774579e+01] [-1.20664232e-02 -5.61926667e-05 9.99927196e-01 -3.43678428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88576923100004 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:249.77, Y:-37.08, Z:-3.44 [[ 9.74833381e-01 2.22762969e-01 8.74869734e-03 2.49769478e+02] [-2.22754725e-01 9.74872634e-01 -1.91812671e-03 -3.70833990e+01] [-8.95615322e-03 -7.89597284e-05 9.99959890e-01 -3.43809279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:249.80, Y:-37.09, Z:-3.44 [[ 9.74125983e-01 2.25843702e-01 8.55514846e-03 2.49799669e+02] [-2.25835940e-01 9.74163544e-01 -1.87541930e-03 -3.70896260e+01] [-8.75766538e-03 -1.05165323e-04 9.99961645e-01 -3.43991183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:249.83, Y:-37.10, Z:-3.44 [[ 9.72709939e-01 2.31783711e-01 1.05681597e-02 2.49828025e+02] [-2.31772215e-01 9.72767327e-01 -2.31675916e-03 -3.70955786e+01] [-1.08173475e-02 -1.95871120e-04 9.99941472e-01 -3.43983908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.9757692310001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:249.86, Y:-37.10, Z:-3.44 [[ 9.72424490e-01 2.32910200e-01 1.19770577e-02 2.49856498e+02] [-2.32895526e-01 9.72498217e-01 -2.62512853e-03 -3.71015251e+01] [-1.22590864e-02 -2.36663866e-04 9.99924827e-01 -3.43990047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:249.88, Y:-37.11, Z:-3.44 [[ 9.72357922e-01 2.33167284e-01 1.23729290e-02 2.49883751e+02] [-2.33151652e-01 9.72436608e-01 -2.71131627e-03 -3.71064707e+01] [-1.26640793e-02 -2.48398982e-04 9.99919776e-01 -3.43973186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0357692310001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:249.91, Y:-37.11, Z:-3.44 [[ 9.72634826e-01 2.32015504e-01 1.22597701e-02 2.49912697e+02] [-2.32000074e-01 9.72712060e-01 -2.68583866e-03 -3.71108367e+01] [-1.25483824e-02 -2.31927349e-04 9.99921239e-01 -3.44124200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:249.94, Y:-37.12, Z:-3.44 [[ 9.72947632e-01 2.30686029e-01 1.25244255e-02 2.49941562e+02] [-2.30669822e-01 9.73028215e-01 -2.74325603e-03 -3.71171063e+01] [-1.28194503e-02 -2.19962554e-04 9.99917803e-01 -3.44139420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.095769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:249.97, Y:-37.12, Z:-3.44 [[ 9.73547718e-01 2.28056931e-01 1.39598420e-02 2.49969492e+02] [-2.28036531e-01 9.73647777e-01 -3.05729702e-03 -3.71221527e+01] [-1.42892069e-02 -2.06929416e-04 9.99897883e-01 -3.44180547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12576923100005 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:250.00, Y:-37.13, Z:-3.44 [[ 9.73728518e-01 2.27310750e-01 1.35128262e-02 2.50000071e+02] [-2.27291568e-01 9.73822256e-01 -2.95913524e-03 -3.71274597e+01] [-1.38317341e-02 -1.89957072e-04 9.99904319e-01 -3.44242914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.155769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:250.03, Y:-37.13, Z:-3.44 [[ 9.73822776e-01 2.26964973e-01 1.24940467e-02 2.50030224e+02] [-2.26948542e-01 9.73902907e-01 -2.73631215e-03 -3.71325618e+01] [-1.27890354e-02 -1.70822574e-04 9.99918202e-01 -3.44336157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18576923100005 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:250.06, Y:-37.14, Z:-3.44 [[ 9.74025713e-01 2.26167891e-01 1.10451873e-02 2.50059962e+02] [-2.26154997e-01 9.74088325e-01 -2.41915387e-03 -3.71362379e+01] [-1.13061229e-02 -1.41606221e-04 9.99936074e-01 -3.44387214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.215769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:250.09, Y:-37.14, Z:-3.44 [[ 9.74231121e-01 2.25265696e-01 1.13617514e-02 2.50088496e+02] [-2.25251994e-01 9.74297361e-01 -2.48822286e-03 -3.71411404e+01] [-1.16302357e-02 -1.35153015e-04 9.99932357e-01 -3.44433083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24576923100005 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:250.12, Y:-37.15, Z:-3.44 [[ 9.74649825e-01 2.23331273e-01 1.34484350e-02 2.50116817e+02] [-2.23311899e-01 9.74742594e-01 -2.94464722e-03 -3.71465549e+01] [-1.37663943e-02 -1.33195668e-04 9.99905230e-01 -3.44365098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.275769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:250.15, Y:-37.15, Z:-3.44 [[ 9.75033808e-01 2.21618948e-01 1.39325349e-02 2.50145490e+02] [-2.21597988e-01 9.75133339e-01 -3.05005926e-03 -3.71528918e+01] [-1.42620302e-02 -1.13510793e-04 9.99898286e-01 -3.44421928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30576923100006 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:250.17, Y:-37.16, Z:-3.44 [[ 9.75373281e-01 2.20153443e-01 1.33949036e-02 2.50174793e+02] [-2.20133935e-01 9.75465250e-01 -2.93207040e-03 -3.71587061e+01] [-1.37117684e-02 -8.88097069e-05 9.99905985e-01 -3.44488565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.33576923100003 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:250.21, Y:-37.16, Z:-3.45 [[ 9.75437749e-01 2.19929960e-01 1.23292460e-02 2.50205078e+02] [-2.19913418e-01 9.75515662e-01 -2.69855179e-03 -3.71644824e+01] [-1.26208650e-02 -7.90973530e-05 9.99920351e-01 -3.44694779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36576923100006 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:250.23, Y:-37.17, Z:-3.45 [[ 9.75284018e-01 2.20632829e-01 1.19263895e-02 2.50234460e+02] [-2.20617403e-01 9.75356933e-01 -2.61037695e-03 -3.71723004e+01] [-1.22084215e-02 -8.53101491e-05 9.99925471e-01 -3.44659956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:250.26, Y:-37.18, Z:-3.45 [[ 9.74863932e-01 2.22539193e-01 1.07991643e-02 2.50263152e+02] [-2.22526662e-01 9.74923740e-01 -2.36367282e-03 -3.71813166e+01] [-1.10543714e-02 -9.88425969e-05 9.99938894e-01 -3.44594029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42576923100006 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:250.29, Y:-37.19, Z:-3.45 [[ 9.74525869e-01 2.24074138e-01 9.49273017e-03 2.50290568e+02] [-2.24064528e-01 9.74572096e-01 -2.07774773e-03 -3.71867989e+01] [-9.71691947e-03 -1.02165198e-04 9.99952784e-01 -3.44705827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45576923100003 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:250.32, Y:-37.19, Z:-3.45 [[ 9.74083212e-01 2.26019562e-01 8.77807622e-03 2.50319766e+02] [-2.26011428e-01 9.74122757e-01 -1.92077216e-03 -3.71921385e+01] [-8.98505589e-03 -1.12953629e-04 9.99959627e-01 -3.44815908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48576923100006 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:250.35, Y:-37.20, Z:-3.45 [[ 9.72894751e-01 2.30988683e-01 1.09559220e-02 2.50347124e+02] [-2.30976330e-01 9.72956417e-01 -2.39702609e-03 -3.71975227e+01] [-1.12133205e-02 -1.98504563e-04 9.99937109e-01 -3.44816911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51576923100004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:250.37, Y:-37.20, Z:-3.45 [[ 9.72274397e-01 2.33545326e-01 1.17931268e-02 2.50374843e+02] [-2.33531210e-01 9.72345885e-01 -2.57944272e-03 -3.72032320e+01] [-1.20694151e-02 -2.46137045e-04 9.99927132e-01 -3.44718634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:250.40, Y:-37.21, Z:-3.45 [[ 9.71015266e-01 2.38715834e-01 1.20043076e-02 2.50403739e+02] [-2.38701612e-01 9.71089414e-01 -2.62491633e-03 -3.72053456e+01] [-1.22838651e-02 -3.16613745e-04 9.99924500e-01 -3.44772854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:250.43, Y:-37.21, Z:-3.45 [[ 9.70286864e-01 2.41683129e-01 1.15181401e-02 2.50431727e+02] [-2.41670250e-01 9.70355167e-01 -2.51808026e-03 -3.72075315e+01] [-1.17852643e-02 -3.40331618e-04 9.99930493e-01 -3.44826607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60576923100007 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:250.46, Y:-37.21, Z:-3.45 [[ 9.68921210e-01 2.47106474e-01 1.14052142e-02 2.50461894e+02] [-2.47094229e-01 9.68988250e-01 -2.49270488e-03 -3.72050397e+01] [-1.16674821e-02 -4.02927991e-04 9.99931851e-01 -3.44863138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63576923100004 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:250.49, Y:-37.21, Z:-3.45 [[ 9.68499938e-01 2.48757895e-01 1.12862930e-02 2.50490751e+02] [-2.48746023e-01 9.68565607e-01 -2.46616799e-03 -3.72071370e+01] [-1.15449940e-02 -4.18936949e-04 9.99933267e-01 -3.44858620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66576923100007 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:250.52, Y:-37.21, Z:-3.45 [[ 9.68298168e-01 2.49533114e-01 1.14840607e-02 2.50519957e+02] [-2.49520884e-01 9.68366168e-01 -2.50881292e-03 -3.72088533e+01] [-1.17468078e-02 -4.36234032e-04 9.99930909e-01 -3.44883411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69576923100004 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:250.55, Y:-37.20, Z:-3.45 [[ 9.68617394e-01 2.48252216e-01 1.22955395e-02 2.50549198e+02] [-2.48238101e-01 9.68695326e-01 -2.68544939e-03 -3.72047814e+01] [-1.25773004e-02 -4.51048379e-04 9.99920801e-01 -3.44960267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7257692310001 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:250.58, Y:-37.21, Z:-3.45 [[ 9.69102085e-01 2.46326755e-01 1.28171072e-02 2.50577177e+02] [-2.46311259e-01 9.69186737e-01 -2.79855185e-03 -3.72057145e+01] [-1.31115286e-02 -4.44915393e-04 9.99913941e-01 -3.45059634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75576923100004 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:250.61, Y:-37.20, Z:-3.45 [[ 9.70583379e-01 2.40376106e-01 1.36832915e-02 2.50605375e+02] [-2.40357869e-01 9.70679749e-01 -2.98658530e-03 -3.72042512e+01] [-1.39999977e-02 -3.90156735e-04 9.99901919e-01 -3.45145975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7857692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:250.63, Y:-37.21, Z:-3.45 [[ 9.71506638e-01 2.36581878e-01 1.42781941e-02 2.50633869e+02] [-2.36561631e-01 9.71611492e-01 -3.11499090e-03 -3.72069241e+01] [-1.46098078e-02 -3.51438540e-04 9.99893209e-01 -3.45119408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:250.66, Y:-37.21, Z:-3.45 [[ 9.72377768e-01 2.32913462e-01 1.52576105e-02 2.50661605e+02] [-2.32889906e-01 9.72497413e-01 -3.32766969e-03 -3.72088672e+01] [-1.56130458e-02 -3.17591450e-04 9.99878059e-01 -3.45090791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.845769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:250.69, Y:-37.21, Z:-3.45 [[ 9.73510452e-01 2.28110814e-01 1.55838304e-02 2.50690577e+02] [-2.28085641e-01 9.73635145e-01 -3.39772761e-03 -3.72059499e+01] [-1.59480234e-02 -2.46724614e-04 9.99872792e-01 -3.45056724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87576923100005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:250.72, Y:-37.21, Z:-3.45 [[ 9.73856443e-01 2.26634580e-01 1.55046865e-02 2.50717929e+02] [-2.26609492e-01 9.73979834e-01 -3.37940469e-03 -3.72073412e+01] [-1.58671419e-02 -2.22454086e-04 9.99874084e-01 -3.45152552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.905769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:250.75, Y:-37.21, Z:-3.45 [[ 9.74224115e-01 2.25118277e-01 1.44614857e-02 2.50746396e+02] [-2.25096305e-01 9.74331426e-01 -3.15067839e-03 -3.72058407e+01] [-1.47995553e-02 -1.85760125e-04 9.99890463e-01 -3.45287521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:250.77, Y:-37.21, Z:-3.45 [[ 9.74493544e-01 2.23979325e-01 1.39855113e-02 2.50774270e+02] [-2.23958671e-01 9.74593882e-01 -3.04602163e-03 -3.72077034e+01] [-1.43124397e-02 -1.63848122e-04 9.99897558e-01 -3.45411702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.965769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:250.80, Y:-37.21, Z:-3.45 [[ 9.74941586e-01 2.22068860e-01 1.32032417e-02 2.50801322e+02] [-2.22050290e-01 9.75030976e-01 -2.87471573e-03 -3.72087807e+01] [-1.35119545e-02 -1.29103737e-04 9.99908701e-01 -3.45459373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:250.83, Y:-37.21, Z:-3.46 [[ 9.76044662e-01 2.17242450e-01 1.19388363e-02 2.50830467e+02] [-2.17226920e-01 9.76117675e-01 -2.59819651e-03 -3.72071039e+01] [-1.22181477e-02 -5.74807955e-05 9.99925354e-01 -3.45508100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.025769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:250.86, Y:-37.21, Z:-3.46 [[ 9.76595336e-01 2.14732822e-01 1.23030799e-02 2.50857422e+02] [-2.14716142e-01 9.76672829e-01 -2.67657406e-03 -3.72102805e+01] [-1.25908322e-02 -2.77401071e-05 9.99920732e-01 -3.45509026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:250.89, Y:-37.22, Z:-3.46 [[ 9.76607249e-01 2.14678622e-01 1.23032876e-02 2.50885294e+02] [-2.14661950e-01 9.76684744e-01 -2.67561916e-03 -3.72162030e+01] [-1.25908315e-02 -2.80186297e-05 9.99920732e-01 -3.45544454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08576923100003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:250.91, Y:-37.22, Z:-3.46 [[ 9.77783130e-01 2.09149269e-01 1.40261643e-02 2.50912257e+02] [-2.09127044e-01 9.77883726e-01 -3.04933953e-03 -3.72185019e+01] [-1.43537250e-02 4.83424653e-05 9.99896979e-01 -3.45657258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11576923100006 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:250.94, Y:-37.22, Z:-3.46 [[ 9.78464505e-01 2.05940046e-01 1.39967796e-02 2.50940037e+02] [-2.05917601e-01 9.78564606e-01 -3.04184177e-03 -3.72230319e+01] [-1.43231902e-02 9.41509193e-05 9.99897413e-01 -3.45715565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:250.97, Y:-37.23, Z:-3.46 [[ 9.79232247e-01 2.02329600e-01 1.29205338e-02 2.50967351e+02] [-2.02310171e-01 9.79317474e-01 -2.80711620e-03 -3.72280390e+01] [-1.32212672e-02 1.34863302e-04 9.99912586e-01 -3.45745095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17576923100006 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:250.99, Y:-37.23, Z:-3.46 [[ 9.80432830e-01 1.96615362e-01 9.68840933e-03 2.50993846e+02] [-1.96604164e-01 9.80480685e-01 -2.10439138e-03 -3.72348352e+01] [-9.91305389e-03 1.58432775e-04 9.99950852e-01 -3.45719461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20576923100003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:251.02, Y:-37.24, Z:-3.46 [[ 9.80963864e-01 1.93969525e-01 9.25852168e-03 2.51020790e+02] [-1.93959186e-01 9.81007539e-01 -2.01051546e-03 -3.72424462e+01] [-9.47265830e-03 1.76467692e-04 9.99955118e-01 -3.45755846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23576923100006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:251.05, Y:-37.25, Z:-3.46 [[ 9.82027204e-01 1.88350401e-01 1.21118247e-02 2.51047305e+02] [-1.88332292e-01 9.82101846e-01 -2.62904214e-03 -3.72531401e+01] [-1.23902265e-02 3.00743207e-04 9.99923193e-01 -3.45819189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26576923100004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:251.07, Y:-37.26, Z:-3.46 [[ 9.82485507e-01 1.85911591e-01 1.26137940e-02 2.51073844e+02] [-1.85891761e-01 9.82566416e-01 -2.73704644e-03 -3.72625488e+01] [-1.29027390e-02 3.44308074e-04 9.99916697e-01 -3.45892726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29576923100007 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:251.10, Y:-37.27, Z:-3.46 [[ 9.82859541e-01 1.84059942e-01 1.04432031e-02 2.51101035e+02] [-1.84031879e-01 9.82913699e-01 -3.59563545e-03 -3.72729841e+01] [-1.09265799e-02 1.61212231e-03 9.99939004e-01 -3.45937081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32576923100004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:251.13, Y:-37.29, Z:-3.46 [[ 9.83149169e-01 1.82657941e-01 7.33405992e-03 2.51126480e+02] [-1.82660940e-01 9.83175931e-01 -2.64460452e-04 -3.72922760e+01] [-7.25897699e-03 -1.07964220e-03 9.99973070e-01 -3.46026597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35576923100007 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:251.15, Y:-37.30, Z:-3.46 [[ 9.83140645e-01 1.82708193e-01 7.22419447e-03 2.51153021e+02] [-1.82701608e-01 9.83167162e-01 -1.56682397e-03 -3.73035605e+01] [-7.38886235e-03 2.20536383e-04 9.99972678e-01 -3.46065558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:251.18, Y:-37.32, Z:-3.46 [[ 9.82831846e-01 1.84209725e-01 1.04085987e-02 2.51177587e+02] [-1.84196147e-01 9.82886914e-01 -2.25673245e-03 -3.73204437e+01] [-1.06461875e-02 3.00764746e-04 9.99943283e-01 -3.45927128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:251.21, Y:-37.33, Z:-3.46 [[ 9.82492037e-01 1.85965439e-01 1.12362185e-02 2.51205457e+02] [-1.85949740e-01 9.82556239e-01 -2.43533159e-03 -3.73322409e+01] [-1.14931041e-02 3.03321988e-04 9.99933906e-01 -3.45956334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44576923100004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:251.23, Y:-37.34, Z:-3.46 [[ 9.81956913e-01 1.88829284e-01 1.02040781e-02 2.51232363e+02] [-1.88816493e-01 9.82009899e-01 -2.21142859e-03 -3.73446545e+01] [-1.04380882e-02 2.44829349e-04 9.99945492e-01 -3.46035724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.4757692310001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:251.26, Y:-37.36, Z:-3.46 [[ 9.80667734e-01 1.95545481e-01 7.26368158e-03 2.51259276e+02] [-1.95539186e-01 9.80694626e-01 -1.57387045e-03 -3.73638447e+01] [-7.43121674e-03 1.23109584e-04 9.99972381e-01 -3.46304516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:251.29, Y:-37.38, Z:-3.46 [[ 9.80087587e-01 1.98407666e-01 7.91958070e-03 2.51286152e+02] [-1.98400275e-01 9.80119577e-01 -1.71614673e-03 -3.73759031e+01] [-8.10263276e-03 1.10727121e-04 9.99967167e-01 -3.46281311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5357692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:251.31, Y:-37.39, Z:-3.46 [[ 9.78750356e-01 2.04742809e-01 1.13191455e-02 2.51312528e+02] [-2.04728140e-01 9.78815803e-01 -2.45220814e-03 -3.73919820e+01] [-1.15814304e-02 8.27519864e-05 9.99932930e-01 -3.46178175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:251.34, Y:-37.40, Z:-3.46 [[ 9.77980836e-01 2.08368679e-01 1.16609509e-02 2.51341658e+02] [-2.08353375e-01 9.78050353e-01 -2.52569836e-03 -3.74035115e+01] [-1.19312736e-02 4.04861195e-05 9.99928819e-01 -3.46212499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.595769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:251.37, Y:-37.42, Z:-3.46 [[ 9.76485529e-01 2.15350459e-01 1.00095772e-02 2.51369839e+02] [-2.15339550e-01 9.76536829e-01 -2.16793333e-03 -3.74186341e+01] [-1.02415862e-02 -3.85023227e-05 9.99947553e-01 -3.46404742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62576923100005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:251.40, Y:-37.43, Z:-3.47 [[ 9.75869495e-01 2.18183263e-01 8.64831039e-03 2.51400356e+02] [-2.18175216e-01 9.75907813e-01 -1.87474703e-03 -3.74279912e+01] [-8.84899211e-03 -5.73385551e-05 9.99960845e-01 -3.46513265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.655769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:251.43, Y:-37.44, Z:-3.47 [[ 9.75223175e-01 2.21113945e-01 6.95568209e-03 2.51429726e+02] [-2.21108813e-01 9.75247978e-01 -1.50800274e-03 -3.74369093e+01] [-7.11695533e-03 -6.73233870e-05 9.99974672e-01 -3.46604425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:251.46, Y:-37.45, Z:-3.47 [[ 9.73971561e-01 2.26616564e-01 4.93269887e-03 2.51457462e+02] [-2.26614052e-01 9.73984049e-01 -1.06969480e-03 -3.74495731e+01] [-5.04678057e-03 -7.59665646e-05 9.99987262e-01 -3.46847867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.715769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:251.49, Y:-37.46, Z:-3.47 [[ 9.73505399e-01 2.28602185e-01 5.31777476e-03 2.51487148e+02] [-2.28599297e-01 9.73519919e-01 -1.15272009e-03 -3.74598221e+01] [-5.44047398e-03 -9.34603397e-05 9.99985196e-01 -3.46878320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:251.52, Y:-37.47, Z:-3.47 [[ 9.72673322e-01 2.32028881e-01 8.31902399e-03 2.51515780e+02] [-2.32021937e-01 9.72708881e-01 -1.80371478e-03 -3.74690867e+01] [-8.51050244e-03 -1.75770810e-04 9.99963770e-01 -3.46737973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.775769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:251.55, Y:-37.48, Z:-3.47 [[ 9.72408680e-01 2.33084821e-01 9.63458747e-03 2.51546861e+02] [-2.33075558e-01 9.72456385e-01 -2.08906419e-03 -3.74757078e+01] [-9.85614525e-03 -2.14162692e-04 9.99951404e-01 -3.46750414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80576923100006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:251.58, Y:-37.48, Z:-3.47 [[ 9.72297736e-01 2.33529052e-01 1.00645409e-02 2.51577794e+02] [-2.33518968e-01 9.72349798e-01 -2.18223027e-03 -3.74825224e+01] [-1.02958685e-02 -2.28483660e-04 9.99946970e-01 -3.46892822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.83576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:251.61, Y:-37.49, Z:-3.47 [[ 9.72297956e-01 2.33545332e-01 9.65729797e-03 2.51608075e+02] [-2.33536031e-01 9.72345890e-01 -2.09566067e-03 -3.74927984e+01] [-9.87966576e-03 -2.17720446e-04 9.99951171e-01 -3.47030324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:251.64, Y:-37.50, Z:-3.47 [[ 9.72367633e-01 2.33269552e-01 9.30064707e-03 2.51637946e+02] [-2.33260902e-01 9.72412090e-01 -2.01944305e-03 -3.75005791e+01] [-9.51513623e-03 -2.05836260e-04 9.99954709e-01 -3.47032295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89576923100003 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:251.67, Y:-37.51, Z:-3.47 [[ 9.72128430e-01 2.34249719e-01 9.66361596e-03 2.51668836e+02] [-2.34240416e-01 9.72176434e-01 -2.09943147e-03 -3.75056847e+01] [-9.88653094e-03 -2.22692405e-04 9.99951102e-01 -3.46886421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:251.70, Y:-37.51, Z:-3.47 [[ 9.71754982e-01 2.35764524e-01 1.03606618e-02 2.51700564e+02] [-2.35753918e-01 9.71810179e-01 -2.25087416e-03 -3.75122095e+01] [-1.05992728e-02 -2.55268421e-04 9.99943794e-01 -3.46885426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:251.73, Y:-37.52, Z:-3.47 [[ 9.71361405e-01 2.37387536e-01 1.02068289e-02 2.51731350e+02] [-2.37377313e-01 9.71414992e-01 -2.21919739e-03 -3.75195579e+01] [-1.04418764e-02 -2.67226919e-04 9.99945446e-01 -3.46865351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:251.76, Y:-37.53, Z:-3.47 [[ 9.71082134e-01 2.38629793e-01 7.43713568e-03 2.51763102e+02] [-2.38624397e-01 9.71110591e-01 -1.61759534e-03 -3.75260126e+01] [-7.60828767e-03 -2.03864084e-04 9.99971036e-01 -3.47193978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:251.79, Y:-37.53, Z:-3.47 [[ 9.71032960e-01 2.38863543e-01 6.26082950e-03 2.51794824e+02] [-2.38859714e-01 9.71053129e-01 -1.36335438e-03 -3.75298260e+01] [-6.40525373e-03 -1.71597906e-04 9.99979471e-01 -3.47356593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:251.82, Y:-37.53, Z:-3.47 [[ 9.70599726e-01 2.40616583e-01 6.31128652e-03 2.51824297e+02] [-2.40612725e-01 9.70620228e-01 -1.37485269e-03 -3.75283049e+01] [-6.45667471e-03 -1.84144207e-04 9.99979139e-01 -3.47277648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:251.85, Y:-37.53, Z:-3.47 [[ 9.70204748e-01 2.42212250e-01 5.99771393e-03 2.51854332e+02] [-2.42208799e-01 9.70223269e-01 -1.30627499e-03 -3.75311445e+01] [-6.13551742e-03 -1.85344891e-04 9.99981160e-01 -3.47161139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:251.88, Y:-37.53, Z:-3.47 [[ 9.69767767e-01 2.43965105e-01 5.61303029e-03 2.51882705e+02] [-2.43962110e-01 9.69783993e-01 -1.22261110e-03 -3.75328374e+01] [-5.74170138e-03 -1.83717884e-04 9.99983499e-01 -3.47108560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:251.91, Y:-37.53, Z:-3.47 [[ 9.69136536e-01 2.46417021e-01 7.28189298e-03 2.51913287e+02] [-2.46412056e-01 9.69163859e-01 -1.58539353e-03 -3.75271396e+01] [-7.44801545e-03 -2.57883426e-04 9.99972230e-01 -3.47223789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16576923100007 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:251.94, Y:-37.53, Z:-3.47 [[ 9.69170855e-01 2.46253263e-01 8.19659933e-03 2.51942700e+02] [-2.46246970e-01 9.69205472e-01 -1.78408301e-03 -3.75276016e+01] [-8.38352518e-03 -2.89306493e-04 9.99964816e-01 -3.47265135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:251.97, Y:-37.52, Z:-3.47 [[ 9.69923763e-01 2.43247647e-01 8.85865024e-03 2.51972190e+02] [-2.43240175e-01 9.69964175e-01 -1.92773903e-03 -3.75227017e+01] [-9.06149136e-03 -2.85019742e-04 9.99958903e-01 -3.47161136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2257692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:252.00, Y:-37.52, Z:-3.47 [[ 9.70512121e-01 2.40898211e-01 8.61825018e-03 2.52002280e+02] [-2.40891050e-01 9.70550352e-01 -1.87498827e-03 -3.75223344e+01] [-8.81612707e-03 -2.56360493e-04 9.99961104e-01 -3.47118507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:252.03, Y:-37.52, Z:-3.47 [[ 9.71027365e-01 2.38820394e-01 8.40683704e-03 2.52030670e+02] [-2.38813508e-01 9.71063729e-01 -1.82841417e-03 -3.75203906e+01] [-8.60023711e-03 -2.32226047e-04 9.99962990e-01 -3.47166656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2857692310001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:252.06, Y:-37.51, Z:-3.47 [[ 9.71889247e-01 2.35292915e-01 8.27869150e-03 2.52060591e+02] [-2.35286117e-01 9.71924485e-01 -1.79955616e-03 -3.75129207e+01] [-8.46968578e-03 -1.98891895e-04 9.99964112e-01 -3.47444705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31576923100005 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:252.09, Y:-37.51, Z:-3.48 [[ 9.72558296e-01 2.32510000e-01 8.33436856e-03 2.52087684e+02] [-2.32503013e-01 9.72593990e-01 -1.81108173e-03 -3.75139739e+01] [-8.52705138e-03 -1.76383246e-04 9.99963628e-01 -3.47565575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.345769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:252.12, Y:-37.51, Z:-3.48 [[ 9.74571268e-01 2.23933299e-01 8.04491158e-03 2.52116500e+02] [-2.23926503e-01 9.74604467e-01 -1.74742457e-03 -3.75119519e+01] [-8.23191332e-03 -9.84791423e-05 9.99966112e-01 -3.47523137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37576923100005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:252.14, Y:-37.51, Z:-3.47 [[ 9.75750925e-01 2.18745357e-01 7.78462095e-03 2.52144505e+02] [-2.18738831e-01 9.75781977e-01 -1.69049101e-03 -3.75134316e+01] [-7.96587987e-03 -5.33007181e-05 9.99968270e-01 -3.47478007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.405769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:252.17, Y:-37.51, Z:-3.48 [[ 9.76953520e-01 2.13276959e-01 8.64628893e-03 2.52171528e+02] [-2.13268701e-01 9.76991780e-01 -1.87691062e-03 -3.75144934e+01] [-8.84765500e-03 -1.03283720e-05 9.99960859e-01 -3.47504763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43576923100005 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:252.20, Y:-37.52, Z:-3.47 [[ 9.78796335e-01 2.04623137e-01 9.33312323e-03 2.52200350e+02] [-2.04613129e-01 9.78840828e-01 -2.02509086e-03 -3.75156162e+01] [-9.55002251e-03 7.24719588e-05 9.99954395e-01 -3.46965311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.465769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:252.23, Y:-37.52, Z:-3.48 [[ 9.79173258e-01 2.02877178e-01 7.78338526e-03 2.52227406e+02] [-2.02870165e-01 9.79204190e-01 -1.68853452e-03 -3.75189640e+01] [-7.96408857e-03 7.43511902e-05 9.99968283e-01 -3.47657771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49576923100005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:252.26, Y:-37.52, Z:-3.48 [[ 9.79298510e-01 2.02391684e-01 3.46897564e-03 2.52255176e+02] [-2.02390287e-01 9.79304654e-01 -7.52730910e-04 -3.75203447e+01] [-3.54953046e-03 3.50612831e-05 9.99993700e-01 -3.47714690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.525769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:252.28, Y:-37.52, Z:-3.48 [[ 9.79119791e-01 2.03250197e-01 3.71386917e-03 2.52283068e+02] [-2.03248604e-01 9.79126834e-01 -8.05360356e-04 -3.75238726e+01] [-3.80003861e-03 3.37055399e-05 9.99992779e-01 -3.47725550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:252.31, Y:-37.53, Z:-3.48 [[ 9.78611354e-01 2.05622520e-01 6.26077907e-03 2.52309266e+02] [-2.05618049e-01 9.78631380e-01 -1.35664043e-03 -3.75282777e+01] [-6.40595068e-03 4.02945473e-05 9.99979481e-01 -3.47614145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:252.34, Y:-37.53, Z:-3.48 [[ 9.78524744e-01 2.06009104e-01 7.04094376e-03 2.52336770e+02] [-2.06003464e-01 9.78550074e-01 -1.52489126e-03 -3.75345216e+01] [-7.20405752e-03 4.16850215e-05 9.99974050e-01 -3.47642424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61576923100006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:252.36, Y:-37.54, Z:-3.48 [[ 9.78595308e-01 2.05666766e-01 7.23912841e-03 2.52364479e+02] [-2.05660799e-01 9.78622082e-01 -1.56725661e-03 -3.75402322e+01] [-7.40670351e-03 4.49050306e-05 9.99972569e-01 -3.47664107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.39, Y:-37.55, Z:-3.48 [[ 9.78523262e-01 2.05991002e-01 7.74160576e-03 2.52390532e+02] [-2.05984193e-01 9.78553885e-01 -1.67545004e-03 -3.75453149e+01] [-7.92070602e-03 4.48184244e-05 9.99968630e-01 -3.47718626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.42, Y:-37.55, Z:-3.48 [[ 9.78077000e-01 2.08014866e-01 9.75687944e-03 2.52417744e+02] [-2.08004163e-01 9.78125664e-01 -2.11044022e-03 -3.75506204e+01] [-9.98245712e-03 3.47014949e-05 9.99950173e-01 -3.47634454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.45, Y:-37.56, Z:-3.48 [[ 9.77878689e-01 2.08924176e-01 1.01960149e-02 2.52445145e+02] [-2.08912545e-01 9.77931842e-01 -2.20464208e-03 -3.75576328e+01] [-1.04316107e-02 2.57970711e-05 9.99945589e-01 -3.47606457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.47, Y:-37.56, Z:-3.48 [[ 9.77828304e-01 2.09207014e-01 9.17791068e-03 2.52471444e+02] [-2.09197608e-01 9.77871374e-01 -1.98394355e-03 -3.75637293e+01] [-9.38987104e-03 1.99591976e-05 9.99955914e-01 -3.47687246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.50, Y:-37.57, Z:-3.48 [[ 9.77899295e-01 2.08907852e-01 8.39509062e-03 2.52498791e+02] [-2.08899977e-01 9.77935330e-01 -1.81404336e-03 -3.75684112e+01] [-8.58882362e-03 2.02174916e-05 9.99963115e-01 -3.47785068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:252.53, Y:-37.57, Z:-3.48 [[ 9.77951726e-01 2.08661602e-01 8.41171657e-03 2.52526180e+02] [-2.08653691e-01 9.77987902e-01 -1.81701668e-03 -3.75738536e+01] [-8.60569864e-03 2.18188834e-05 9.99962970e-01 -3.47855413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.55, Y:-37.58, Z:-3.48 [[ 9.78290031e-01 2.07072786e-01 8.33522320e-03 2.52551558e+02] [-2.07064966e-01 9.78325539e-01 -1.79991292e-03 -3.75829170e+01] [-8.52727471e-03 3.49041534e-05 9.99963642e-01 -3.47896340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85576923100007 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:252.58, Y:-37.59, Z:-3.48 [[ 9.78451363e-01 2.06352523e-01 7.18093187e-03 2.52577442e+02] [-2.06346703e-01 9.78477713e-01 -1.55015581e-03 -3.75919115e+01] [-7.34626036e-03 3.49904498e-05 9.99973015e-01 -3.47975160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.60, Y:-37.60, Z:-3.48 [[ 9.78715451e-01 2.05176720e-01 4.31032827e-03 2.52603541e+02] [-2.05174612e-01 9.78724942e-01 -9.30459485e-04 -3.76014948e+01] [-4.40953441e-03 2.62851446e-05 9.99990278e-01 -3.48130929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.63, Y:-37.61, Z:-3.48 [[ 9.78668234e-01 2.05425242e-01 2.99310153e-03 2.52629726e+02] [-2.05424226e-01 9.78672810e-01 -6.46283037e-04 -3.76092030e+01] [-3.06202994e-03 1.76411123e-05 9.99995312e-01 -3.48202519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.66, Y:-37.62, Z:-3.48 [[ 9.78692273e-01 2.05310681e-01 2.99309735e-03 2.52657612e+02] [-2.05309664e-01 9.78696850e-01 -6.46302768e-04 -3.76150564e+01] [-3.06202781e-03 1.80197132e-05 9.99995312e-01 -3.48237946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.9757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.68, Y:-37.62, Z:-3.48 [[ 9.78593638e-01 2.05786680e-01 2.51672053e-03 2.52683130e+02] [-2.05785964e-01 9.78596874e-01 -5.43264517e-04 -3.76226709e+01] [-2.57465145e-03 1.37294396e-05 9.99996685e-01 -3.48227110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:252.71, Y:-37.63, Z:-3.48 [[ 9.78330021e-01 2.07007889e-01 4.25479820e-03 2.52709672e+02] [-2.07005859e-01 9.78339273e-01 -9.16748709e-04 -3.76334498e+01] [-4.35241040e-03 1.61146264e-05 9.99990528e-01 -3.48071121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0357692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:252.74, Y:-37.65, Z:-3.48 [[ 9.78086066e-01 2.08061970e-01 7.60683115e-03 2.52735370e+02] [-2.08055526e-01 9.78115646e-01 -1.63768706e-03 -3.76452987e+01] [-7.78110096e-03 1.91556426e-05 9.99969727e-01 -3.48102344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.76, Y:-37.65, Z:-3.48 [[ 9.77977028e-01 2.08533025e-01 8.65503638e-03 2.52762765e+02] [-2.08524708e-01 9.78015326e-01 -1.86248182e-03 -3.76542127e+01] [-8.85314720e-03 1.66755049e-05 9.99960810e-01 -3.48187203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.095769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.79, Y:-37.66, Z:-3.48 [[ 9.77811268e-01 2.09287920e-01 9.14824431e-03 2.52788869e+02] [-2.09278665e-01 9.77854062e-01 -1.96815123e-03 -3.76630220e+01] [-9.35755813e-03 9.94808672e-06 9.99956217e-01 -3.48226479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.82, Y:-37.67, Z:-3.48 [[ 9.77591819e-01 2.10312875e-01 9.09560466e-03 2.52816652e+02] [-2.10303777e-01 9.77634131e-01 -1.95621695e-03 -3.76721519e+01] [-9.30359118e-03 -4.58330361e-07 9.99956721e-01 -3.48231732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.155769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.84, Y:-37.68, Z:-3.48 [[ 9.77341395e-01 2.11545404e-01 7.23461673e-03 2.52842541e+02] [-2.11539683e-01 9.77368171e-01 -1.55581279e-03 -3.76829423e+01] [-7.40000916e-03 -9.84828690e-06 9.99972620e-01 -3.48232309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:252.87, Y:-37.69, Z:-3.48 [[ 9.77185913e-01 2.12316346e-01 5.42769124e-03 2.52869324e+02] [-2.12313139e-01 9.77200987e-01 -1.16694801e-03 -3.76938285e+01] [-5.55170738e-03 -1.20450057e-05 9.99984589e-01 -3.48325245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.90, Y:-37.70, Z:-3.48 [[ 9.77005041e-01 2.13137669e-01 5.78658348e-03 2.52897478e+02] [-2.13134041e-01 9.77022177e-01 -1.24378723e-03 -3.77019941e+01] [-5.91871830e-03 -1.81315240e-05 9.99982484e-01 -3.48329233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.93, Y:-37.71, Z:-3.48 [[ 9.76743226e-01 2.14365513e-01 4.48298192e-03 2.52925199e+02] [-2.14337332e-01 9.76741048e-01 -6.03593710e-03 -3.77071191e+01] [-5.67260922e-03 4.93469029e-03 9.99971735e-01 -3.48277928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.275769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:252.95, Y:-37.72, Z:-3.48 [[ 9.76339848e-01 2.16026603e-01 9.64407661e-03 2.52950963e+02] [-2.16063844e-01 9.76374658e-01 2.99044706e-03 -3.77189925e+01] [-8.77021588e-03 -5.00342889e-03 9.99949023e-01 -3.48212247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:252.98, Y:-37.72, Z:-3.48 [[ 9.76108513e-01 2.17110128e-01 8.68115265e-03 2.52979610e+02] [-2.17102135e-01 9.76147114e-01 -1.86412129e-03 -3.77246262e+01] [-8.87880172e-03 -6.51121109e-05 9.99960581e-01 -3.48308804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.01, Y:-37.73, Z:-3.48 [[ 9.76068253e-01 2.17355229e-01 6.88983251e-03 2.53006971e+02] [-2.17350202e-01 9.76092568e-01 -1.47925600e-03 -3.77335838e+01] [-7.04663833e-03 -5.36516641e-05 9.99975171e-01 -3.48455444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.03, Y:-37.74, Z:-3.48 [[ 9.76338883e-01 2.16130570e-01 7.06834978e-03 2.53034136e+02] [-2.16125249e-01 9.76364468e-01 -1.51728037e-03 -3.77406227e+01] [-7.22921625e-03 -4.62690371e-05 9.99973868e-01 -3.48481295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:253.06, Y:-37.75, Z:-3.49 [[ 9.76887087e-01 2.13624423e-01 7.49829091e-03 2.53060930e+02] [-2.13618365e-01 9.76915864e-01 -1.60907231e-03 -3.77470870e+01] [-7.66893648e-03 -2.98906816e-05 9.99970593e-01 -3.48533254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.09, Y:-37.76, Z:-3.49 [[ 9.78063074e-01 2.08153241e-01 8.05307373e-03 2.53089004e+02] [-2.08146073e-01 9.78096226e-01 -1.72741177e-03 -3.77556069e+01] [-8.23624738e-03 1.33019936e-05 9.99966081e-01 -3.48522463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.12, Y:-37.76, Z:-3.49 [[ 9.78591843e-01 2.05647384e-01 8.19498597e-03 2.53117241e+02] [-2.05639877e-01 9.78626155e-01 -1.75758231e-03 -3.77636150e+01] [-8.38126982e-03 3.47398061e-05 9.99964876e-01 -3.48522708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.15, Y:-37.77, Z:-3.49 [[ 9.79551605e-01 2.01065059e-01 7.17597425e-03 2.53145640e+02] [-2.01059180e-01 9.79577888e-01 -1.53895907e-03 -3.77741367e+01] [-7.33885659e-03 6.46943300e-05 9.99973068e-01 -3.48558076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.17, Y:-37.78, Z:-3.49 [[ 9.79886181e-01 1.99483421e-01 5.42563443e-03 2.53174469e+02] [-1.99480036e-01 9.79901200e-01 -1.16362427e-03 -3.77816934e+01] [-5.54870944e-03 5.79135938e-05 9.99984604e-01 -3.48673446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.20, Y:-37.79, Z:-3.49 [[ 9.80100139e-01 1.98463062e-01 4.01630020e-03 2.53203336e+02] [-1.98461199e-01 9.80108367e-01 -8.61348294e-04 -3.77888359e+01] [-4.10735525e-03 4.71278296e-05 9.99991564e-01 -3.48834353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.23, Y:-37.80, Z:-3.49 [[ 9.80493047e-01 1.96517491e-01 3.77635821e-03 2.53230802e+02] [-1.96515829e-01 9.80500318e-01 -8.09843142e-04 -3.77971809e+01] [-3.86186877e-03 5.19314042e-05 9.99992542e-01 -3.48962231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.26, Y:-37.81, Z:-3.49 [[ 9.80691088e-01 1.95492929e-01 5.24445716e-03 2.53260017e+02] [-1.95489712e-01 9.80705108e-01 -1.12422868e-03 -3.78054863e+01] [-5.36304468e-03 7.72836296e-05 9.99985616e-01 -3.48934829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.29, Y:-37.82, Z:-3.49 [[ 9.81030365e-01 1.93687676e-01 8.03165899e-03 2.53290219e+02] [-1.93680070e-01 9.81063233e-01 -1.72160248e-03 -3.78160033e+01] [-8.21301851e-03 1.33372032e-04 9.99966264e-01 -3.48729917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.32, Y:-37.82, Z:-3.49 [[ 9.81175585e-01 1.92951182e-01 8.01957141e-03 2.53321291e+02] [-1.92943579e-01 9.81208348e-01 -1.71853432e-03 -3.78247669e+01] [-8.20046364e-03 1.38859107e-04 9.99966366e-01 -3.48746404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:253.35, Y:-37.83, Z:-3.49 [[ 9.81388890e-01 1.91877865e-01 7.66370310e-03 2.53351070e+02] [-1.91870877e-01 9.81418802e-01 -1.64375210e-03 -3.78330476e+01] [-7.83670196e-03 1.42718616e-04 9.99969282e-01 -3.48887827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.38, Y:-37.84, Z:-3.49 [[ 9.81599876e-01 1.90826825e-01 6.84147509e-03 2.53379679e+02] [-1.90821219e-01 9.81623708e-01 -1.46908941e-03 -3.78426923e+01] [-6.99609581e-03 1.36559365e-04 9.99975518e-01 -3.48986712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.41, Y:-37.85, Z:-3.49 [[ 9.81491456e-01 1.91381145e-01 6.91225170e-03 2.53410608e+02] [-1.91375441e-01 9.81515787e-01 -1.48349909e-03 -3.78499165e+01] [-7.06839792e-03 1.33206460e-04 9.99975010e-01 -3.49009919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.44, Y:-37.86, Z:-3.49 [[ 9.80830397e-01 1.94723810e-01 7.37364550e-03 2.53442290e+02] [-1.94717403e-01 9.80858106e-01 -1.58398170e-03 -3.78559722e+01] [-7.54093891e-03 1.17840296e-04 9.99971560e-01 -3.48858080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.47, Y:-37.86, Z:-3.49 [[ 9.80428594e-01 1.96746240e-01 7.11960621e-03 2.53473004e+02] [-1.96740312e-01 9.80454439e-01 -1.53066174e-03 -3.78625624e+01] [-7.28160146e-03 9.99909943e-05 9.99973484e-01 -3.48853201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.845769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.50, Y:-37.87, Z:-3.49 [[ 9.79996990e-01 1.98886558e-01 7.07361898e-03 2.53504390e+02] [-1.98880754e-01 9.80022515e-01 -1.52184360e-03 -3.78694406e+01] [-7.23498009e-03 8.45954743e-05 9.99973824e-01 -3.48927258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.53, Y:-37.87, Z:-3.49 [[ 9.79246978e-01 2.02523716e-01 7.71369163e-03 2.53534695e+02] [-2.02516908e-01 9.79277356e-01 -1.66187347e-03 -3.78738622e+01] [-7.89041234e-03 6.52315968e-05 9.99968868e-01 -3.49048155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.56, Y:-37.88, Z:-3.49 [[ 9.78818789e-01 2.04585725e-01 7.64583569e-03 2.53564909e+02] [-2.04579098e-01 9.78848650e-01 -1.64740835e-03 -3.78785388e+01] [-7.82115217e-03 4.83360766e-05 9.99969413e-01 -3.49142663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.59, Y:-37.88, Z:-3.49 [[ 9.78073362e-01 2.08183995e-01 5.65006639e-03 2.53593521e+02] [-2.08180435e-01 9.78089681e-01 -1.21758052e-03 -3.78826308e+01] [-5.77975241e-03 1.46497925e-05 9.99983297e-01 -3.49284361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.62, Y:-37.89, Z:-3.49 [[ 9.77832701e-01 2.09337329e-01 4.59254547e-03 2.53622834e+02] [-2.09334990e-01 9.77843486e-01 -9.89582840e-04 -3.78882393e+01] [-4.69794730e-03 6.26600011e-06 9.99988965e-01 -3.49331051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.65, Y:-37.89, Z:-3.49 [[ 9.77723085e-01 2.09849579e-01 4.55230562e-03 2.53652381e+02] [-2.09847286e-01 9.77733683e-01 -9.80804997e-04 -3.78936011e+01] [-4.65676405e-03 3.66670626e-06 9.99989157e-01 -3.49335639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.68, Y:-37.90, Z:-3.49 [[ 9.77825734e-01 2.09356890e-01 5.15035857e-03 2.53680896e+02] [-2.09353950e-01 9.77839298e-01 -1.10951606e-03 -3.78986017e+01] [-5.26850784e-03 6.66544810e-06 9.99986121e-01 -3.49350804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.71, Y:-37.91, Z:-3.49 [[ 9.77895148e-01 2.09030942e-01 5.21016053e-03 2.53709976e+02] [-2.09027930e-01 9.77909027e-01 -1.12222014e-03 -3.79051041e+01] [-5.32964175e-03 8.34456250e-06 9.99985797e-01 -3.49392628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.74, Y:-37.91, Z:-3.50 [[ 9.78259900e-01 2.07316837e-01 5.22462228e-03 2.53738839e+02] [-2.07313785e-01 9.78273852e-01 -1.12521001e-03 -3.79116385e+01] [-5.34438634e-03 1.76116184e-05 9.99985719e-01 -3.49560335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.77, Y:-37.92, Z:-3.50 [[ 9.78415612e-01 2.06584942e-01 5.05497073e-03 2.53767156e+02] [-2.06582075e-01 9.78428669e-01 -1.08864249e-03 -3.79173628e+01] [-5.17082543e-03 2.08784619e-05 9.99986631e-01 -3.49629112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:253.80, Y:-37.92, Z:-3.50 [[ 9.78492704e-01 2.06223783e-01 4.87637023e-03 2.53795718e+02] [-2.06221111e-01 9.78504855e-01 -1.05000984e-03 -3.79229372e+01] [-4.98808894e-03 2.18164834e-05 9.99987559e-01 -3.49622942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.82, Y:-37.93, Z:-3.50 [[ 9.78496383e-01 2.06189908e-01 5.52722791e-03 2.53824399e+02] [-2.06186477e-01 9.78511993e-01 -1.18981101e-03 -3.79308017e+01] [-5.65378583e-03 2.45861229e-05 9.99984017e-01 -3.49576051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.85, Y:-37.94, Z:-3.50 [[ 9.78464653e-01 2.06346802e-01 5.28387941e-03 2.53852631e+02] [-2.06343669e-01 9.78478920e-01 -1.13731585e-03 -3.79386894e+01] [-5.40484611e-03 2.25282954e-05 9.99985393e-01 -3.49575424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.88, Y:-37.95, Z:-3.50 [[ 9.78509443e-01 2.06123717e-01 5.68191099e-03 2.53879881e+02] [-2.06120092e-01 9.78525939e-01 -1.22285017e-03 -3.79478197e+01] [-5.81195571e-03 2.54144254e-05 9.99983110e-01 -3.49590321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.91, Y:-37.96, Z:-3.50 [[ 9.78617419e-01 2.05600131e-01 6.04426915e-03 2.53909326e+02] [-2.05596020e-01 9.78636084e-01 -1.30048422e-03 -3.79552431e+01] [-6.18251962e-03 2.99988252e-05 9.99980888e-01 -3.49617071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.94, Y:-37.96, Z:-3.50 [[ 9.78767498e-01 2.04887030e-01 5.95738506e-03 2.53938123e+02] [-2.04883024e-01 9.78785627e-01 -1.28167716e-03 -3.79624938e+01] [-6.09360189e-03 3.38968841e-05 9.99981433e-01 -3.49690942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.97, Y:-37.97, Z:-3.50 [[ 9.79062226e-01 2.03490252e-01 5.37355786e-03 2.53968014e+02] [-2.03486972e-01 9.79076971e-01 -1.15605523e-03 -3.79728531e+01] [-5.49637273e-03 3.84009898e-05 9.99984894e-01 -3.49811201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.00, Y:-37.98, Z:-3.50 [[ 9.79409560e-01 2.01827057e-01 4.77005319e-03 2.53996601e+02] [-2.01824452e-01 9.79421175e-01 -1.02639345e-03 -3.79820090e+01] [-4.87904506e-03 4.25461854e-05 9.99988096e-01 -3.49866840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.03, Y:-37.99, Z:-3.50 [[ 9.79657775e-01 2.00645197e-01 3.48545191e-03 2.54027072e+02] [-2.00643799e-01 9.79663975e-01 -7.49875916e-04 -3.79897663e+01] [-3.56503067e-03 3.52874595e-05 9.99993645e-01 -3.49993834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.06, Y:-38.00, Z:-3.50 [[ 9.79818680e-01 1.99885458e-01 1.07593510e-03 2.54056474e+02] [-1.99885325e-01 9.79819271e-01 -2.31438269e-04 -3.79969994e+01] [-1.10048308e-03 1.17039037e-05 9.99999394e-01 -3.50140903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:254.09, Y:-38.00, Z:-3.50 [[ 9.79423249e-01 2.01816323e-01 -5.21081909e-04 2.54085719e+02] [-2.01816292e-01 9.79423387e-01 1.11850569e-04 -3.80044112e+01] [ 5.32933079e-04 -4.38622910e-06 9.99999858e-01 -3.50180279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.4757692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:254.12, Y:-38.01, Z:-3.50 [[ 9.79021383e-01 2.03754303e-01 1.14723573e-03 2.54115516e+02] [-2.03754154e-01 9.79022055e-01 -2.46905701e-04 -3.80108410e+01] [-1.17347718e-03 7.97191588e-06 9.99999311e-01 -3.50103505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.14, Y:-38.02, Z:-3.50 [[ 9.78184011e-01 2.07687175e-01 4.69861758e-03 2.54144838e+02] [-2.07684713e-01 9.78195296e-01 -1.01131907e-03 -3.80170200e+01] [-4.80620362e-03 1.34250974e-05 9.99988450e-01 -3.49849497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.17, Y:-38.02, Z:-3.50 [[ 9.77799200e-01 2.09486572e-01 4.90931285e-03 2.54173787e+02] [-2.09483907e-01 9.77811524e-01 -1.05667954e-03 -3.80229634e+01] [-5.02174286e-03 4.79836612e-06 9.99987391e-01 -3.49900910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.20, Y:-38.03, Z:-3.50 [[ 9.77414404e-01 2.11290530e-01 4.17073225e-03 2.54202607e+02] [-2.11288623e-01 9.77423302e-01 -8.97652993e-04 -3.80296591e+01] [-4.26623647e-03 -3.84930982e-06 9.99990900e-01 -3.49984604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.595769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:254.23, Y:-38.04, Z:-3.50 [[ 9.76910407e-01 2.13633553e-01 2.60013140e-03 2.54232119e+02] [-2.13632821e-01 9.76913868e-01 -5.59442269e-04 -3.80376835e+01] [-2.65962006e-03 -8.94842981e-06 9.99996463e-01 -3.50220594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.26, Y:-38.05, Z:-3.50 [[ 9.76865051e-01 2.13844564e-01 2.27485748e-03 2.54261612e+02] [-2.13844004e-01 9.76867700e-01 -4.89456584e-04 -3.80452860e+01] [-2.32690242e-03 -8.33160143e-06 9.99997293e-01 -3.50217749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.29, Y:-38.05, Z:-3.50 [[ 9.77270160e-01 2.11963957e-01 3.78349804e-03 2.54291743e+02] [-2.11962394e-01 9.77277484e-01 -8.14054525e-04 -3.80524422e+01] [-3.87007766e-03 -6.40810617e-06 9.99992511e-01 -3.50157484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.32, Y:-38.06, Z:-3.50 [[ 9.77684334e-01 2.10036808e-01 4.22879333e-03 2.54320794e+02] [-2.10034838e-01 9.77693479e-01 -9.09769032e-04 -3.80595447e+01] [-4.32554864e-03 1.27300866e-06 9.99990645e-01 -3.50086712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.715769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.35, Y:-38.07, Z:-3.50 [[ 9.78079191e-01 2.08177663e-01 4.81205502e-03 2.54351367e+02] [-2.08175090e-01 9.78091029e-01 -1.03524065e-03 -3.80681869e+01] [-4.92214183e-03 1.07973493e-05 9.99987886e-01 -3.50042158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.38, Y:-38.08, Z:-3.50 [[ 9.78633115e-01 2.05536750e-01 5.64542282e-03 2.54380859e+02] [-2.05533168e-01 9.78649398e-01 -1.21386094e-03 -3.80814101e+01] [-5.77438268e-03 2.76028773e-05 9.99983328e-01 -3.50084853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.41, Y:-38.09, Z:-3.50 [[ 9.78869349e-01 2.04406650e-01 5.72001400e-03 2.54411423e+02] [-2.04402948e-01 9.78886061e-01 -1.23072551e-03 -3.80911070e+01] [-5.85081045e-03 3.55317552e-05 9.99982883e-01 -3.50123472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.44, Y:-38.10, Z:-3.50 [[ 9.79251205e-01 2.02561092e-01 6.00674668e-03 2.54441320e+02] [-2.02556968e-01 9.79269627e-01 -1.29345749e-03 -3.81022054e+01] [-6.14422874e-03 4.99114131e-05 9.99981123e-01 -3.50274912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.47, Y:-38.11, Z:-3.50 [[ 9.79488744e-01 2.01411847e-01 5.92177593e-03 2.54473491e+02] [-2.01407813e-01 9.79506643e-01 -1.27605365e-03 -3.81117424e+01] [-6.05743119e-03 5.71882486e-05 9.99981652e-01 -3.50295910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.51, Y:-38.12, Z:-3.50 [[ 9.79471917e-01 2.01493675e-01 5.92138929e-03 2.54506199e+02] [-2.01489631e-01 9.79489814e-01 -1.27784464e-03 -3.81189502e+01] [-6.05741811e-03 5.85143972e-05 9.99981652e-01 -3.50337608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.54, Y:-38.13, Z:-3.50 [[ 9.79691824e-01 2.00405369e-01 6.45121858e-03 2.54536527e+02] [-2.00400545e-01 9.79713062e-01 -1.39227926e-03 -3.81278228e+01] [-6.59936335e-03 7.11768867e-05 9.99978221e-01 -3.50354142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.57, Y:-38.14, Z:-3.50 [[ 9.79489074e-01 2.01299653e-01 8.92206954e-03 2.54567112e+02] [-2.01290440e-01 9.79529704e-01 -1.92808829e-03 -3.81375885e+01] [-9.12755564e-03 9.26141063e-05 9.99958339e-01 -3.50203133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.60, Y:-38.15, Z:-3.50 [[ 9.78996749e-01 2.03614666e-01 1.03166118e-02 2.54598821e+02] [-2.03602454e-01 9.79051102e-01 -2.23156592e-03 -3.81455986e+01] [-1.05548697e-02 8.42082926e-05 9.99944292e-01 -3.50209247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.63, Y:-38.15, Z:-3.50 [[ 9.77757820e-01 2.09473266e-01 1.05164288e-02 2.54629556e+02] [-2.09460892e-01 9.77814374e-01 -2.27699076e-03 -3.81540033e+01] [-1.07600840e-02 2.35649586e-05 9.99942108e-01 -3.50399255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:254.66, Y:-38.16, Z:-3.51 [[ 9.77064309e-01 2.12770318e-01 8.60978994e-03 2.54661172e+02] [-2.12762147e-01 9.77102242e-01 -1.86471416e-03 -3.81618173e+01] [-8.80940088e-03 -9.89174264e-06 9.99961196e-01 -3.50512008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.69, Y:-38.17, Z:-3.51 [[ 9.76078017e-01 2.17352123e-01 5.45527252e-03 2.54690988e+02] [-2.17348909e-01 9.76093261e-01 -1.18256090e-03 -3.81686718e+01] [-5.58188687e-03 -3.14258346e-05 9.99984421e-01 -3.50521348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.72, Y:-38.18, Z:-3.51 [[ 9.75645026e-01 2.19287023e-01 5.47584315e-03 2.54721913e+02] [-2.19283811e-01 9.75660392e-01 -1.18751442e-03 -3.81757820e+01] [-5.60296977e-03 -4.21712145e-05 9.99984302e-01 -3.50504897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.75, Y:-38.18, Z:-3.51 [[ 9.75338669e-01 2.20647038e-01 5.41904238e-03 2.54752600e+02] [-2.20643913e-01 9.75353722e-01 -1.17531662e-03 -3.81830678e+01] [-5.54481328e-03 -4.93469653e-05 9.99984626e-01 -3.50520671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.79, Y:-38.19, Z:-3.51 [[ 9.75258287e-01 2.21016485e-01 4.79446723e-03 2.54785073e+02] [-2.21014049e-01 9.75270071e-01 -1.03869511e-03 -3.81908843e+01] [-4.90546913e-03 -4.66486031e-05 9.99987967e-01 -3.50752275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.82, Y:-38.20, Z:-3.51 [[ 9.75382210e-01 2.20460962e-01 5.14866230e-03 2.54815992e+02] [-2.20458139e-01 9.75395798e-01 -1.11666692e-03 -3.81981493e+01] [-5.26816504e-03 -4.58874651e-05 9.99986122e-01 -3.50844644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:254.85, Y:-38.21, Z:-3.51 [[ 9.75385816e-01 2.20415464e-01 6.28753344e-03 2.54848074e+02] [-2.20411243e-01 9.75406080e-01 -1.36515885e-03 -3.82057740e+01] [-6.43380046e-03 -5.42864801e-05 9.99979301e-01 -3.50700261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.88, Y:-38.21, Z:-3.51 [[ 9.74949641e-01 2.22363587e-01 5.25659086e-03 2.54878852e+02] [-2.22360659e-01 9.74963811e-01 -1.14246878e-03 -3.82129085e+01] [-5.37902931e-03 -5.50094798e-05 9.99985531e-01 -3.50673604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.91, Y:-38.22, Z:-3.51 [[ 9.73070152e-01 2.30460020e-01 4.76014706e-03 2.54911121e+02] [-2.30457715e-01 9.73081790e-01 -1.03466226e-03 -3.82173848e+01] [-4.87046071e-03 -9.02136592e-05 9.99988135e-01 -3.50673647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.94, Y:-38.22, Z:-3.51 [[ 9.71987488e-01 2.34980021e-01 4.97119227e-03 2.54941991e+02] [-2.34977556e-01 9.72000194e-01 -1.08251832e-03 -3.82215829e+01] [-5.08637003e-03 -1.15924344e-04 9.99987058e-01 -3.50687784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.97, Y:-38.23, Z:-3.51 [[ 9.71021245e-01 2.38952566e-01 4.40608252e-03 2.54972993e+02] [-2.38950670e-01 9.71031233e-01 -9.59531072e-04 -3.82252625e+01] [-4.50772616e-03 -1.21111317e-04 9.99989833e-01 -3.50687849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.00, Y:-38.22, Z:-3.51 [[ 9.69656187e-01 2.44453575e-01 3.05443735e-03 2.55002760e+02] [-2.44452690e-01 9.69660992e-01 -6.65497446e-04 -3.82248559e+01] [-3.12445198e-03 -1.01361710e-04 9.99995114e-01 -3.50726626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.03, Y:-38.23, Z:-3.51 [[ 9.69441510e-01 2.45306346e-01 2.82064872e-03 2.55032980e+02] [-2.45305595e-01 9.69445608e-01 -6.14422087e-04 -3.82280457e+01] [-2.88518716e-03 -9.62746379e-05 9.99995833e-01 -3.50777571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.06, Y:-38.23, Z:-3.51 [[ 9.69923180e-01 2.43369163e-01 4.52506775e-03 2.55063460e+02] [-2.43367209e-01 9.69933724e-01 -9.85883038e-04 -3.82288639e+01] [-4.62894935e-03 -1.45022298e-04 9.99989276e-01 -3.50714169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.09, Y:-38.23, Z:-3.51 [[ 9.70452419e-01 2.41219223e-01 5.94892596e-03 2.55092730e+02] [-2.41215808e-01 9.70470636e-01 -1.29578489e-03 -3.82317234e+01] [-6.08582618e-03 -1.77477407e-04 9.99981465e-01 -3.50722998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.12, Y:-38.23, Z:-3.51 [[ 9.70934369e-01 2.39241294e-01 7.07497089e-03 2.55122364e+02] [-2.39236411e-01 9.70960125e-01 -1.54100596e-03 -3.82341268e+01] [-7.23818688e-03 -1.96375001e-04 9.99973785e-01 -3.50729222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.15, Y:-38.23, Z:-3.51 [[ 9.71510069e-01 2.36849946e-01 8.38381927e-03 2.55152473e+02] [-2.36843002e-01 9.71546220e-01 -1.82587178e-03 -3.82322608e+01] [-8.57772556e-03 -2.11796110e-04 9.99963188e-01 -3.50692891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.18, Y:-38.23, Z:-3.51 [[ 9.71670526e-01 2.36109110e-01 1.04344346e-02 2.55183403e+02] [-2.36098318e-01 9.71726516e-01 -2.27195200e-03 -3.82318442e+01] [-1.06758453e-02 -2.55963653e-04 9.99942979e-01 -3.50707560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.21, Y:-38.23, Z:-3.51 [[ 9.71849115e-01 2.35346174e-01 1.10216448e-02 2.55212256e+02] [-2.35334087e-01 9.71911575e-01 -2.39953185e-03 -3.82346526e+01] [-1.12767848e-02 -2.61785801e-04 9.99936381e-01 -3.50777947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.24, Y:-38.24, Z:-3.51 [[ 9.72271738e-01 2.33626999e-01 1.03001719e-02 2.55240804e+02] [-2.33616350e-01 9.72326269e-01 -2.24212891e-03 -3.82375821e+01] [-1.05389495e-02 -2.26329985e-04 9.99944438e-01 -3.50923760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.27, Y:-38.24, Z:-3.51 [[ 9.73505484e-01 2.28603944e-01 5.22580641e-03 2.55270733e+02] [-2.28601131e-01 9.73519506e-01 -1.13741723e-03 -3.82399720e+01] [-5.34744254e-03 -8.73433456e-05 9.99985699e-01 -3.51109775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:255.30, Y:-38.24, Z:-3.51 [[ 9.74161248e-01 2.25826794e-01 3.48157409e-03 2.55298758e+02] [-2.25825526e-01 9.74167469e-01 -7.58009236e-04 -3.82448539e+01] [-3.56281502e-03 -4.78050782e-05 9.99993652e-01 -3.51177404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.33, Y:-38.25, Z:-3.51 [[ 9.75304642e-01 2.20798347e-01 5.38012755e-03 2.55325966e+02] [-2.20795248e-01 9.75319480e-01 -1.17084753e-03 -3.82491312e+01] [-5.50586441e-03 -4.59735602e-05 9.99984842e-01 -3.51077163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.35, Y:-38.25, Z:-3.51 [[ 9.75593156e-01 2.19454824e-01 7.58777938e-03 2.55353032e+02] [-2.19448624e-01 9.75622661e-01 -1.65050750e-03 -3.82535968e+01] [-7.76502135e-03 -5.49039249e-05 9.99969850e-01 -3.51002593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.38, Y:-38.26, Z:-3.51 [[ 9.75652586e-01 2.19142864e-01 8.85646179e-03 2.55382138e+02] [-2.19134411e-01 9.75692780e-01 -1.92576027e-03 -3.82571877e+01] [-9.06320245e-03 -6.18825559e-05 9.99958926e-01 -3.51007036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.41, Y:-38.26, Z:-3.51 [[ 9.75228326e-01 2.21118616e-01 6.02248944e-03 2.55411685e+02] [-2.21114746e-01 9.75246920e-01 -1.30944247e-03 -3.82579893e+01] [-6.16295638e-03 -5.46558347e-05 9.99981007e-01 -3.51236974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.44, Y:-38.26, Z:-3.51 [[ 9.74228603e-01 2.25556475e-01 1.70465273e-03 2.55440439e+02] [-2.25556171e-01 9.74230094e-01 -3.71119834e-04 -3.82577429e+01] [-1.74443247e-03 -2.29393856e-05 9.99998478e-01 -3.51346299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:255.47, Y:-38.26, Z:-3.51 [[ 9.73394873e-01 2.29130909e-01 1.20306049e-03 2.55468624e+02] [-2.29130760e-01 9.73395616e-01 -2.62056801e-04 -3.82601656e+01] [-1.23109912e-03 -2.05734182e-05 9.99999242e-01 -3.51325178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:255.50, Y:-38.26, Z:-3.51 [[ 9.72400723e-01 2.33311476e-01 1.60916899e-03 2.55496957e+02] [-2.33311215e-01 9.72402054e-01 -3.50260384e-04 -3.82623053e+01] [-1.64647900e-03 -3.48437228e-05 9.99998644e-01 -3.51268707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.53, Y:-38.26, Z:-3.51 [[ 9.70579156e-01 2.40778408e-01 1.36369945e-03 2.55526494e+02] [-2.40778228e-01 9.70580114e-01 -2.96892149e-04 -3.82604172e+01] [-1.39506478e-03 -4.01918051e-05 9.99999026e-01 -3.51370819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.55, Y:-38.26, Z:-3.51 [[ 9.70006887e-01 2.43074930e-01 1.10304288e-03 2.55553930e+02] [-2.43074814e-01 9.70007514e-01 -2.40364714e-04 -3.82619942e+01] [-1.12838652e-03 -3.49665148e-05 9.99999363e-01 -3.51442132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.58, Y:-38.26, Z:-3.52 [[ 9.69764353e-01 2.44042521e-01 5.90217506e-04 2.55582409e+02] [-2.44042488e-01 9.69764532e-01 -1.28869443e-04 -3.82638294e+01] [-6.03821627e-04 -1.90651562e-05 9.99999818e-01 -3.51538928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.9757692310001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:255.61, Y:-38.26, Z:-3.52 [[ 9.70103708e-01 2.42690063e-01 5.73199014e-04 2.55609461e+02] [-2.42690031e-01 9.70103877e-01 -1.25270770e-04 -3.82643617e+01] [-5.86464558e-04 -1.75840486e-05 9.99999828e-01 -3.51735795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.64, Y:-38.27, Z:-3.52 [[ 9.70698970e-01 2.40295488e-01 1.26014806e-03 2.55636998e+02] [-2.40295335e-01 9.70699787e-01 -2.73971363e-04 -3.82686776e+01] [-1.28905954e-03 -3.68639800e-05 9.99999168e-01 -3.51768359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.66, Y:-38.27, Z:-3.52 [[ 9.71427235e-01 2.37322620e-01 2.66479781e-03 2.55664420e+02] [-2.37321926e-01 9.71430887e-01 -5.78272555e-04 -3.82728361e+01] [-2.72590406e-03 -7.06652405e-05 9.99996282e-01 -3.51775652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.69, Y:-38.27, Z:-3.52 [[ 9.72734869e-01 2.31880065e-01 4.30224252e-03 2.55691351e+02] [-2.31878207e-01 9.72744379e-01 -9.32842448e-04 -3.82737488e+01] [-4.40128980e-03 -9.01879036e-05 9.99990310e-01 -3.51707555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.72, Y:-38.28, Z:-3.52 [[ 9.73236007e-01 2.29768004e-01 4.28243682e-03 2.55718944e+02] [-2.29766144e-01 9.73245425e-01 -9.28106318e-04 -3.82768923e+01] [-4.38111118e-03 -8.06925066e-05 9.99990400e-01 -3.51701273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.75, Y:-38.28, Z:-3.52 [[ 9.73440533e-01 2.28843452e-01 6.64855980e-03 2.55746714e+02] [-2.28838953e-01 9.73463230e-01 -1.43993807e-03 -3.82794760e+01] [-6.80164890e-03 -1.19755381e-04 9.99976861e-01 -3.51638794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.77, Y:-38.28, Z:-3.51 [[ 9.73353442e-01 2.29162618e-01 8.22019438e-03 2.55773639e+02] [-2.29155759e-01 9.73388140e-01 -1.77951455e-03 -3.82833362e+01] [-8.40923793e-03 -1.51608271e-04 9.99964630e-01 -3.51493983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.80, Y:-38.29, Z:-3.51 [[ 9.73275756e-01 2.29460390e-01 9.06819692e-03 2.55801129e+02] [-2.29452065e-01 9.73317985e-01 -1.96212438e-03 -3.82872666e+01] [-9.27646898e-03 -1.71028422e-04 9.99956958e-01 -3.51485426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.83, Y:-38.29, Z:-3.52 [[ 9.73494437e-01 2.28522769e-01 9.26955258e-03 2.55827674e+02] [-2.28514033e-01 9.73538554e-01 -2.00502630e-03 -3.82904756e+01] [-9.48246098e-03 -1.66340900e-04 9.99955027e-01 -3.51583929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.86, Y:-38.30, Z:-3.52 [[ 9.73786023e-01 2.27266423e-01 9.52655347e-03 2.55855295e+02] [-2.27257144e-01 9.73832608e-01 -2.05975175e-03 -3.82963151e+01] [-9.74538082e-03 -1.59219872e-04 9.99952500e-01 -3.51706992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.88, Y:-38.30, Z:-3.52 [[ 9.74525650e-01 2.24076681e-01 9.45508822e-03 2.55881758e+02] [-2.24067398e-01 9.74571508e-01 -2.04361863e-03 -3.83013777e+01] [-9.67258686e-03 -1.27018245e-04 9.99953211e-01 -3.51738495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.91, Y:-38.31, Z:-3.52 [[ 9.74902423e-01 2.22467957e-01 8.55999059e-03 2.55909450e+02] [-2.22460293e-01 9.74939997e-01 -1.84944516e-03 -3.83060527e+01] [-8.75691949e-03 -1.01229440e-04 9.99961652e-01 -3.51820482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.33576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:255.94, Y:-38.31, Z:-3.52 [[ 9.75384071e-01 2.20448298e-01 5.33499621e-03 2.55936919e+02] [-2.20445291e-01 9.75398660e-01 -1.15262092e-03 -3.83102924e+01] [-5.45784147e-03 -5.18267063e-05 9.99985105e-01 -3.51911677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.96, Y:-38.32, Z:-3.52 [[ 9.75606142e-01 2.19498846e-01 3.59350027e-03 2.55963546e+02] [-2.19497474e-01 9.75612759e-01 -7.76507640e-04 -3.83163777e+01] [-3.67630725e-03 -3.11986108e-05 9.99993242e-01 -3.51967237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.99, Y:-38.32, Z:-3.52 [[ 9.75911050e-01 2.18155943e-01 2.36778711e-03 2.55990178e+02] [-2.18155343e-01 9.75913923e-01 -5.12215703e-04 -3.83226359e+01] [-2.42249931e-03 -1.66684444e-05 9.99997066e-01 -3.52024110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.02, Y:-38.33, Z:-3.52 [[ 9.76734850e-01 2.14433945e-01 2.66768315e-03 2.56017425e+02] [-2.14433172e-01 9.76738493e-01 -5.76021234e-04 -3.83296250e+01] [-2.72914733e-03 -9.41974702e-06 9.99996276e-01 -3.52085436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.04, Y:-38.34, Z:-3.52 [[ 9.77106034e-01 2.12725720e-01 3.40086821e-03 2.56044728e+02] [-2.12724454e-01 9.77111953e-01 -7.33846421e-04 -3.83360633e+01] [-3.47913699e-03 -6.40206877e-06 9.99993948e-01 -3.52081879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.07, Y:-38.34, Z:-3.52 [[ 9.77380232e-01 2.11430614e-01 4.99783806e-03 2.56070573e+02] [-2.11427867e-01 9.77393010e-01 -1.07782200e-03 -3.83436728e+01] [-5.11273655e-03 -3.24032320e-06 9.99986930e-01 -3.52132102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.10, Y:-38.35, Z:-3.52 [[ 9.77467450e-01 2.11022392e-01 5.18987999e-03 2.56096371e+02] [-2.11019428e-01 9.77481227e-01 -1.11846411e-03 -3.83507950e+01] [-5.30903123e-03 -1.90324881e-06 9.99985907e-01 -3.52140303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.12, Y:-38.36, Z:-3.52 [[ 9.77459667e-01 2.11058650e-01 5.18124749e-03 2.56122646e+02] [-2.11055698e-01 9.77473399e-01 -1.11615656e-03 -3.83578033e+01] [-5.30010609e-03 -2.53378878e-06 9.99985954e-01 -3.52130953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.15, Y:-38.36, Z:-3.52 [[ 9.77051412e-01 2.12962418e-01 4.18887474e-03 2.56150227e+02] [-2.12960508e-01 9.77060391e-01 -9.02142817e-04 -3.83631756e+01] [-4.28490611e-03 -1.06249781e-05 9.99990820e-01 -3.52129301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.18, Y:-38.37, Z:-3.52 [[ 9.76384085e-01 2.16011540e-01 3.62393474e-03 2.56177361e+02] [-2.16010131e-01 9.76390810e-01 -7.80731997e-04 -3.83670021e+01] [-3.70702370e-03 -2.05123195e-05 9.99993129e-01 -3.52151861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.21, Y:-38.37, Z:-3.52 [[ 9.74117922e-01 2.25997842e-01 4.38749195e-03 2.56206171e+02] [-2.25995882e-01 9.74127800e-01 -9.43998296e-04 -3.83683066e+01] [-4.48731945e-03 -7.19894517e-05 9.99989929e-01 -3.52052113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.23, Y:-38.37, Z:-3.52 [[ 9.72967781e-01 2.30860225e-01 6.10348470e-03 2.56234435e+02] [-2.30856533e-01 9.72986916e-01 -1.31240318e-03 -3.83719092e+01] [-6.24159245e-03 -1.32103309e-04 9.99980512e-01 -3.51981874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.26, Y:-38.37, Z:-3.52 [[ 9.72143410e-01 2.34261537e-01 7.66305233e-03 2.56262572e+02] [-2.34255828e-01 9.72173593e-01 -1.64695827e-03 -3.83742251e+01] [-7.83563609e-03 -1.94035044e-04 9.99969282e-01 -3.51952105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.29, Y:-38.37, Z:-3.52 [[ 9.71584924e-01 2.36512544e-01 9.19524317e-03 2.56291345e+02] [-2.36504432e-01 9.71628402e-01 -1.97542437e-03 -3.83700364e+01] [-9.40157207e-03 -2.55423229e-04 9.99955772e-01 -3.51995195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.32, Y:-38.38, Z:-3.52 [[ 9.71625715e-01 2.36344908e-01 9.19534985e-03 2.56319236e+02] [-2.36336793e-01 9.71669193e-01 -1.97492771e-03 -3.83758276e+01] [-9.40160228e-03 -2.54308946e-04 9.99955772e-01 -3.52030628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.35, Y:-38.38, Z:-3.52 [[ 9.71816206e-01 2.35564520e-01 9.08943412e-03 2.56347714e+02] [-2.35556575e-01 9.71858681e-01 -1.95023626e-03 -3.83781834e+01] [-9.29305193e-03 -2.45804765e-04 9.99956788e-01 -3.52225220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.38, Y:-38.38, Z:-3.52 [[ 9.72892234e-01 2.31146623e-01 7.20690328e-03 2.56375126e+02] [-2.31141509e-01 9.72918914e-01 -1.54603271e-03 -3.83805276e+01] [-7.36909275e-03 -1.61691286e-04 9.99972835e-01 -3.52425930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.40, Y:-38.38, Z:-3.52 [[ 9.73828288e-01 2.27190668e-01 6.54719877e-03 2.56402766e+02] [-2.27186361e-01 9.73850289e-01 -1.40398104e-03 -3.83844960e+01] [-6.69496280e-03 -1.20197814e-04 9.99977581e-01 -3.52459192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.43, Y:-38.39, Z:-3.52 [[ 9.74878651e-01 2.22655571e-01 6.00929748e-03 2.56431039e+02] [-2.22651859e-01 9.74897169e-01 -1.28827097e-03 -3.83880677e+01] [-6.14528781e-03 -8.20733921e-05 9.99981114e-01 -3.52463086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.46, Y:-38.39, Z:-3.52 [[ 9.77111091e-01 2.12643130e-01 6.06751896e-03 2.56458441e+02] [-2.12639153e-01 9.77129929e-01 -1.30064504e-03 -3.83900454e+01] [-6.20532761e-03 -1.93174018e-05 9.99980747e-01 -3.52457717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.49, Y:-38.40, Z:-3.53 [[ 9.78159574e-01 2.07774529e-01 5.79593889e-03 2.56485154e+02] [-2.07770820e-01 9.78176745e-01 -1.24143208e-03 -3.83956211e+01] [-5.92739061e-03 1.00916984e-05 9.99982433e-01 -3.52555972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.51, Y:-38.40, Z:-3.53 [[ 9.79652129e-01 2.00630173e-01 5.40730075e-03 2.56511892e+02] [-2.00626839e-01 9.79667051e-01 -1.15777874e-03 -3.84011861e+01] [-5.52963973e-03 4.93707493e-05 9.99984710e-01 -3.52670810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.54, Y:-38.41, Z:-3.53 [[ 9.80139298e-01 1.98259495e-01 4.48660777e-03 2.56539293e+02] [-1.98257176e-01 9.80149565e-01 -9.60342481e-04 -3.84063207e+01] [-4.58794367e-03 5.17672194e-05 9.99989474e-01 -3.52694575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.57, Y:-38.41, Z:-3.53 [[ 9.80547711e-01 1.96251950e-01 3.37029609e-03 2.56566543e+02] [-1.96250630e-01 9.80553502e-01 -7.21381780e-04 -3.84111626e+01] [-3.44632821e-03 4.59265231e-05 9.99994060e-01 -3.52661370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.59, Y:-38.42, Z:-3.53 [[ 9.80743986e-01 1.95282113e-01 2.47613413e-03 2.56592784e+02] [-1.95281397e-01 9.80747111e-01 -5.30162959e-04 -3.84152226e+01] [-2.53199274e-03 3.64112013e-05 9.99996794e-01 -3.52646877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.62, Y:-38.42, Z:-3.53 [[ 9.80695416e-01 1.95530723e-01 2.05843938e-03 2.56620539e+02] [-1.95530228e-01 9.80697576e-01 -4.40607657e-04 -3.84198846e+01] [-2.10485884e-03 2.96147883e-05 9.99997784e-01 -3.52728299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.65, Y:-38.42, Z:-3.53 [[ 9.80577714e-01 1.96128075e-01 1.06057288e-03 2.56647082e+02] [-1.96127943e-01 9.80578287e-01 -2.28019362e-04 -3.84242832e+01] [-1.08469573e-03 1.55827279e-05 9.99999412e-01 -3.52923556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.67, Y:-38.43, Z:-3.53 [[ 9.80718121e-01 1.95421998e-01 1.48660413e-03 2.56674530e+02] [-1.95421740e-01 9.80719247e-01 -3.18125179e-04 -3.84301225e+01] [-1.52010994e-03 2.14763620e-05 9.99998844e-01 -3.52968535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.70, Y:-38.44, Z:-3.53 [[ 9.80935831e-01 1.94322899e-01 1.87259823e-03 2.56700911e+02] [-1.94322488e-01 9.80937618e-01 -4.00938879e-04 -3.84359451e+01] [-1.91481365e-03 2.94073662e-05 9.99998166e-01 -3.52964015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.73, Y:-38.44, Z:-3.53 [[ 9.81632886e-01 1.90733028e-01 4.21782210e-03 2.56728289e+02] [-1.90730920e-01 9.81641944e-01 -9.00218821e-04 -3.84439541e+01] [-4.31209255e-03 7.92153089e-05 9.99990700e-01 -3.52903535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.75, Y:-38.45, Z:-3.53 [[ 9.81878709e-01 1.89451471e-01 4.72667272e-03 2.56754743e+02] [-1.89448810e-01 9.81890081e-01 -1.00844856e-03 -3.84509985e+01] [-4.83212512e-03 9.47116471e-05 9.99988321e-01 -3.52868055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.78, Y:-38.46, Z:-3.53 [[ 9.82099204e-01 1.88272220e-01 5.89281937e-03 2.56781663e+02] [-1.88268069e-01 9.82116875e-01 -1.25640676e-03 -3.84613291e+01] [-6.02398383e-03 1.24486354e-04 9.99981848e-01 -3.52896767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.81, Y:-38.47, Z:-3.53 [[ 9.81985421e-01 1.88870286e-01 5.71379487e-03 2.56808370e+02] [-1.88866395e-01 9.82002037e-01 -1.21784181e-03 -3.84695899e+01] [-5.84097233e-03 1.16759062e-04 9.99982935e-01 -3.52929570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.84, Y:-38.48, Z:-3.53 [[ 9.81720472e-01 1.90252649e-01 5.37070128e-03 2.56835509e+02] [-1.90249235e-01 9.81735157e-01 -1.14437613e-03 -3.84774401e+01] [-5.49032686e-03 1.01685663e-04 9.99984923e-01 -3.52994445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.86, Y:-38.49, Z:-3.53 [[ 9.81330016e-01 1.92256754e-01 5.36094598e-03 2.56862651e+02] [-1.92253384e-01 9.81344655e-01 -1.14190651e-03 -3.84855427e+01] [-5.48047492e-03 8.99271282e-05 9.99984978e-01 -3.52995602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.89, Y:-38.50, Z:-3.53 [[ 9.80213197e-01 1.97851379e-01 6.07626664e-03 2.56888847e+02] [-1.97847160e-01 9.80232027e-01 -1.29372108e-03 -3.84962094e+01] [-6.21211567e-03 6.59503735e-05 9.99980702e-01 -3.52913410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.91, Y:-38.50, Z:-3.53 [[ 9.79579129e-01 2.00961871e-01 6.24944934e-03 2.56914359e+02] [-2.00957475e-01 9.79599063e-01 -1.33018038e-03 -3.85040656e+01] [-6.38927025e-03 4.71433785e-05 9.99979587e-01 -3.52846765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.94, Y:-38.51, Z:-3.53 [[ 9.78411944e-01 2.06526190e-01 7.54986214e-03 2.56939902e+02] [-2.06519945e-01 9.78441073e-01 -1.60610310e-03 -3.85143468e+01] [-7.71879757e-03 1.22333368e-05 9.99970210e-01 -3.52863967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.97, Y:-38.52, Z:-3.53 [[ 9.77943837e-01 2.08711004e-01 8.09748056e-03 2.56966713e+02] [-2.08703902e-01 9.77977360e-01 -1.72177734e-03 -3.85220876e+01] [-8.27850654e-03 -6.17425779e-06 9.99965733e-01 -3.52893631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.99, Y:-38.53, Z:-3.53 [[ 9.77515327e-01 2.10719592e-01 7.81274038e-03 2.56993722e+02] [-2.10713049e-01 9.77546548e-01 -1.66070669e-03 -3.85292719e+01] [-7.98726083e-03 -2.28801063e-05 9.99968101e-01 -3.52956369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.02, Y:-38.54, Z:-3.53 [[ 9.76724168e-01 2.14385042e-01 6.99669263e-03 2.57021321e+02] [-2.14379891e-01 9.76749227e-01 -1.48683839e-03 -3.85355907e+01] [-7.15277003e-03 -4.77192180e-05 9.99974417e-01 -3.52907200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.05, Y:-38.54, Z:-3.53 [[ 9.76240381e-01 2.16595902e-01 6.39795687e-03 2.57048851e+02] [-2.16591645e-01 9.76261344e-01 -1.35922517e-03 -3.85405304e+01] [-6.54048057e-03 -5.88135066e-05 9.99978609e-01 -3.52965267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.08, Y:-38.54, Z:-3.53 [[ 9.75091861e-01 2.21730193e-01 5.61994488e-03 2.57075849e+02] [-2.21726995e-01 9.75108053e-01 -1.19372109e-03 -3.85437511e+01] [-5.74473752e-03 -8.21057728e-05 9.99983495e-01 -3.53087189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.10, Y:-38.55, Z:-3.53 [[ 9.74580670e-01 2.23975420e-01 5.24675140e-03 2.57104072e+02] [-2.23972668e-01 9.74594789e-01 -1.11399239e-03 -3.85475994e+01] [-5.36296349e-03 -8.94534561e-05 9.99985615e-01 -3.53135436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.655769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:257.13, Y:-38.55, Z:-3.53 [[ 9.73884789e-01 2.26954062e-01 6.34599225e-03 2.57131780e+02] [-2.26950102e-01 9.73905456e-01 -1.34678519e-03 -3.85496305e+01] [-6.48605485e-03 -1.28609974e-04 9.99978957e-01 -3.53174828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.16, Y:-38.55, Z:-3.53 [[ 9.73673404e-01 2.27819619e-01 7.63700218e-03 2.57158744e+02] [-2.27813917e-01 9.73703340e-01 -1.62007835e-03 -3.85533151e+01] [-7.80526017e-03 -1.62388172e-04 9.99969525e-01 -3.53173703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.19, Y:-38.56, Z:-3.53 [[ 9.73457102e-01 2.28754328e-01 7.26145991e-03 2.57186381e+02] [-2.28749202e-01 9.73484171e-01 -1.53982469e-03 -3.85551091e+01] [-7.42115784e-03 -1.62099882e-04 9.99972450e-01 -3.53224759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.21, Y:-38.56, Z:-3.53 [[ 9.73567879e-01 2.28331389e-01 5.51022338e-03 2.57214014e+02] [-2.28328433e-01 9.73583464e-01 -1.16820625e-03 -3.85594203e+01] [-5.63140052e-03 -1.20812588e-04 9.99984136e-01 -3.53376894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.24, Y:-38.56, Z:-3.54 [[ 9.73767986e-01 2.27516639e-01 3.47692647e-03 2.57240754e+02] [-2.27515456e-01 9.73774190e-01 -7.37307305e-04 -3.85643026e+01] [-3.55349094e-03 -7.30882614e-05 9.99993684e-01 -3.53500671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.27, Y:-38.57, Z:-3.54 [[ 9.74650743e-01 2.23709242e-01 3.17858202e-03 2.57268041e+02] [-2.23708234e-01 9.74655925e-01 -6.73756169e-04 -3.85694731e+01] [-3.24874928e-03 -5.43980202e-05 9.99994721e-01 -3.53544626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.30, Y:-38.57, Z:-3.54 [[ 9.75179405e-01 2.21379071e-01 4.05398778e-03 2.57295232e+02] [-2.21377413e-01 9.75187830e-01 -8.58769900e-04 -3.85746562e+01] [-4.14351323e-03 -6.00066080e-05 9.99991414e-01 -3.53546755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.32, Y:-38.58, Z:-3.54 [[ 9.76173757e-01 2.16957524e-01 3.77214868e-03 2.57322789e+02] [-2.16956056e-01 9.76181044e-01 -7.98851410e-04 -3.85804824e+01] [-3.85561686e-03 -3.85727188e-05 9.99992566e-01 -3.53644270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.35, Y:-38.59, Z:-3.54 [[ 9.76687159e-01 2.14650667e-01 2.69913522e-03 2.57349037e+02] [-2.14649905e-01 9.76690888e-01 -5.72235211e-04 -3.85877072e+01] [-2.75905144e-03 -2.04743361e-05 9.99996194e-01 -3.53747439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:257.38, Y:-38.60, Z:-3.54 [[ 9.77135013e-01 2.12602241e-01 2.73003262e-03 2.57375738e+02] [-2.12601457e-01 9.77138827e-01 -5.77834550e-04 -3.85959176e+01] [-2.79046979e-03 -1.57865416e-05 9.99996107e-01 -3.53774012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.40, Y:-38.61, Z:-3.54 [[ 9.77748366e-01 2.09766100e-01 2.51319669e-03 2.57402837e+02] [-2.09765426e-01 9.77751596e-01 -5.31855966e-04 -3.86053353e+01] [-2.56884743e-03 -7.16047359e-06 9.99996700e-01 -3.53781740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.43, Y:-38.61, Z:-3.54 [[ 9.77809362e-01 2.09478857e-01 2.73112639e-03 2.57429068e+02] [-2.09478061e-01 9.77813177e-01 -5.77807505e-04 -3.86118294e+01] [-2.79156983e-03 -7.12547083e-06 9.99996104e-01 -3.53789106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.46, Y:-38.62, Z:-3.54 [[ 9.77243266e-01 2.12086008e-01 3.88896472e-03 2.57455956e+02] [-2.12084417e-01 9.77251004e-01 -8.21871304e-04 -3.86184522e+01] [-3.97480208e-03 -2.16206180e-05 9.99992100e-01 -3.53705512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.48, Y:-38.62, Z:-3.54 [[ 9.76718382e-01 2.14488233e-01 4.00001472e-03 2.57483567e+02] [-2.14486571e-01 9.76726572e-01 -8.45024918e-04 -3.86242700e+01] [-4.08816856e-03 -3.25980710e-05 9.99991643e-01 -3.53692168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.51, Y:-38.63, Z:-3.54 [[ 9.76142494e-01 2.17105432e-01 3.32600895e-03 2.57510487e+02] [-2.17104298e-01 9.76148160e-01 -7.02648758e-04 -3.86296756e+01] [-3.39922638e-03 -3.62055277e-05 9.99994222e-01 -3.53722244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.54, Y:-38.63, Z:-3.54 [[ 9.74962449e-01 2.22364461e-01 1.50665073e-03 2.57537754e+02] [-2.22364234e-01 9.74963613e-01 -3.18730202e-04 -3.86328952e+01] [-1.53980391e-03 -2.42752576e-05 9.99998814e-01 -3.53772295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.57, Y:-38.64, Z:-3.54 [[ 9.74371442e-01 2.24939651e-01 1.56412317e-03 2.57565920e+02] [-2.24939410e-01 9.74372697e-01 -3.30578026e-04 -3.86365907e+01] [-1.59839902e-03 -2.97271563e-05 9.99998722e-01 -3.53747009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.59, Y:-38.64, Z:-3.54 [[ 9.73868365e-01 2.27100509e-01 2.40114231e-03 2.57593136e+02] [-2.27099949e-01 9.73871324e-01 -5.06942830e-04 -3.86395412e+01] [-2.45353062e-03 -5.16037122e-05 9.99996989e-01 -3.53739559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.62, Y:-38.64, Z:-3.54 [[ 9.73548071e-01 2.28418912e-01 5.38088238e-03 2.57621433e+02] [-2.28416130e-01 9.73562933e-01 -1.13420804e-03 -3.86419838e+01] [-5.49770220e-03 -1.24874280e-04 9.99984880e-01 -3.53696884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.65, Y:-38.65, Z:-3.54 [[ 9.73739192e-01 2.27576198e-01 6.40781960e-03 2.57648017e+02] [-2.27572238e-01 9.73760265e-01 -1.35010356e-03 -3.86466126e+01] [-6.54693155e-03 -1.43593100e-04 9.99978558e-01 -3.53676740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.67, Y:-38.65, Z:-3.54 [[ 9.74392741e-01 2.24747200e-01 6.89076396e-03 2.57674635e+02] [-2.24742556e-01 9.74417096e-01 -1.45117283e-03 -3.86508328e+01] [-7.04062524e-03 -1.34635633e-04 9.99975205e-01 -3.53797663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.70, Y:-38.66, Z:-3.54 [[ 9.74976140e-01 2.22216788e-01 6.42066997e-03 2.57702242e+02] [-2.22212703e-01 9.74997276e-01 -1.35170092e-03 -3.86568926e+01] [-6.56050637e-03 -1.08878290e-04 9.99978474e-01 -3.53872339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.73, Y:-38.66, Z:-3.54 [[ 9.75603882e-01 2.19466975e-01 5.59571989e-03 2.57728038e+02] [-2.19463827e-01 9.75619926e-01 -1.17811121e-03 -3.86630092e+01] [-5.71785233e-03 -7.86882340e-05 9.99983650e-01 -3.53920238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.76, Y:-38.67, Z:-3.54 [[ 9.76816162e-01 2.14043410e-01 3.95029998e-03 2.57755121e+02] [-2.14041799e-01 9.76824149e-01 -8.31165944e-04 -3.86705355e+01] [-4.03665401e-03 -3.36329869e-05 9.99991852e-01 -3.54027437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.78, Y:-38.68, Z:-3.54 [[ 9.77218917e-01 2.12206254e-01 3.41974259e-03 2.57781527e+02] [-2.12205035e-01 9.77224900e-01 -7.19508156e-04 -3.86771063e+01] [-3.49454174e-03 -2.25696155e-05 9.99993894e-01 -3.54058547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.81, Y:-38.69, Z:-3.54 [[ 9.77696326e-01 2.09965515e-01 4.93725495e-03 2.57808159e+02] [-2.09962951e-01 9.77708792e-01 -1.03780565e-03 -3.86850153e+01] [-5.04510097e-03 -2.19818472e-05 9.99987273e-01 -3.54012387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.83, Y:-38.69, Z:-3.54 [[ 9.77811320e-01 2.09391659e-01 6.33683506e-03 2.57834196e+02] [-2.09387427e-01 9.77831853e-01 -1.33161204e-03 -3.86915752e+01] [-6.47518762e-03 -2.47882619e-05 9.99979035e-01 -3.53872284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.86, Y:-38.70, Z:-3.54 [[ 9.77851149e-01 2.09178882e-01 7.16418412e-03 2.57861193e+02] [-2.09173477e-01 9.77877392e-01 -1.50404527e-03 -3.86983974e+01] [-7.32030820e-03 -2.78249033e-05 9.99973206e-01 -3.53886419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.89, Y:-38.71, Z:-3.54 [[ 9.78274807e-01 2.07237153e-01 5.58259023e-03 2.57888170e+02] [-2.07233840e-01 9.78290735e-01 -1.17179590e-03 -3.87064929e+01] [-5.70423594e-03 -1.05632057e-05 9.99983731e-01 -3.54095645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.91, Y:-38.71, Z:-3.54 [[ 9.78740278e-01 2.05040877e-01 5.07019840e-03 2.57914482e+02] [-2.05038116e-01 9.78753411e-01 -1.06404370e-03 -3.87146619e+01] [-5.18064643e-03 1.83850422e-06 9.99986580e-01 -3.54122234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.94, Y:-38.73, Z:-3.54 [[ 9.79948340e-01 1.99148598e-01 6.40985720e-03 2.57940254e+02] [-1.99144065e-01 9.79969303e-01 -1.34431441e-03 -3.87258636e+01] [-6.54918162e-03 4.08736569e-05 9.99978553e-01 -3.54075038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.97, Y:-38.73, Z:-3.54 [[ 9.80456346e-01 1.96595090e-01 7.46485372e-03 2.57967115e+02] [-1.96588873e-01 9.80484761e-01 -1.56490677e-03 -3.87333668e+01] [-7.62682830e-03 6.68155981e-05 9.99970913e-01 -3.54037150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.99, Y:-38.74, Z:-3.54 [[ 9.80984374e-01 1.93998284e-01 5.85858690e-03 2.57993478e+02] [-1.93994409e-01 9.81001866e-01 -1.22795467e-03 -3.87436700e+01] [-5.98550578e-03 6.80712367e-05 9.99982084e-01 -3.54229511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.02, Y:-38.75, Z:-3.54 [[ 9.81040555e-01 1.93757621e-01 4.17285817e-03 2.58019518e+02] [-1.93755653e-01 9.81049429e-01 -8.74671456e-04 -3.87520058e+01] [-4.26325438e-03 4.95733112e-05 9.99990911e-01 -3.54313739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.05, Y:-38.76, Z:-3.54 [[ 9.81051924e-01 1.93700051e-01 4.17297144e-03 2.58047435e+02] [-1.93698085e-01 9.81060797e-01 -8.74130478e-04 -3.87577171e+01] [-4.26325781e-03 4.92708115e-05 9.99990911e-01 -3.54349182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.07, Y:-38.77, Z:-3.54 [[ 9.81035014e-01 1.93798199e-01 3.54397578e-03 2.58073330e+02] [-1.93796781e-01 9.81041414e-01 -7.42475111e-04 -3.87660977e+01] [-3.62067735e-03 4.15829806e-05 9.99993444e-01 -3.54423061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.10, Y:-38.77, Z:-3.54 [[ 9.81012088e-01 1.93911992e-01 3.66378511e-03 2.58100531e+02] [-1.93910479e-01 9.81018928e-01 -7.67130827e-04 -3.87745695e+01] [-3.74299841e-03 4.21182889e-05 9.99992994e-01 -3.54458153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.13, Y:-38.79, Z:-3.54 [[ 9.80694905e-01 1.95483824e-01 4.85569624e-03 2.58126520e+02] [-1.95481189e-01 9.80706925e-01 -1.01595378e-03 -3.87869659e+01] [-4.96061746e-03 4.71434177e-05 9.99987695e-01 -3.54407661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.15, Y:-38.80, Z:-3.54 [[ 9.80419781e-01 1.96849874e-01 5.21339955e-03 2.58154165e+02] [-1.96846859e-01 9.80433642e-01 -1.09032234e-03 -3.87965658e+01] [-5.32602212e-03 4.27322677e-05 9.99985816e-01 -3.54359592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:258.18, Y:-38.81, Z:-3.54 [[ 9.79460912e-01 2.01537780e-01 6.23261200e-03 2.58181405e+02] [-2.01533568e-01 9.79480741e-01 -1.30308089e-03 -3.88083523e+01] [-6.36734345e-03 2.02362667e-05 9.99979728e-01 -3.53834903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.21, Y:-38.82, Z:-3.54 [[ 9.78827066e-01 2.04562831e-01 7.18492136e-03 2.58209138e+02] [-2.04557319e-01 9.78853435e-01 -1.50173509e-03 -3.88158611e+01] [-7.34018414e-03 2.10703124e-07 9.99973060e-01 -3.54228014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.24, Y:-38.82, Z:-3.54 [[ 9.78194789e-01 2.07529211e-01 8.15979215e-03 2.58235775e+02] [-2.07522208e-01 9.78228821e-01 -1.70505433e-03 -3.88222700e+01] [-8.33599243e-03 -2.54628218e-05 9.99965255e-01 -3.54277223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.26, Y:-38.83, Z:-3.54 [[ 9.77195663e-01 2.12173670e-01 8.42434007e-03 2.58262513e+02] [-2.12166383e-01 9.77231973e-01 -1.75980916e-03 -3.88289009e+01] [-8.60591963e-03 -6.76838738e-05 9.99962966e-01 -3.54443282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.29, Y:-38.84, Z:-3.55 [[ 9.76930203e-01 2.13432211e-01 7.35327034e-03 2.58290742e+02] [-2.13426698e-01 9.76957873e-01 -1.53558353e-03 -3.88351653e+01] [-7.51157835e-03 -6.92262829e-05 9.99971785e-01 -3.54534533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.32, Y:-38.84, Z:-3.55 [[ 9.76371076e-01 2.16062134e-01 4.08361612e-03 2.58317663e+02] [-2.16060456e-01 9.76379615e-01 -8.52945643e-04 -3.88402638e+01] [-4.17144879e-03 -4.95165074e-05 9.99991298e-01 -3.54574691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.35, Y:-38.84, Z:-3.55 [[ 9.76180976e-01 2.16933643e-01 3.23972506e-03 2.58345086e+02] [-2.16932591e-01 9.76186352e-01 -6.76741381e-04 -3.88441476e+01] [-3.30938336e-03 -4.21798899e-05 9.99994523e-01 -3.54630349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.37, Y:-38.85, Z:-3.55 [[ 9.76070662e-01 2.17412686e-01 4.21752038e-03 2.58373261e+02] [-2.17410911e-01 9.76079772e-01 -8.80419988e-04 -3.88477219e+01] [-4.30805080e-03 -5.75828263e-05 9.99990719e-01 -3.54603440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.40, Y:-38.85, Z:-3.55 [[ 9.76591615e-01 2.14917459e-01 8.90528588e-03 2.58401324e+02] [-2.14909457e-01 9.76632211e-01 -1.85731179e-03 -3.88508604e+01] [-9.09635777e-03 -9.99950325e-05 9.99958622e-01 -3.54569466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.43, Y:-38.86, Z:-3.55 [[ 9.77305189e-01 2.11587141e-01 1.02688340e-02 2.58429115e+02] [-2.11576325e-01 9.77359133e-01 -2.14093684e-03 -3.88565747e+01] [-1.04893334e-02 -8.02934639e-05 9.99944982e-01 -3.54620702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.46, Y:-38.86, Z:-3.55 [[ 9.78151521e-01 2.07624644e-01 1.05645077e-02 2.58456953e+02] [-2.07612971e-01 9.78208570e-01 -2.20204123e-03 -3.88629973e+01] [-1.07914900e-02 -3.93988375e-05 9.99941769e-01 -3.54658416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.48, Y:-38.87, Z:-3.55 [[ 9.79570153e-01 2.00876923e-01 9.52769643e-03 2.58483750e+02] [-2.00867112e-01 9.79616487e-01 -1.98555104e-03 -3.88700688e+01] [-9.73233989e-03 3.11856735e-05 9.99952639e-01 -3.54663065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.51, Y:-38.88, Z:-3.55 [[ 9.80058220e-01 1.98540051e-01 8.23004660e-03 2.58511318e+02] [-1.98532653e-01 9.80092774e-01 -1.71462255e-03 -3.88777958e+01] [-8.40663045e-03 4.64969385e-05 9.99964663e-01 -3.54603801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.54, Y:-38.88, Z:-3.55 [[ 9.80005524e-01 1.98837344e-01 7.27212357e-03 2.58538157e+02] [-1.98831577e-01 9.80032504e-01 -1.51481507e-03 -3.88829991e+01] [-7.42811928e-03 3.85993367e-05 9.99972410e-01 -3.54660309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.57, Y:-38.89, Z:-3.55 [[ 9.79809769e-01 1.99846550e-01 5.84575858e-03 2.58566447e+02] [-1.99842844e-01 9.79827207e-01 -1.21737995e-03 -3.88882191e+01] [-5.97112249e-03 2.45677485e-05 9.99982172e-01 -3.54779345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.59, Y:-38.89, Z:-3.55 [[ 9.79510675e-01 2.01343995e-01 4.40833543e-03 2.58593374e+02] [-2.01341903e-01 9.79520595e-01 -9.18058107e-04 -3.88931887e+01] [-4.50290083e-03 1.16650743e-05 9.99989862e-01 -3.54877755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.62, Y:-38.90, Z:-3.55 [[ 9.78841296e-01 2.04569808e-01 4.57283790e-03 2.58620631e+02] [-2.04567593e-01 9.78851977e-01 -9.52015819e-04 -3.88995171e+01] [-4.67088511e-03 -3.58204295e-06 9.99989091e-01 -3.54911915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.65, Y:-38.91, Z:-3.55 [[ 9.78604662e-01 2.05576598e-01 8.43670060e-03 2.58648485e+02] [-2.05569105e-01 9.78641028e-01 -1.75528473e-03 -3.89074120e+01] [-8.61734682e-03 -1.65951756e-05 9.99962870e-01 -3.54785105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.68, Y:-38.91, Z:-3.55 [[ 9.78599891e-01 2.05544814e-01 9.67382228e-03 2.58675283e+02] [-2.05534966e-01 9.78647704e-01 -2.01214011e-03 -3.89131231e+01] [-9.88084893e-03 -1.92286370e-05 9.99951183e-01 -3.54824450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.70, Y:-38.92, Z:-3.55 [[ 9.78643443e-01 2.05316077e-01 1.01153414e-02 2.58703680e+02] [-2.05305304e-01 9.78695718e-01 -2.10329897e-03 -3.89181495e+01] [-1.03316824e-02 -1.83534884e-05 9.99946627e-01 -3.54914660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.73, Y:-38.92, Z:-3.55 [[ 9.78575455e-01 2.05653973e-01 9.82456772e-03 2.58732149e+02] [-2.05643832e-01 9.78624771e-01 -2.04238198e-03 -3.89229714e+01] [-1.00345893e-02 -2.17368724e-05 9.99949652e-01 -3.54983181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.76, Y:-38.93, Z:-3.55 [[ 9.78146054e-01 2.07740811e-01 8.60535202e-03 2.58760701e+02] [-2.07733114e-01 9.78183906e-01 -1.78857932e-03 -3.89275197e+01] [-8.78917777e-03 -3.81247678e-05 9.99961374e-01 -3.54994183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.79, Y:-38.93, Z:-3.55 [[ 9.77160891e-01 2.12384738e-01 7.02255556e-03 2.58787533e+02] [-2.12379732e-01 9.77186123e-01 -1.45955697e-03 -3.89300749e+01] [-7.17233146e-03 -6.52264798e-05 9.99974276e-01 -3.54962239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.82, Y:-38.93, Z:-3.55 [[ 9.76733920e-01 2.14337017e-01 7.10575118e-03 2.58815557e+02] [-2.14331949e-01 9.76759764e-01 -1.47615522e-03 -3.89334225e+01] [-7.25700655e-03 -8.11786275e-05 9.99973664e-01 -3.55121942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.84, Y:-38.94, Z:-3.55 [[ 9.76533166e-01 2.15247976e-01 7.16133020e-03 2.58842369e+02] [-2.15242856e-01 9.76559420e-01 -1.48733128e-03 -3.89368156e+01] [-7.31360951e-03 -8.89968407e-05 9.99973251e-01 -3.55256535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.87, Y:-38.94, Z:-3.55 [[ 9.76535938e-01 2.15238325e-01 7.07290895e-03 2.58870258e+02] [-2.15233336e-01 9.76561547e-01 -1.46807309e-03 -3.89413237e+01] [-7.22311650e-03 -8.86996569e-05 9.99973909e-01 -3.55349960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.90, Y:-38.95, Z:-3.55 [[ 9.76951134e-01 2.13377896e-01 6.02962247e-03 2.58897091e+02] [-2.13374236e-01 9.76969738e-01 -1.25141286e-03 -3.89454922e+01] [-6.15778253e-03 -6.39968699e-05 9.99981039e-01 -3.55440656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.92, Y:-38.95, Z:-3.55 [[ 9.77448496e-01 2.11097393e-01 5.68588869e-03 2.58924243e+02] [-2.11094104e-01 9.77465032e-01 -1.17926378e-03 -3.89506570e+01] [-5.80669688e-03 -4.75879718e-05 9.99983140e-01 -3.55451451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.95, Y:-38.96, Z:-3.55 [[ 9.77693922e-01 2.09930038e-01 6.63133350e-03 2.58950882e+02] [-2.09925541e-01 9.77716409e-01 -1.37496317e-03 -3.89563383e+01] [-6.77220965e-03 -4.77931341e-05 9.99977067e-01 -3.55463056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.98, Y:-38.96, Z:-3.55 [[ 9.77937296e-01 2.08734737e-01 8.27373186e-03 2.58977938e+02] [-2.08727701e-01 9.77972294e-01 -1.71451701e-03 -3.89620473e+01] [-8.44935978e-03 -5.02669084e-05 9.99964302e-01 -3.55402688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.00, Y:-38.97, Z:-3.55 [[ 9.78148088e-01 2.07715761e-01 8.97107562e-03 2.59004450e+02] [-2.07707452e-01 9.78189225e-01 -1.85841359e-03 -3.89679002e+01] [-9.16143130e-03 -4.55555543e-05 9.99958032e-01 -3.55388465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.03, Y:-38.97, Z:-3.55 [[ 9.78497559e-01 2.06059620e-01 9.05318295e-03 2.59032542e+02] [-2.06051097e-01 9.78539438e-01 -1.87432160e-03 -3.89745135e+01] [-9.24511855e-03 -3.13991740e-05 9.99957262e-01 -3.55432468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.06, Y:-38.98, Z:-3.56 [[ 9.78694623e-01 2.05111785e-01 9.27308153e-03 2.59059296e+02] [-2.05102805e-01 9.78738553e-01 -1.91941079e-03 -3.89811113e+01] [-9.46961617e-03 -2.34180157e-05 9.99955162e-01 -3.55504619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.09, Y:-38.99, Z:-3.56 [[ 9.78883062e-01 2.04221301e-01 9.03387434e-03 2.59087843e+02] [-2.04212746e-01 9.78924747e-01 -1.86932733e-03 -3.89874814e+01] [-9.22523961e-03 -1.49794291e-05 9.99957446e-01 -3.55513840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.12, Y:-38.99, Z:-3.56 [[ 9.79167745e-01 2.02894548e-01 8.02056615e-03 2.59115097e+02] [-2.02887762e-01 9.79200594e-01 -1.65936768e-03 -3.89930353e+01] [-8.19041979e-03 -2.47541251e-06 9.99966458e-01 -3.55583059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.14, Y:-39.00, Z:-3.56 [[ 9.79697726e-01 2.00394641e-01 5.86115052e-03 2.59143732e+02] [-2.00390974e-01 9.79715259e-01 -1.21237493e-03 -3.89968799e+01] [-5.98521204e-03 1.32393016e-05 9.99982088e-01 -3.55673801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.17, Y:-39.00, Z:-3.56 [[ 9.79877255e-01 1.99494179e-01 6.52983134e-03 2.59171873e+02] [-1.99489610e-01 9.79899011e-01 -1.35035878e-03 -3.90005459e+01] [-6.66796399e-03 2.05523475e-05 9.99977769e-01 -3.55699095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.20, Y:-39.01, Z:-3.56 [[ 9.80003672e-01 1.98811854e-01 8.16393779e-03 2.59199316e+02] [-1.98804694e-01 9.80037676e-01 -1.68757979e-03 -3.90052008e+01] [-8.33647748e-03 3.08052418e-05 9.99965250e-01 -3.55745699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.23, Y:-39.01, Z:-3.56 [[ 9.80193818e-01 1.97865572e-01 8.32439125e-03 2.59226986e+02] [-1.97858098e-01 9.80229164e-01 -1.72015935e-03 -3.90114553e+01] [-8.50017139e-03 3.90413391e-05 9.99963872e-01 -3.55706889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.25, Y:-39.02, Z:-3.56 [[ 9.80243928e-01 1.97638355e-01 7.80523570e-03 2.59254434e+02] [-1.97631779e-01 9.80275002e-01 -1.61260965e-03 -3.90174852e+01] [-7.96999096e-03 3.81881998e-05 9.99968238e-01 -3.55750125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.28, Y:-39.02, Z:-3.56 [[ 9.80484016e-01 1.96476035e-01 6.94709390e-03 2.59282335e+02] [-1.96470800e-01 9.80508626e-01 -1.43486215e-03 -3.90234870e+01] [-7.09360152e-03 4.19583114e-05 9.99974839e-01 -3.55774548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.31, Y:-39.03, Z:-3.56 [[ 9.80755207e-01 1.95115242e-01 7.01894282e-03 2.59310257e+02] [-1.95109866e-01 9.80780322e-01 -1.44935067e-03 -3.90301611e+01] [-7.16683141e-03 5.19932292e-05 9.99974317e-01 -3.55874543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.34, Y:-39.04, Z:-3.56 [[ 9.81072874e-01 1.93509648e-01 7.07332905e-03 2.59337635e+02] [-1.93504149e-01 9.81098370e-01 -1.46028933e-03 -3.90375211e+01] [-7.22221168e-03 6.39317330e-05 9.99973917e-01 -3.55945231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.37, Y:-39.05, Z:-3.56 [[ 9.81668027e-01 1.90424201e-01 8.15531052e-03 2.59365422e+02] [-1.90416789e-01 9.81701897e-01 -1.68300139e-03 -3.90478952e+01] [-8.32656800e-03 9.92406107e-05 9.99965329e-01 -3.55968990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.39, Y:-39.06, Z:-3.56 [[ 9.81958670e-01 1.88894424e-01 8.72159846e-03 2.59393546e+02] [-1.88885891e-01 9.81997394e-01 -1.79939801e-03 -3.90563738e+01] [-8.90448321e-03 1.19547581e-04 9.99960347e-01 -3.55992593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.42, Y:-39.07, Z:-3.56 [[ 9.82572821e-01 1.85715895e-01 7.76264843e-03 2.59419665e+02] [-1.85709039e-01 9.82603475e-01 -1.60118271e-03 -3.90702607e+01] [-7.92497040e-03 1.31684636e-04 9.99968588e-01 -3.56093755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.45, Y:-39.08, Z:-3.56 [[ 9.82846639e-01 1.84282104e-01 7.25188986e-03 2.59448092e+02] [-1.84276084e-01 9.82873384e-01 -1.49553284e-03 -3.90804956e+01] [-7.40328946e-03 1.33529554e-04 9.99972586e-01 -3.56149036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.48, Y:-39.09, Z:-3.56 [[ 9.82986579e-01 1.83543286e-01 7.01761345e-03 2.59475044e+02] [-1.83537631e-01 9.83011620e-01 -1.44705674e-03 -3.90907684e+01] [-7.16399311e-03 1.34441205e-04 9.99974329e-01 -3.56164589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.50, Y:-39.11, Z:-3.56 [[ 9.82698486e-01 1.85095502e-01 6.58333774e-03 2.59501490e+02] [-1.85090562e-01 9.82720531e-01 -1.35729467e-03 -3.91064174e+01] [-6.72081029e-03 1.15297739e-04 9.99977408e-01 -3.56101998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.53, Y:-39.12, Z:-3.56 [[ 9.82359139e-01 1.86894875e-01 6.38970953e-03 2.59530528e+02] [-1.86890260e-01 9.82379914e-01 -1.31723149e-03 -3.91171156e+01] [-6.52330611e-03 9.98199229e-05 9.99978718e-01 -3.56090410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.56, Y:-39.13, Z:-3.56 [[ 9.81493871e-01 1.91441902e-01 4.44730970e-03 2.59557981e+02] [-1.91439713e-01 9.81503946e-01 -9.16901752e-04 -3.91301256e+01] [-4.54058543e-03 4.85417589e-05 9.99989690e-01 -3.56131703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.59, Y:-39.14, Z:-3.56 [[ 9.80930633e-01 1.94326551e-01 3.50485939e-03 2.59587698e+02] [-1.94325210e-01 9.80936894e-01 -7.22480344e-04 -3.91392634e+01] [-3.57844300e-03 2.76205647e-05 9.99993597e-01 -3.56340955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.62, Y:-39.15, Z:-3.56 [[ 9.80329241e-01 1.97340302e-01 3.37412010e-03 2.59615793e+02] [-1.97339076e-01 9.80335047e-01 -6.95642084e-04 -3.91477663e+01] [-3.44504641e-03 1.61125328e-05 9.99994066e-01 -3.56323265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.64, Y:-39.16, Z:-3.56 [[ 9.79150559e-01 2.03036426e-01 6.35546921e-03 2.59644006e+02] [-2.03032199e-01 9.79171185e-01 -1.31016013e-03 -3.91559757e+01] [-6.48910255e-03 -7.52085726e-06 9.99978946e-01 -3.56032055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.67, Y:-39.16, Z:-3.56 [[ 9.77929941e-01 2.08708713e-01 9.68003077e-03 2.59674073e+02] [-2.08699189e-01 9.77977846e-01 -1.99504613e-03 -3.91611381e+01] [-9.88323916e-03 -6.91992272e-05 9.99951157e-01 -3.56032160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.70, Y:-39.17, Z:-3.56 [[ 9.77280246e-01 2.11741461e-01 9.42729613e-03 2.59703636e+02] [-2.11732569e-01 9.77325710e-01 -1.94292362e-03 -3.91677408e+01] [-9.62493637e-03 -9.72847500e-05 9.99953674e-01 -3.56164184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.73, Y:-39.17, Z:-3.56 [[ 9.76917970e-01 2.13467449e-01 7.93271359e-03 2.59731185e+02] [-2.13461208e-01 9.76950172e-01 -1.63517310e-03 -3.91746545e+01] [-8.09892214e-03 -9.58966411e-05 9.99967199e-01 -3.56367542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.76, Y:-39.18, Z:-3.57 [[ 9.76923593e-01 2.13504558e-01 6.00813929e-03 2.59758823e+02] [-2.13500979e-01 9.76942065e-01 -1.23834619e-03 -3.91816544e+01] [-6.13399656e-03 -7.29740097e-05 9.99981184e-01 -3.56528517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.79, Y:-39.19, Z:-3.57 [[ 9.76930551e-01 2.13472716e-01 6.00817992e-03 2.59787569e+02] [-2.13469138e-01 9.76949023e-01 -1.23814900e-03 -3.91874879e+01] [-6.13399654e-03 -7.29754033e-05 9.99981184e-01 -3.56565001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.82, Y:-39.19, Z:-3.57 [[ 9.77544006e-01 2.10682241e-01 4.55086676e-03 2.59817842e+02] [-2.10680159e-01 9.77554598e-01 -9.37516427e-04 -3.91936796e+01] [-4.64623878e-03 -4.23137692e-05 9.99989205e-01 -3.56574964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.85, Y:-39.20, Z:-3.56 [[ 9.78032186e-01 2.08320599e-01 7.45461062e-03 2.59846618e+02] [-2.08314945e-01 9.78060594e-01 -1.53564725e-03 -3.92004906e+01] [-7.61096785e-03 -5.09943659e-05 9.99971035e-01 -3.56410247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.88, Y:-39.21, Z:-3.56 [[ 9.78090499e-01 2.08008534e-01 8.45131570e-03 2.59876936e+02] [-2.08001255e-01 9.78127010e-01 -1.74106315e-03 -3.92080317e+01] [-8.62861614e-03 -5.49669462e-05 9.99962771e-01 -3.56415391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.91, Y:-39.22, Z:-3.57 [[ 9.78033603e-01 2.08278513e-01 8.38648874e-03 2.59908411e+02] [-2.08271358e-01 9.78069557e-01 -1.72733228e-03 -3.92151768e+01] [-8.56233552e-03 -5.72763844e-05 9.99963341e-01 -3.56520519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.94, Y:-39.22, Z:-3.57 [[ 9.77577924e-01 2.10500821e-01 5.55032924e-03 2.59938661e+02] [-2.10497717e-01 9.77593679e-01 -1.14422810e-03 -3.92201516e+01] [-5.66682773e-03 -4.97595039e-05 9.99983942e-01 -3.56780064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.97, Y:-39.23, Z:-3.57 [[ 9.77293196e-01 2.11848806e-01 4.25347002e-03 2.59967813e+02] [-2.11846993e-01 9.77302451e-01 -8.77618517e-04 -3.92264460e+01] [-4.34284911e-03 -4.33942252e-05 9.99990569e-01 -3.56943620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.00, Y:-39.24, Z:-3.57 [[ 9.76994458e-01 2.13201464e-01 5.19282348e-03 2.59997401e+02] [-2.13198783e-01 9.77008256e-01 -1.07090504e-03 -3.92369564e+01] [-5.30174994e-03 -6.08353561e-05 9.99985944e-01 -3.56704041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.03, Y:-39.24, Z:-3.57 [[ 9.76836668e-01 2.13876958e-01 6.83892270e-03 2.60026797e+02] [-2.13872323e-01 9.76860604e-01 -1.41071089e-03 -3.92437495e+01] [-6.98239271e-03 -8.46221573e-05 9.99975619e-01 -3.56533759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.06, Y:-39.25, Z:-3.57 [[ 9.76641708e-01 2.14709021e-01 8.42674792e-03 2.60057643e+02] [-2.14702013e-01 9.76678055e-01 -1.73833568e-03 -3.92491750e+01] [-8.60345612e-03 -1.11508620e-04 9.99962983e-01 -3.56507314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.09, Y:-39.25, Z:-3.57 [[ 9.76195082e-01 2.16643510e-01 1.04283524e-02 2.60087648e+02] [-2.16632884e-01 9.76250769e-01 -2.15159559e-03 -3.92538704e+01] [-1.06468163e-02 -1.58747028e-04 9.99943308e-01 -3.56708835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:-39.26, Z:-3.57 [[ 9.76152016e-01 2.16819851e-01 1.07885676e-02 2.60117668e+02] [-2.16808487e-01 9.76211619e-01 -2.22607138e-03 -3.92601330e+01] [-1.10145815e-02 -1.66068951e-04 9.99939324e-01 -3.56773731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.15, Y:-39.27, Z:-3.57 [[ 9.76751521e-01 2.14155337e-01 9.69319113e-03 2.60149268e+02] [-2.14146037e-01 9.76799609e-01 -1.99962308e-03 -3.92656580e+01] [-9.89653527e-03 -1.22623585e-04 9.99951021e-01 -3.56729944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.18, Y:-39.27, Z:-3.57 [[ 9.77146726e-01 2.12358942e-01 9.37851506e-03 2.60179947e+02] [-2.12350137e-01 9.77191726e-01 -1.93630540e-03 -3.92717810e+01] [-9.57579909e-03 -9.94744812e-05 9.99954146e-01 -3.56675924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.21, Y:-39.28, Z:-3.57 [[ 9.77467606e-01 2.10905012e-01 8.72671103e-03 2.60210233e+02] [-2.10897315e-01 9.77506557e-01 -1.80347104e-03 -3.92789531e+01] [-8.91077834e-03 -7.76054036e-05 9.99960295e-01 -3.56708278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.24, Y:-39.29, Z:-3.57 [[ 9.77615591e-01 2.10267972e-01 7.42531446e-03 2.60240174e+02] [-2.10262385e-01 9.77643788e-01 -1.53401864e-03 -3.92900193e+01] [-7.58186754e-03 -6.15837926e-05 9.99971255e-01 -3.56686534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.27, Y:-39.30, Z:-3.57 [[ 9.77645297e-01 2.10096023e-01 8.32674423e-03 2.60269404e+02] [-2.10088972e-01 9.77680754e-01 -1.72238760e-03 -3.92966008e+01] [-8.50276437e-03 -6.54730014e-05 9.99963849e-01 -3.56711546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:-39.30, Z:-3.57 [[ 9.77782156e-01 2.09380249e-01 1.00978641e-02 2.60299744e+02] [-2.09369841e-01 9.77834294e-01 -2.08887227e-03 -3.93026965e+01] [-1.03114064e-02 -7.17261682e-05 9.99946833e-01 -3.56681393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.33, Y:-39.31, Z:-3.57 [[ 9.77765380e-01 2.09448014e-01 1.03146270e-02 2.60332100e+02] [-2.09437160e-01 9.77819781e-01 -2.13363405e-03 -3.93107138e+01] [-1.05327317e-02 -7.40726786e-05 9.99944526e-01 -3.56668479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:-39.32, Z:-3.57 [[ 9.77710397e-01 2.09740252e-01 9.56063395e-03 2.60362929e+02] [-2.09730921e-01 9.77757138e-01 -1.97964346e-03 -3.93187229e+01] [-9.76318901e-03 -6.96425732e-05 9.99952337e-01 -3.56634306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.39, Y:-39.33, Z:-3.57 [[ 9.77635645e-01 2.10152067e-01 8.04084631e-03 2.60393823e+02] [-2.10145471e-01 9.77668709e-01 -1.66615963e-03 -3.93251805e+01] [-8.21143072e-03 -6.08503898e-05 9.99966284e-01 -3.56683051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.42, Y:-39.33, Z:-3.57 [[ 9.77414139e-01 2.11303531e-01 3.52410265e-03 2.60423792e+02] [-2.11302271e-01 9.77420491e-01 -7.30463621e-04 -3.93276100e+01] [-3.59887969e-03 -3.06854223e-05 9.99993524e-01 -3.56934788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.45, Y:-39.33, Z:-3.57 [[ 9.77054264e-01 2.12969839e-01 2.96860593e-03 2.60454533e+02] [-2.12968953e-01 9.77058773e-01 -6.14972606e-04 -3.93330847e+01] [-3.03147309e-03 -3.13592911e-05 9.99995405e-01 -3.56954443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.48, Y:-39.34, Z:-3.57 [[ 9.76996157e-01 2.13201176e-01 4.87524776e-03 2.60483777e+02] [-2.13198788e-01 9.77008319e-01 -1.01035698e-03 -3.93396379e+01] [-4.97856692e-03 -5.22820288e-05 9.99987605e-01 -3.56904128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.51, Y:-39.35, Z:-3.57 [[ 9.77185872e-01 2.12255103e-01 7.45277009e-03 2.60514273e+02] [-2.12249495e-01 9.77214289e-01 -1.54464182e-03 -3.93451108e+01] [-7.61081153e-03 -7.24445272e-05 9.99971035e-01 -3.56902679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.54, Y:-39.35, Z:-3.57 [[ 9.77829657e-01 2.09137570e-01 1.05184481e-02 2.60544628e+02] [-2.09126215e-01 9.77886227e-01 -2.18043039e-03 -3.93485769e+01] [-1.07418555e-02 -6.75937438e-05 9.99942302e-01 -3.56919037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.58, Y:-39.35, Z:-3.57 [[ 9.78120619e-01 2.07787662e-01 1.02147757e-02 2.60575327e+02] [-2.07776881e-01 9.78173954e-01 -2.11731402e-03 -3.93546547e+01] [-1.04317792e-02 -5.14057309e-05 9.99945586e-01 -3.56953156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.61, Y:-39.36, Z:-3.57 [[ 9.78600306e-01 2.05663845e-01 6.61995336e-03 2.60606525e+02] [-2.05659266e-01 9.78622697e-01 -1.37248277e-03 -3.93612308e+01] [-6.76070669e-03 -1.83426873e-05 9.99977146e-01 -3.57027908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.64, Y:-39.37, Z:-3.57 [[ 9.78796403e-01 2.04755378e-01 5.73031327e-03 2.60636526e+02] [-2.04751921e-01 9.78813177e-01 -1.18976094e-03 -3.93663363e+01] [-5.85251609e-03 -8.75892686e-06 9.99982874e-01 -3.57101240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.67, Y:-39.37, Z:-3.57 [[ 9.78903486e-01 2.04245733e-01 5.62550250e-03 2.60665451e+02] [-2.04242392e-01 9.78919650e-01 -1.16822369e-03 -3.93711867e+01] [-5.74551964e-03 -5.38784387e-06 9.99983494e-01 -3.57183998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.70, Y:-39.38, Z:-3.57 [[ 9.79061102e-01 2.03486750e-01 5.70104102e-03 2.60695851e+02] [-2.03483307e-01 9.79077700e-01 -1.18376197e-03 -3.93772728e+01] [-5.82264201e-03 -1.09138128e-06 9.99983048e-01 -3.57171802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.73, Y:-39.38, Z:-3.57 [[ 9.79019918e-01 2.03708379e-01 4.78503535e-03 2.60725967e+02] [-2.03705956e-01 9.79031611e-01 -9.93562905e-04 -3.93839495e+01] [-4.88709796e-03 -2.02232849e-06 9.99988058e-01 -3.57169347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.75, Y:-39.39, Z:-3.57 [[ 9.78608767e-01 2.05696773e-01 3.70379076e-03 2.60754675e+02] [-2.05695335e-01 9.78615776e-01 -7.69260188e-04 -3.93904088e+01] [-3.78282241e-03 -9.04771632e-06 9.99992845e-01 -3.57221487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.78, Y:-39.40, Z:-3.57 [[ 9.78359892e-01 2.06857231e-01 4.69123611e-03 2.60783211e+02] [-2.06854939e-01 9.78371139e-01 -9.74062955e-04 -3.93972198e+01] [-4.79126198e-03 -1.74212306e-05 9.99988522e-01 -3.57266228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.81, Y:-39.40, Z:-3.57 [[ 9.78199412e-01 2.07591872e-01 5.61476345e-03 2.60811993e+02] [-2.07588600e-01 9.78215525e-01 -1.16579880e-03 -3.94046956e+01] [-5.73445914e-03 -2.51771834e-05 9.99983558e-01 -3.57283696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.84, Y:-39.41, Z:-3.57 [[ 9.77960379e-01 2.08700289e-01 6.13898728e-03 2.60842334e+02] [-2.08696402e-01 9.77979646e-01 -1.27417722e-03 -3.94123664e+01] [-6.26972576e-03 -3.50897183e-05 9.99980344e-01 -3.57269825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.87, Y:-39.42, Z:-3.57 [[ 9.77719159e-01 2.09849138e-01 5.34656612e-03 2.60871965e+02] [-2.09846207e-01 9.77733777e-01 -1.10988461e-03 -3.94186970e+01] [-5.46042662e-03 -3.68011682e-05 9.99985091e-01 -3.57337515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.90, Y:-39.43, Z:-3.58 [[ 9.77256999e-01 2.12010793e-01 4.49247464e-03 2.60901195e+02] [-2.12008745e-01 9.77267324e-01 -9.32711291e-04 -3.94264470e+01] [-4.58809353e-03 -4.09452744e-05 9.99989474e-01 -3.57551599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.93, Y:-39.43, Z:-3.58 [[ 9.77235704e-01 2.12103188e-01 4.75559400e-03 2.60930259e+02] [-2.12100895e-01 9.77247275e-01 -9.87238006e-04 -3.94335609e+01] [-4.85678760e-03 -4.39015167e-05 9.99988205e-01 -3.57552814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.96, Y:-39.44, Z:-3.58 [[ 9.77337662e-01 2.11622759e-01 5.18672539e-03 2.60960741e+02] [-2.11620024e-01 9.77351424e-01 -1.07674952e-03 -3.94410846e+01] [-5.29711815e-03 -4.52670902e-05 9.99985969e-01 -3.57583308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.99, Y:-39.45, Z:-3.58 [[ 9.77872625e-01 2.09151234e-01 4.57066362e-03 2.60990131e+02] [-2.09149083e-01 9.77883306e-01 -9.49025882e-04 -3.94501079e+01] [-4.66806559e-03 -2.79236744e-05 9.99989104e-01 -3.57533515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.02, Y:-39.46, Z:-3.58 [[ 9.78138644e-01 2.07897630e-01 4.83420673e-03 2.61019586e+02] [-2.07895209e-01 9.78150589e-01 -1.00349076e-03 -3.94598096e+01] [-4.93720551e-03 -2.34553271e-05 9.99987812e-01 -3.57639261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.05, Y:-39.47, Z:-3.58 [[ 9.78238683e-01 2.07412183e-01 5.40970334e-03 2.61049826e+02] [-2.07409141e-01 9.78253641e-01 -1.12355462e-03 -3.94674273e+01] [-5.52510091e-03 -2.29173298e-05 9.99984736e-01 -3.57694655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.08, Y:-39.48, Z:-3.58 [[ 9.78212545e-01 2.07513608e-01 6.19021386e-03 2.61080997e+02] [-2.07509631e-01 9.78232131e-01 -1.28499035e-03 -3.94761219e+01] [-6.32211908e-03 -2.75353078e-05 9.99980015e-01 -3.57724717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.11, Y:-39.49, Z:-3.58 [[ 9.77921835e-01 2.08849979e-01 7.11134042e-03 2.61110208e+02] [-2.08844755e-01 9.77947690e-01 -1.47776505e-03 -3.94867555e+01] [-7.26315014e-03 -4.00274342e-05 9.99973622e-01 -3.57601767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.14, Y:-39.49, Z:-3.58 [[ 9.77573164e-01 2.10474738e-01 7.14794193e-03 2.61142214e+02] [-2.10469497e-01 9.77599295e-01 -1.48626693e-03 -3.94946597e+01] [-7.30064464e-03 -5.14890749e-05 9.99973349e-01 -3.57551607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.17, Y:-39.50, Z:-3.58 [[ 9.76580752e-01 2.14982756e-01 8.51172542e-03 2.61174244e+02] [-2.14975476e-01 9.76617840e-01 -1.77200634e-03 -3.95023371e+01] [-8.69365370e-03 -9.93049383e-05 9.99962205e-01 -3.57523100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.21, Y:-39.51, Z:-3.58 [[ 9.75938891e-01 2.17828865e-01 9.68846135e-03 2.61206065e+02] [-2.17819551e-01 9.75986970e-01 -2.01924389e-03 -3.95101873e+01] [-9.89566164e-03 -1.39677659e-04 9.99951027e-01 -3.57541807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.24, Y:-39.52, Z:-3.58 [[ 9.75398437e-01 2.20182261e-01 1.08471718e-02 2.61236704e+02] [-2.20170703e-01 9.75458733e-01 -2.26327087e-03 -3.95177977e+01] [-1.10793006e-02 -1.80638573e-04 9.99938606e-01 -3.57531282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.27, Y:-39.53, Z:-3.58 [[ 9.75077281e-01 2.21604273e-01 1.07629908e-02 2.61268237e+02] [-2.21592967e-01 9.75136661e-01 -2.24691731e-03 -3.95270865e+01] [-1.09933134e-02 -1.94085036e-04 9.99939553e-01 -3.57502085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.30, Y:-39.53, Z:-3.58 [[ 9.75102825e-01 2.21577873e-01 8.81629274e-03 2.61299982e+02] [-2.21570274e-01 9.75142667e-01 -1.84180171e-03 -3.95349435e+01] [-9.00524573e-03 -1.57482347e-04 9.99959440e-01 -3.57533613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.33, Y:-39.54, Z:-3.58 [[ 9.75202974e-01 2.21268987e-01 4.38111265e-03 2.61331791e+02] [-2.21267108e-01 9.75212812e-01 -9.14920623e-04 -3.95444185e+01] [-4.47496075e-03 -7.71628149e-05 9.99989984e-01 -3.57835428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.36, Y:-39.55, Z:-3.58 [[ 9.75351639e-01 2.20631960e-01 3.27380068e-03 2.61361696e+02] [-2.20630905e-01 9.75357132e-01 -6.84575138e-04 -3.95520452e+01] [-3.34416400e-03 -5.46001223e-05 9.99994407e-01 -3.57946378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.39, Y:-39.56, Z:-3.58 [[ 9.75501797e-01 2.19967235e-01 3.26485465e-03 2.61393349e+02] [-2.19966183e-01 9.75507259e-01 -6.82372775e-04 -3.95597328e+01] [-3.33498906e-03 -5.25017468e-05 9.99994438e-01 -3.58009480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.42, Y:-39.57, Z:-3.58 [[ 9.75651175e-01 2.19281113e-01 4.53621963e-03 2.61423317e+02] [-2.19279067e-01 9.75661718e-01 -9.49751847e-04 -3.95674811e+01] [-4.63407848e-03 -6.80715028e-05 9.99989260e-01 -3.57793017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.45, Y:-39.57, Z:-3.58 [[ 9.75551683e-01 2.19709197e-01 5.17523414e-03 2.61454487e+02] [-2.19706535e-01 9.75565407e-01 -1.08452841e-03 -3.95741179e+01] [-5.28706027e-03 -7.90192425e-05 9.99986020e-01 -3.57747303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.48, Y:-39.58, Z:-3.58 [[ 9.75245707e-01 2.21026257e-01 6.57301926e-03 2.61484970e+02] [-2.21021980e-01 9.75267852e-01 -1.37916694e-03 -3.95788036e+01] [-6.71528647e-03 -1.07755094e-04 9.99977446e-01 -3.57796000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.52, Y:-39.58, Z:-3.58 [[ 9.75044400e-01 2.21887602e-01 7.36950071e-03 2.61515549e+02] [-2.21882236e-01 9.75072242e-01 -1.54828053e-03 -3.95840393e+01] [-7.52933983e-03 -1.25519032e-04 9.99971646e-01 -3.57884626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.55, Y:-39.59, Z:-3.58 [[ 9.74841049e-01 2.22775520e-01 7.48316958e-03 2.61547580e+02] [-2.22770018e-01 9.74869760e-01 -1.57152803e-03 -3.95909600e+01] [-7.64521371e-03 -1.35035783e-04 9.99970766e-01 -3.58065330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.58, Y:-39.60, Z:-3.58 [[ 9.74639313e-01 2.23730625e-01 4.77675935e-03 2.61579030e+02] [-2.23728392e-01 9.74651014e-01 -1.00378466e-03 -3.95989241e+01] [-4.88025071e-03 -9.03686934e-05 9.99988087e-01 -3.58078328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.61, Y:-39.60, Z:-3.58 [[ 9.74393598e-01 2.24823898e-01 3.36620207e-03 2.61609030e+02] [-2.24822793e-01 9.74399410e-01 -7.07942734e-04 -3.96042930e+01] [-3.43918776e-03 -6.69840834e-05 9.99994084e-01 -3.58099328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.64, Y:-39.61, Z:-3.58 [[ 9.73475310e-01 2.28783436e-01 1.98983944e-03 2.61639646e+02] [-2.28783057e-01 9.73477343e-01 -4.18869887e-04 -3.96056668e+01] [-2.03289410e-03 -4.74820565e-05 9.99997933e-01 -3.58236251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.67, Y:-39.61, Z:-3.58 [[ 9.72975040e-01 2.30900057e-01 2.17616118e-03 2.61668685e+02] [-2.30899609e-01 9.72977472e-01 -4.58211452e-04 -3.96097693e+01] [-2.22315686e-03 -5.66464609e-05 9.99997527e-01 -3.58322115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.70, Y:-39.61, Z:-3.58 [[ 9.72322418e-01 2.33598492e-01 4.56735621e-03 2.61696946e+02] [-2.33596550e-01 9.72333136e-01 -9.61741487e-04 -3.96131120e+01] [-4.66565315e-03 -1.31795844e-04 9.99989107e-01 -3.58297911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.73, Y:-39.62, Z:-3.58 [[ 9.72324965e-01 2.33587886e-01 4.56745098e-03 2.61726472e+02] [-2.33585945e-01 9.72335684e-01 -9.61291134e-04 -3.96192853e+01] [-4.66564154e-03 -1.32204988e-04 9.99989107e-01 -3.58335428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.75, Y:-39.62, Z:-3.58 [[ 9.72166904e-01 2.34208197e-01 6.16700183e-03 2.61754817e+02] [-2.34204672e-01 9.72186447e-01 -1.29795857e-03 -3.96233607e+01] [-6.29946813e-03 -1.82508275e-04 9.99980141e-01 -3.58300604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.79, Y:-39.63, Z:-3.58 [[ 9.72092986e-01 2.34488177e-01 7.10785245e-03 2.61785318e+02] [-2.34483505e-01 9.72118948e-01 -1.49550079e-03 -3.96260514e+01] [-7.26035530e-03 -2.12908320e-04 9.99973621e-01 -3.58297466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.81, Y:-39.63, Z:-3.58 [[ 9.72334099e-01 2.33492171e-01 6.91417250e-03 2.61813961e+02] [-2.33487725e-01 9.72358661e-01 -1.45481354e-03 -3.96314698e+01] [-7.06274309e-03 -1.99809588e-04 9.99975039e-01 -3.58401354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.84, Y:-39.64, Z:-3.59 [[ 9.72802415e-01 2.31542032e-01 6.61433034e-03 2.61841625e+02] [-2.31537916e-01 9.72824885e-01 -1.39192713e-03 -3.96367409e+01] [-6.75687478e-03 -1.77398184e-04 9.99977156e-01 -3.58549430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.87, Y:-39.64, Z:-3.59 [[ 9.73864732e-01 2.27098237e-01 3.72492218e-03 2.61870425e+02] [-2.27096899e-01 9.73871852e-01 -7.83826722e-04 -3.96390367e+01] [-3.80560253e-03 -8.25770777e-05 9.99992755e-01 -3.58688296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.90, Y:-39.64, Z:-3.59 [[ 9.74172457e-01 2.25800306e-01 1.49855850e-03 2.61898702e+02] [-2.25800088e-01 9.74173609e-01 -3.15594058e-04 -3.96431988e+01] [-1.53111737e-03 -3.09316016e-05 9.99998827e-01 -3.58722237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.93, Y:-39.65, Z:-3.59 [[ 9.74104540e-01 2.26097798e-01 3.61211047e-04 2.61926785e+02] [-2.26097785e-01 9.74104607e-01 -7.64620129e-05 -3.96479126e+01] [-3.69145238e-04 -7.18702392e-06 9.99999932e-01 -3.58563103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.95, Y:-39.65, Z:-3.58 [[ 9.73932475e-01 2.26824600e-01 2.47705615e-03 2.61954996e+02] [-2.26824008e-01 9.73935623e-01 -5.21091698e-04 -3.96531747e+01] [-2.53068965e-03 -5.43476781e-05 9.99996796e-01 -3.58458897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:261.98, Y:-39.66, Z:-3.58 [[ 9.73887844e-01 2.26912360e-01 7.29716922e-03 2.61984295e+02] [-2.26907236e-01 9.73915168e-01 -1.53362162e-03 -3.96583011e+01] [-7.45482149e-03 -1.62205050e-04 9.99972199e-01 -3.58367695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.01, Y:-39.66, Z:-3.58 [[ 9.73994507e-01 2.26429084e-01 8.03554240e-03 2.62012552e+02] [-2.26422854e-01 9.74027638e-01 -1.68862930e-03 -3.96643190e+01] [-8.20919517e-03 -1.74714778e-04 9.99966289e-01 -3.58443935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.04, Y:-39.67, Z:-3.59 [[ 9.74170963e-01 2.25667123e-01 8.07984393e-03 2.62040487e+02] [-2.25660800e-01 9.74204455e-01 -1.69767958e-03 -3.96710771e+01] [-8.25453042e-03 -1.69473893e-04 9.99965916e-01 -3.58539502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.845769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:262.07, Y:-39.68, Z:-3.59 [[ 9.74780771e-01 2.23019384e-01 8.05008833e-03 2.62068636e+02] [-2.23013021e-01 9.74813999e-01 -1.69099723e-03 -3.96790560e+01] [-8.22446396e-03 -1.46922937e-04 9.99966168e-01 -3.58562243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.10, Y:-39.69, Z:-3.59 [[ 9.75123504e-01 2.21498971e-01 8.50631703e-03 2.62097497e+02] [-2.21491811e-01 9.75160595e-01 -1.78657494e-03 -3.96861064e+01] [-8.69074968e-03 -1.41948345e-04 9.99962225e-01 -3.58559382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.13, Y:-39.69, Z:-3.59 [[ 9.75610249e-01 2.19387879e-01 7.32121915e-03 2.62126931e+02] [-2.19382516e-01 9.75637713e-01 -1.53754827e-03 -3.96940672e+01] [-7.48017696e-03 -1.06099627e-04 9.99972017e-01 -3.58536856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.16, Y:-39.70, Z:-3.59 [[ 9.75710438e-01 2.18961616e-01 6.70466912e-03 2.62159303e+02] [-2.18957117e-01 9.75733468e-01 -1.40695425e-03 -3.97022569e+01] [-6.85003904e-03 -9.52550761e-05 9.99976534e-01 -3.58525902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.19, Y:-39.71, Z:-3.59 [[ 9.75879200e-01 2.18154727e-01 8.26447291e-03 2.62190450e+02] [-2.18147842e-01 9.75914188e-01 -1.73658016e-03 -3.97117649e+01] [-8.44425954e-03 -1.08184469e-04 9.99964341e-01 -3.58542835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.22, Y:-39.72, Z:-3.59 [[ 9.75901947e-01 2.18024694e-01 8.97905781e-03 2.62219633e+02] [-2.18016538e-01 9.75943246e-01 -1.88924381e-03 -3.97200815e+01] [-9.17495263e-03 -1.13866388e-04 9.99957903e-01 -3.58580868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.025769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:262.25, Y:-39.73, Z:-3.59 [[ 9.76159472e-01 2.16879426e-01 8.71780889e-03 2.62251014e+02] [-2.16871699e-01 9.76198394e-01 -1.83358535e-03 -3.97312458e+01] [-8.90797798e-03 -1.00774317e-04 9.99960318e-01 -3.58672093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:262.28, Y:-39.74, Z:-3.59 [[ 9.76365932e-01 2.15964817e-01 8.29244913e-03 2.62281664e+02] [-2.15957778e-01 9.76401142e-01 -1.74571280e-03 -3.97399013e+01] [-8.47376935e-03 -8.63643893e-05 9.99964093e-01 -3.58702635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.31, Y:-39.75, Z:-3.59 [[ 9.76586288e-01 2.14984292e-01 7.80869850e-03 2.62312907e+02] [-2.14978009e-01 9.76617504e-01 -1.64515122e-03 -3.97492659e+01] [-7.97979331e-03 -7.20663309e-05 9.99968158e-01 -3.58759836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11576923100006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:262.34, Y:-39.76, Z:-3.59 [[ 9.76969597e-01 2.13272275e-01 6.73381625e-03 2.62344367e+02] [-2.13267555e-01 9.76992802e-01 -1.41967252e-03 -3.97620065e+01] [-6.88166679e-03 -4.91276418e-05 9.99976320e-01 -3.58788761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.38, Y:-39.77, Z:-3.59 [[ 9.76862826e-01 2.13762089e-01 6.69241059e-03 2.62375678e+02] [-2.13757430e-01 9.76885749e-01 -1.41233036e-03 -3.97708764e+01] [-6.83962322e-03 -5.08994619e-05 9.99976608e-01 -3.58756108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17576923100006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:262.41, Y:-39.78, Z:-3.59 [[ 9.76308470e-01 2.16274498e-01 6.86390450e-03 2.62406347e+02] [-2.16269649e-01 9.76332595e-01 -1.44987128e-03 -3.97793928e+01] [-7.01502387e-03 -6.89326070e-05 9.99975392e-01 -3.58823874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:262.44, Y:-39.79, Z:-3.59 [[ 9.75852023e-01 2.18323301e-01 6.91120757e-03 2.62438880e+02] [-2.18318428e-01 9.75876493e-01 -1.46106595e-03 -3.97872583e+01] [-7.06346975e-03 -8.30598099e-05 9.99975050e-01 -3.58863594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:262.47, Y:-39.79, Z:-3.59 [[ 9.75426852e-01 2.20201769e-01 7.32370006e-03 2.62469958e+02] [-2.20196338e-01 9.75454341e-01 -1.54987240e-03 -3.97948070e+01] [-7.48521966e-03 -1.00864779e-04 9.99971980e-01 -3.58921628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:262.50, Y:-39.80, Z:-3.59 [[ 9.74787771e-01 2.22986244e-01 8.12006386e-03 2.62502008e+02] [-2.22979650e-01 9.74821582e-01 -1.72003625e-03 -3.98030559e+01] [-8.29915792e-03 -1.33938694e-04 9.99965552e-01 -3.58904771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29576923100007 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:262.53, Y:-39.81, Z:-3.59 [[ 9.74578872e-01 2.23916235e-01 7.58570311e-03 2.62533239e+02] [-2.23910498e-01 9.74608384e-01 -1.60821061e-03 -3.98099758e+01] [-7.75319431e-03 -1.31190478e-04 9.99969935e-01 -3.58993038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:262.56, Y:-39.82, Z:-3.59 [[ 9.74444939e-01 2.24562453e-01 5.36332200e-03 2.62564856e+02] [-2.24559593e-01 9.74459694e-01 -1.13738838e-03 -3.98171805e+01] [-5.48175584e-03 -9.60630598e-05 9.99984970e-01 -3.59140865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:262.60, Y:-39.82, Z:-3.59 [[ 9.74598424e-01 2.23921590e-01 4.12715451e-03 2.62597305e+02] [-2.23919890e-01 9.74607160e-01 -8.75358050e-04 -3.98243883e+01] [-4.21836591e-03 -7.10294106e-05 9.99991100e-01 -3.59218702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:262.63, Y:-39.83, Z:-3.59 [[ 9.75651629e-01 2.19301750e-01 3.26222044e-03 2.62628467e+02] [-2.19300661e-01 9.75657082e-01 -6.92157127e-04 -3.98330046e+01] [-3.33459974e-03 -4.01028705e-05 9.99994439e-01 -3.59205701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:262.66, Y:-39.84, Z:-3.59 [[ 9.76218730e-01 2.16744679e-01 4.32852074e-03 2.62659202e+02] [-2.16742729e-01 9.76228325e-01 -9.20349722e-04 -3.98408889e+01] [-4.42510546e-03 -3.97127592e-05 9.99990208e-01 -3.59092808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:262.69, Y:-39.85, Z:-3.59 [[ 9.76622080e-01 2.14871681e-01 6.28282718e-03 2.62691441e+02] [-2.14867527e-01 9.76642288e-01 -1.33686725e-03 -3.98490064e+01] [-6.42332962e-03 -4.43614597e-05 9.99979369e-01 -3.59043986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.4757692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:262.72, Y:-39.86, Z:-3.59 [[ 9.76760971e-01 2.14149123e-01 8.84072230e-03 2.62723272e+02] [-2.14140844e-01 9.76800978e-01 -1.88373244e-03 -3.98564682e+01] [-9.03902584e-03 -5.32034079e-05 9.99959146e-01 -3.58984988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:262.76, Y:-39.86, Z:-3.59 [[ 9.76390502e-01 2.15845425e-01 8.50525692e-03 2.62755664e+02] [-2.15837814e-01 9.76427544e-01 -1.81377571e-03 -3.98627980e+01] [-8.69626232e-03 -6.48026829e-05 9.99962185e-01 -3.59044670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5357692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:262.79, Y:-39.87, Z:-3.59 [[ 9.75439064e-01 2.20143002e-01 7.46267466e-03 2.62788211e+02] [-2.20137260e-01 9.75467606e-01 -1.59253635e-03 -3.98675791e+01] [-7.63018312e-03 -8.93905793e-05 9.99970886e-01 -3.59172345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:262.82, Y:-39.87, Z:-3.59 [[ 9.74871343e-01 2.22647143e-01 7.35630805e-03 2.62820942e+02] [-2.22641624e-01 9.74899091e-01 -1.57121838e-03 -3.98738435e+01] [-7.52148532e-03 -1.06084596e-04 9.99971708e-01 -3.59176365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.595769231 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:262.85, Y:-39.88, Z:-3.59 [[ 9.74357383e-01 2.24865610e-01 7.94658954e-03 2.62853514e+02] [-2.24859229e-01 9.74389778e-01 -1.69902061e-03 -3.98801218e+01] [-8.12512693e-03 -1.31410721e-04 9.99966982e-01 -3.59146991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:262.89, Y:-39.89, Z:-3.59 [[ 9.73633878e-01 2.27939694e-01 8.97591682e-03 2.62885719e+02] [-2.27931665e-01 9.73675236e-01 -1.92109824e-03 -3.98858749e+01] [-9.17752247e-03 -1.75449342e-04 9.99957870e-01 -3.59172259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.655769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:262.92, Y:-39.89, Z:-3.59 [[ 9.73506399e-01 2.28463985e-01 9.46039088e-03 2.62917364e+02] [-2.28455072e-01 9.73552347e-01 -2.02682676e-03 -3.98916896e+01] [-9.67324267e-03 -1.88145464e-04 9.99953195e-01 -3.59214125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:262.95, Y:-39.90, Z:-3.59 [[ 9.73867789e-01 2.26868694e-01 1.05889364e-02 2.62950403e+02] [-2.26857409e-01 9.73925336e-01 -2.27081518e-03 -3.98954476e+01] [-1.08280103e-02 -1.90704910e-04 9.99941357e-01 -3.59316645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.715769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:262.98, Y:-39.90, Z:-3.59 [[ 9.74274668e-01 2.25115694e-01 1.05733084e-02 2.62982801e+02] [-2.25104317e-01 9.74332025e-01 -2.26952432e-03 -3.99008907e+01] [-1.08128185e-02 -1.68957316e-04 9.99941525e-01 -3.59370406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:263.01, Y:-39.91, Z:-3.60 [[ 9.75352668e-01 2.20442262e-01 9.61154484e-03 2.63014798e+02] [-2.20432616e-01 9.75400020e-01 -2.06477881e-03 -3.99057031e+01] [-9.83026553e-03 -1.04810459e-04 9.99951676e-01 -3.59553254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.775769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.05, Y:-39.91, Z:-3.60 [[ 9.75886511e-01 2.18094666e-01 8.95733368e-03 2.63047058e+02] [-2.18086177e-01 9.75927616e-01 -1.92568988e-03 -3.99128073e+01] [-9.16169199e-03 -7.42158798e-05 9.99958028e-01 -3.59603280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.08, Y:-39.92, Z:-3.60 [[ 9.76410883e-01 2.15768594e-01 8.10559801e-03 2.63079034e+02] [-2.15761552e-01 9.76444526e-01 -1.74386671e-03 -3.99204254e+01] [-8.29093847e-03 -4.61459728e-05 9.99965629e-01 -3.59628103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.83576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:263.11, Y:-39.93, Z:-3.60 [[ 9.77367816e-01 2.11429605e-01 7.04801890e-03 2.63109949e+02] [-2.11424159e-01 9.77393228e-01 -1.51752954e-03 -3.99286094e+01] [-7.20953661e-03 -6.93693957e-06 9.99974011e-01 -3.59714177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:263.14, Y:-39.94, Z:-3.60 [[ 9.77805153e-01 2.09384133e-01 7.44095000e-03 2.63140842e+02] [-2.09377991e-01 9.77833465e-01 -1.60370630e-03 -3.99357804e+01] [-7.61180057e-03 1.01411178e-05 9.99971030e-01 -3.59753360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:263.17, Y:-39.94, Z:-3.60 [[ 9.78348560e-01 2.06787954e-01 8.53443866e-03 2.63172961e+02] [-2.06779760e-01 9.78385783e-01 -1.84127061e-03 -3.99439498e+01] [-8.73072603e-03 3.66552693e-05 9.99961886e-01 -3.59761174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:263.21, Y:-39.95, Z:-3.60 [[ 9.78305959e-01 2.07001997e-01 8.22331373e-03 2.63205093e+02] [-2.06994384e-01 9.78340519e-01 -1.77569133e-03 -3.99517832e+01] [-8.41277267e-03 3.49896475e-05 9.99964611e-01 -3.59769310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95576923100003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:263.24, Y:-39.96, Z:-3.60 [[ 9.78051577e-01 2.08229503e-01 7.45569877e-03 2.63237749e+02] [-2.08223271e-01 9.78079993e-01 -1.61119861e-03 -3.99588320e+01] [-7.62776889e-03 2.33853577e-05 9.99970908e-01 -3.59768487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98576923100006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:263.27, Y:-39.96, Z:-3.60 [[ 9.76676401e-01 2.14624878e-01 6.27458193e-03 2.63270261e+02] [-2.14620590e-01 9.76696555e-01 -1.35680473e-03 -3.99629534e+01] [-6.41956660e-03 -2.14953197e-05 9.99979394e-01 -3.59760397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:263.30, Y:-39.97, Z:-3.60 [[ 9.75727229e-01 2.18909391e-01 5.92055768e-03 2.63301656e+02] [-2.18905646e-01 9.75745190e-01 -1.28139828e-03 -3.99676050e+01] [-6.05746580e-03 -4.57483102e-05 9.99981652e-01 -3.59829077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:263.33, Y:-39.97, Z:-3.60 [[ 9.73842771e-01 2.27173779e-01 4.72567834e-03 2.63332768e+02] [-2.27171481e-01 9.73854234e-01 -1.02453066e-03 -3.99691464e+01] [-4.83486836e-03 -7.58075725e-05 9.99988309e-01 -3.59897320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:263.36, Y:-39.97, Z:-3.60 [[ 9.73189869e-01 2.29954815e-01 4.71832911e-03 2.63364130e+02] [-2.29952557e-01 9.73201302e-01 -1.02290285e-03 -3.99720490e+01] [-4.82710547e-03 -8.95131534e-05 9.99988345e-01 -3.59917494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:263.39, Y:-39.97, Z:-3.60 [[ 9.72885538e-01 2.31214936e-01 5.77786898e-03 2.63393308e+02] [-2.31211571e-01 9.72902688e-01 -1.25288549e-03 -3.99746991e+01] [-5.91099010e-03 -1.16995987e-04 9.99982523e-01 -3.59991517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:263.42, Y:-39.98, Z:-3.60 [[ 9.72863977e-01 2.31266980e-01 7.16003155e-03 2.63422888e+02] [-2.31261811e-01 9.72890314e-01 -1.55292680e-03 -3.99761174e+01] [-7.32506603e-03 -1.45055317e-04 9.99973161e-01 -3.59969836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16576923100007 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:263.45, Y:-39.98, Z:-3.60 [[ 9.72926501e-01 2.30979299e-01 7.91123898e-03 2.63451970e+02] [-2.30972981e-01 9.72958652e-01 -1.71568251e-03 -3.99765657e+01] [-8.09359556e-03 -1.58049473e-04 9.99967234e-01 -3.59879069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:263.48, Y:-39.98, Z:-3.60 [[ 9.72920229e-01 2.30967340e-01 8.96195362e-03 2.63482028e+02] [-2.30959236e-01 9.72961487e-01 -1.94312378e-03 -3.99798679e+01] [-9.16843385e-03 -1.79341528e-04 9.99957953e-01 -3.59907944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2257692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:263.51, Y:-39.98, Z:-3.60 [[ 9.72991636e-01 2.30607666e-01 1.03625204e-02 2.63511416e+02] [-2.30596813e-01 9.73046794e-01 -2.24649862e-03 -3.99834054e+01] [-1.06012770e-02 -2.03739814e-04 9.99943784e-01 -3.59904151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:263.54, Y:-39.98, Z:-3.60 [[ 9.73466998e-01 2.28462618e-01 1.29165051e-02 2.63541323e+02] [-2.28445573e-01 9.73552660e-01 -2.79979254e-03 -3.99844523e+01] [-1.32145459e-02 -2.25212779e-04 9.99912659e-01 -3.59919655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2857692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:263.57, Y:-39.99, Z:-3.60 [[ 9.73790955e-01 2.27051467e-01 1.33718710e-02 2.63572084e+02] [-2.27033069e-01 9.73882737e-01 -2.89819324e-03 -3.99879065e+01] [-1.36806734e-02 -2.13622559e-04 9.99906392e-01 -3.59940489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31576923100005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:263.60, Y:-39.99, Z:-3.60 [[ 9.74343296e-01 2.24780497e-01 1.13521209e-02 2.63601737e+02] [-2.24767083e-01 9.74409413e-01 -2.46044648e-03 -3.99886625e+01] [-1.16146739e-02 -1.54263577e-04 9.99932536e-01 -3.59999406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.345769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:263.63, Y:-39.99, Z:-3.60 [[ 9.74547036e-01 2.23979332e-01 9.55683454e-03 2.63630648e+02] [-2.23969788e-01 9.74593887e-01 -2.07127536e-03 -3.99929897e+01] [-9.77795540e-03 -1.21886937e-04 9.99952187e-01 -3.60088914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:263.66, Y:-40.00, Z:-3.60 [[ 9.74564621e-01 2.23902803e-01 9.55685201e-03 2.63659337e+02] [-2.23893256e-01 9.74611471e-01 -2.07119480e-03 -3.99990982e+01] [-9.77796392e-03 -1.21201541e-04 9.99952187e-01 -3.60125399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.405769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:263.69, Y:-40.00, Z:-3.60 [[ 9.74822886e-01 2.22848635e-01 7.66983883e-03 2.63688289e+02] [-2.22842459e-01 9.74853055e-01 -1.66154300e-03 -4.00041205e+01] [-7.84723841e-03 -8.94556014e-05 9.99969206e-01 -3.60172611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43576923100005 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:263.72, Y:-40.01, Z:-3.60 [[ 9.75306548e-01 2.20753463e-01 6.71158500e-03 2.63716473e+02] [-2.20748683e-01 9.75329639e-01 -1.45402615e-03 -4.00076326e+01] [-6.86698908e-03 -6.34523290e-05 9.99976420e-01 -3.60233585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.465769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:263.75, Y:-40.01, Z:-3.60 [[ 9.75332501e-01 2.20585752e-01 8.27276967e-03 2.63745021e+02] [-2.20578490e-01 9.75367582e-01 -1.79151492e-03 -4.00127526e+01] [-8.46417401e-03 -7.74723155e-05 9.99964175e-01 -3.60194052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:263.77, Y:-40.02, Z:-3.60 [[ 9.75282411e-01 2.20740043e-01 9.90213580e-03 2.63772832e+02] [-2.20729653e-01 9.75332674e-01 -2.14376603e-03 -4.00187871e+01] [-1.01310916e-02 -9.49176968e-05 9.99948675e-01 -3.60223642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.525769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:263.80, Y:-40.03, Z:-3.60 [[ 9.75698765e-01 2.18938192e-01 8.83114353e-03 2.63801104e+02] [-2.18929858e-01 9.75738727e-01 -1.91145477e-03 -4.00262504e+01] [-9.03537919e-03 -6.83969454e-05 9.99959178e-01 -3.60311943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55576923100006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:263.83, Y:-40.03, Z:-3.60 [[ 9.76125458e-01 2.17108985e-01 6.54060869e-03 2.63830173e+02] [-2.17104373e-01 9.76147370e-01 -1.41559940e-03 -4.00337171e+01] [-6.69193732e-03 -3.81921344e-05 9.99977608e-01 -3.60460133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:263.86, Y:-40.04, Z:-3.61 [[ 9.76809797e-01 2.14078656e-01 3.59850633e-03 2.63857306e+02] [-2.14077239e-01 9.76816425e-01 -7.78986503e-04 -4.00426127e+01] [-3.68184447e-03 -9.43665163e-06 9.99993222e-01 -3.60646195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:263.89, Y:-40.05, Z:-3.61 [[ 9.77128207e-01 2.12615024e-01 3.91382703e-03 2.63885706e+02] [-2.12613337e-01 9.77136046e-01 -8.46952806e-04 -4.00499971e+01] [-4.00441636e-03 -4.55034984e-06 9.99991982e-01 -3.60619084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:263.91, Y:-40.06, Z:-3.61 [[ 9.77304445e-01 2.11776078e-01 5.18787314e-03 2.63914447e+02] [-2.11773104e-01 9.77318215e-01 -1.12242991e-03 -4.00572524e+01] [-5.30790672e-03 -1.69625579e-06 9.99985913e-01 -3.60591895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:263.94, Y:-40.06, Z:-3.61 [[ 9.77425676e-01 2.11162600e-01 7.02883007e-03 2.63941861e+02] [-2.11157126e-01 9.77450948e-01 -1.52046981e-03 -4.00644644e+01] [-7.19140297e-03 1.95867559e-06 9.99974142e-01 -3.60545278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70576923100003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:263.97, Y:-40.07, Z:-3.61 [[ 9.77398483e-01 2.11305412e-01 6.49827769e-03 2.63969454e+02] [-2.11300737e-01 9.77420085e-01 -1.40558820e-03 -4.00713570e+01] [-6.64855553e-03 7.28903742e-07 9.99977898e-01 -3.60573617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:264.00, Y:-40.08, Z:-3.61 [[ 9.77333272e-01 2.11638781e-01 5.35743616e-03 2.63997230e+02] [-2.11635608e-01 9.77347956e-01 -1.15877825e-03 -4.00770037e+01] [-5.48132170e-03 -1.31172646e-06 9.99984977e-01 -3.60615182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:264.03, Y:-40.08, Z:-3.61 [[ 9.77224554e-01 2.12129740e-01 5.75711432e-03 2.64026371e+02] [-2.12126088e-01 9.77241512e-01 -1.24476075e-03 -4.00826859e+01] [-5.89014188e-03 -4.82336862e-06 9.99982653e-01 -3.60656493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.05, Y:-40.09, Z:-3.61 [[ 9.77032191e-01 2.12948730e-01 7.80614035e-03 2.64054760e+02] [-2.12942044e-01 9.77063375e-01 -1.68749063e-03 -4.00911756e+01] [-7.98644282e-03 -1.35228146e-05 9.99968108e-01 -3.60729844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:264.08, Y:-40.10, Z:-3.61 [[ 9.77006754e-01 2.13065617e-01 7.80036565e-03 2.64083274e+02] [-2.13058947e-01 9.77037892e-01 -1.68599563e-03 -4.00985186e+01] [-7.98048051e-03 -1.47085758e-05 9.99968155e-01 -3.60763189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85576923100007 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:264.11, Y:-40.10, Z:-3.61 [[ 9.76814690e-01 2.13973443e-01 6.95891956e-03 2.64112504e+02] [-2.13968157e-01 9.76839478e-01 -1.50411908e-03 -4.01047344e+01] [-7.11958889e-03 -1.97415844e-05 9.99974655e-01 -3.60760547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.14, Y:-40.11, Z:-3.61 [[ 9.76053102e-01 2.17459244e-01 5.64077571e-03 2.64141876e+02] [-2.17455830e-01 9.76069401e-01 -1.21912797e-03 -4.01087488e+01] [-5.77089922e-03 -3.66859220e-05 9.99983348e-01 -3.60794153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:264.17, Y:-40.11, Z:-3.61 [[ 9.75620684e-01 2.19383172e-01 5.94175135e-03 2.64170532e+02] [-2.19379420e-01 9.75638776e-01 -1.28401352e-03 -4.01149895e+01] [-6.07869397e-03 -5.07878164e-05 9.99981523e-01 -3.60795115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:264.20, Y:-40.12, Z:-3.61 [[ 9.74953055e-01 2.22309341e-01 6.71553755e-03 2.64197927e+02] [-2.22304619e-01 9.74976180e-01 -1.45108986e-03 -4.01227753e+01] [-6.87007998e-03 -7.81505278e-05 9.99976398e-01 -3.60809764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.9757692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:264.23, Y:-40.13, Z:-3.61 [[ 9.74721282e-01 2.23297104e-01 7.53825215e-03 2.64225877e+02] [-2.23291185e-01 9.74750427e-01 -1.62858369e-03 -4.01287919e+01] [-7.71157253e-03 -9.58100698e-05 9.99970261e-01 -3.60806707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00576923100004 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:264.25, Y:-40.13, Z:-3.61 [[ 9.74462540e-01 2.24367173e-01 9.06257431e-03 2.64253537e+02] [-2.24358670e-01 9.74504672e-01 -1.95737921e-03 -4.01338141e+01] [-9.27069265e-03 -1.25874407e-04 9.99957018e-01 -3.60708617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.28, Y:-40.14, Z:-3.61 [[ 9.74451724e-01 2.24396183e-01 9.49685001e-03 2.64281499e+02] [-2.24386853e-01 9.74497992e-01 -2.05053837e-03 -4.01394955e+01] [-9.71479425e-03 -1.32817639e-04 9.99952801e-01 -3.60728112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.31, Y:-40.14, Z:-3.61 [[ 9.74409022e-01 2.24575880e-01 9.62977481e-03 2.64309116e+02] [-2.24566300e-01 9.74456595e-01 -2.07879851e-03 -4.01447224e+01] [-9.85064558e-03 -1.36922883e-04 9.99951472e-01 -3.60763396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.095769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:264.34, Y:-40.15, Z:-3.61 [[ 9.74226647e-01 2.25399312e-01 8.80859319e-03 2.64336571e+02] [-2.25391334e-01 9.74266459e-01 -1.90106753e-03 -4.01488836e+01] [-9.01041621e-03 -1.33309925e-04 9.99959396e-01 -3.60984213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:264.36, Y:-40.15, Z:-3.61 [[ 9.74059033e-01 2.26127495e-01 8.68084922e-03 2.64364420e+02] [-2.26119780e-01 9.74097704e-01 -1.87298245e-03 -4.01536673e+01] [-8.87952813e-03 -1.38516250e-04 9.99960567e-01 -3.61039472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.155769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:264.39, Y:-40.16, Z:-3.61 [[ 9.73846909e-01 2.27024262e-01 9.06548580e-03 2.64392719e+02] [-2.27015894e-01 9.73889091e-01 -1.95535689e-03 -4.01575084e+01] [-9.27269117e-03 -1.53791092e-04 9.99956996e-01 -3.60978798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:264.42, Y:-40.16, Z:-3.61 [[ 9.73745257e-01 2.27461855e-01 9.01551070e-03 2.64419854e+02] [-2.27453601e-01 9.73786979e-01 -1.94417917e-03 -4.01618107e+01] [-9.22141353e-03 -1.57475126e-04 9.99957469e-01 -3.60996590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.215769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.45, Y:-40.17, Z:-3.61 [[ 9.73437181e-01 2.28806308e-01 8.22973838e-03 2.64447513e+02] [-2.28799481e-01 9.73471956e-01 -1.77430052e-03 -4.01663650e+01] [-8.41739067e-03 -1.55789780e-04 9.99964561e-01 -3.61156009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24576923100005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:264.47, Y:-40.17, Z:-3.61 [[ 9.73349406e-01 2.29178692e-01 8.24989600e-03 2.64474489e+02] [-2.29171850e-01 9.73384354e-01 -1.77811479e-03 -4.01721935e+01] [-8.43782571e-03 -1.59916955e-04 9.99964388e-01 -3.61162557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.275769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:264.50, Y:-40.18, Z:-3.61 [[ 9.73704867e-01 2.27608141e-01 9.66264471e-03 2.64502764e+02] [-2.27598684e-01 9.73752794e-01 -2.08188082e-03 -4.01790369e+01] [-9.88288031e-03 -1.72067740e-04 9.99951148e-01 -3.61115790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:264.53, Y:-40.19, Z:-3.61 [[ 9.74288073e-01 2.25070973e-01 1.02863196e-02 2.64530768e+02] [-2.25060121e-01 9.74342359e-01 -2.21573260e-03 -4.01853358e+01] [-1.05210940e-02 -1.56278488e-04 9.99944640e-01 -3.61151612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.33576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:264.56, Y:-40.19, Z:-3.61 [[ 9.75012361e-01 2.21920195e-01 1.01155297e-02 2.64557410e+02] [-2.21909534e-01 9.75064825e-01 -2.17849790e-03 -4.01920921e+01] [-1.03467499e-02 -1.20670107e-04 9.99946464e-01 -3.61210434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:264.59, Y:-40.20, Z:-3.61 [[ 9.76271747e-01 2.16415741e-01 7.59626007e-03 2.64586049e+02] [-2.16409567e-01 9.76301298e-01 -1.63540689e-03 -4.02023071e+01] [-7.77016636e-03 -4.73018113e-05 9.99969811e-01 -3.61444206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.61, Y:-40.21, Z:-3.62 [[ 9.76797446e-01 2.14086794e-01 5.79603158e-03 2.64614284e+02] [-2.14083158e-01 9.76814642e-01 -1.24791117e-03 -4.02121184e+01] [-5.92880982e-03 -2.18763020e-05 9.99982424e-01 -3.61555376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.64, Y:-40.23, Z:-3.62 [[ 9.78221703e-01 2.07472184e-01 6.13129415e-03 2.64643474e+02] [-2.07467987e-01 9.78240917e-01 -1.31979229e-03 -4.02275580e+01] [-6.27170300e-03 1.90022078e-05 9.99980332e-01 -3.61585174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.67, Y:-40.24, Z:-3.61 [[ 9.78943968e-01 2.03993103e-01 7.45131243e-03 2.64673558e+02] [-2.03986807e-01 9.78972324e-01 -1.60346309e-03 -4.02385527e+01] [-7.62172406e-03 4.97310888e-05 9.99970953e-01 -3.61454211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:264.70, Y:-40.25, Z:-3.61 [[ 9.79429656e-01 2.01612995e-01 8.35158455e-03 2.64703952e+02] [-2.01604985e-01 9.79465259e-01 -1.79887297e-03 -4.02492290e+01] [-8.54276310e-03 7.81484580e-05 9.99963507e-01 -3.61413558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.73, Y:-40.27, Z:-3.62 [[ 9.80073348e-01 1.98576747e-01 4.84851355e-03 2.64733476e+02] [-1.98574008e-01 9.80085339e-01 -1.04480417e-03 -4.02654142e+01] [-4.95943086e-03 6.11959540e-05 9.99987700e-01 -3.61626489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.76, Y:-40.28, Z:-3.62 [[ 9.80224448e-01 1.97875558e-01 2.30094925e-03 2.64763486e+02] [-1.97874943e-01 9.80227148e-01 -4.94508397e-04 -4.02824852e+01] [-2.35330405e-03 2.94290190e-05 9.99997231e-01 -3.61806362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:264.79, Y:-40.29, Z:-3.62 [[ 9.80169514e-01 1.98145462e-01 2.46984477e-03 2.64794189e+02] [-1.98144751e-01 9.80172625e-01 -5.31624384e-04 -4.02936607e+01] [-2.52621319e-03 3.16952365e-05 9.99996809e-01 -3.61755264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:264.83, Y:-40.30, Z:-3.62 [[ 9.80098886e-01 1.98481137e-01 3.37813887e-03 2.64826042e+02] [-1.98479805e-01 9.80104707e-01 -7.28524551e-04 -4.03047485e+01] [-3.45552819e-03 4.35337556e-05 9.99994029e-01 -3.61707445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.86, Y:-40.32, Z:-3.62 [[ 9.79701526e-01 2.00352568e-01 6.61583562e-03 2.64855219e+02] [-2.00347476e-01 9.79723860e-01 -1.43048037e-03 -4.03192770e+01] [-6.76829243e-03 7.59778311e-05 9.99977092e-01 -3.61557798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.89, Y:-40.33, Z:-3.62 [[ 9.79458298e-01 2.01468546e-01 8.47750522e-03 2.64886331e+02] [-2.01460207e-01 9.79494981e-01 -1.83518072e-03 -4.03302250e+01] [-8.67340500e-03 8.96030313e-05 9.99962381e-01 -3.61562195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.92, Y:-40.34, Z:-3.62 [[ 9.79232835e-01 2.02524415e-01 9.32287072e-03 2.64916226e+02] [-2.02514358e-01 9.79277209e-01 -2.02033378e-03 -4.03409711e+01] [-9.53884175e-03 9.03619940e-05 9.99954500e-01 -3.61575701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:264.95, Y:-40.35, Z:-3.61 [[ 9.78509704e-01 2.05980717e-01 9.52380873e-03 2.64945806e+02] [-2.05970367e-01 9.78556049e-01 -2.06572154e-03 -4.03536919e+01] [-9.74507945e-03 5.97061904e-05 9.99952514e-01 -3.61496719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.98, Y:-40.36, Z:-3.62 [[ 9.77896128e-01 2.08853347e-01 9.97209653e-03 2.64977836e+02] [-2.08842130e-01 9.77946971e-01 -2.16486915e-03 -4.03620176e+01] [-1.02043218e-02 3.44232828e-05 9.99947934e-01 -3.61511708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.01, Y:-40.37, Z:-3.61 [[ 9.77062881e-01 2.12706762e-01 1.01961117e-02 2.65009732e+02] [-2.12695223e-01 9.77116080e-01 -2.21552977e-03 -4.03698034e+01] [-1.04340428e-02 -3.95235708e-06 9.99945564e-01 -3.61499222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.04, Y:-40.38, Z:-3.62 [[ 9.75479705e-01 2.19767277e-01 1.19033374e-02 2.65041546e+02] [-2.19752043e-01 9.75552324e-01 -2.58919166e-03 -4.03775593e+01] [-1.21813481e-02 -9.00787950e-05 9.99925801e-01 -3.61599170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.07, Y:-40.39, Z:-3.62 [[ 9.74851713e-01 2.22510679e-01 1.23748253e-02 2.65072838e+02] [-2.22494403e-01 9.74930245e-01 -2.69423849e-03 -4.03851215e+01] [-1.26640883e-02 -1.26846360e-04 9.99919799e-01 -3.61675632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.10, Y:-40.39, Z:-3.62 [[ 9.73880149e-01 2.26805088e-01 1.08123286e-02 2.65104957e+02] [-2.26792909e-01 9.73940156e-01 -2.35571149e-03 -4.03938131e+01] [-1.10648484e-02 -1.57978806e-04 9.99938770e-01 -3.61746063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.14, Y:-40.40, Z:-3.62 [[ 9.73561143e-01 2.28263757e-01 8.62308362e-03 2.65136274e+02] [-2.28256057e-01 9.73599321e-01 -1.87996969e-03 -4.04009921e+01] [-8.82455730e-03 -1.38005622e-04 9.99961053e-01 -3.61864599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.17, Y:-40.41, Z:-3.62 [[ 9.73457479e-01 2.28769532e-01 6.71108396e-03 2.65167537e+02] [-2.28764875e-01 9.73480605e-01 -1.46386520e-03 -4.04071373e+01] [-6.86799783e-03 -1.10249758e-04 9.99976409e-01 -3.61970320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.965769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:265.20, Y:-40.41, Z:-3.62 [[ 9.73381196e-01 2.29071719e-01 7.42933294e-03 2.65199252e+02] [-2.29066009e-01 9.73409540e-01 -1.62208921e-03 -4.04103396e+01] [-7.60335832e-03 -1.22896507e-04 9.99971087e-01 -3.62049486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:265.23, Y:-40.41, Z:-3.62 [[ 9.73205039e-01 2.29671230e-01 1.10940420e-02 2.65232618e+02] [-2.29658502e-01 9.73268252e-01 -2.42518350e-03 -4.04134202e+01] [-1.13544738e-02 -1.87640275e-04 9.99935518e-01 -3.61934151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:265.27, Y:-40.42, Z:-3.62 [[ 9.73173158e-01 2.29824723e-01 1.07052041e-02 2.65265299e+02] [-2.29812860e-01 9.73232020e-01 -2.34212602e-03 -4.04178062e+01] [-1.09569259e-02 -1.80899405e-04 9.99939955e-01 -3.61963484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.30, Y:-40.42, Z:-3.62 [[ 9.73137143e-01 2.30047768e-01 9.06227201e-03 2.65297724e+02] [-2.30039264e-01 9.73179326e-01 -1.98403889e-03 -4.04218862e+01] [-9.27563949e-03 -1.53936445e-04 9.99956968e-01 -3.62084543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.33, Y:-40.43, Z:-3.62 [[ 9.73039472e-01 2.30519897e-01 7.40025597e-03 2.65329241e+02] [-2.30514232e-01 9.73067603e-01 -1.62119481e-03 -4.04262422e+01] [-7.57466700e-03 -1.28377782e-04 9.99971304e-01 -3.62273985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.36, Y:-40.43, Z:-3.62 [[ 9.73442185e-01 2.28785026e-01 8.22951736e-03 2.65362128e+02] [-2.28777945e-01 9.73476962e-01 -1.80445076e-03 -4.04316764e+01] [-8.42407687e-03 -1.26203578e-04 9.99964509e-01 -3.62305302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.39, Y:-40.44, Z:-3.62 [[ 9.74097017e-01 2.25944407e-01 9.17206789e-03 2.65393569e+02] [-2.25935465e-01 9.74140191e-01 -2.01326809e-03 -4.04367317e+01] [-9.38976663e-03 -1.11176978e-04 9.99955909e-01 -3.62155638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.43, Y:-40.44, Z:-3.62 [[ 9.74244595e-01 2.25335136e-01 8.45846489e-03 2.65425706e+02] [-2.25327496e-01 9.74281308e-01 -1.85804125e-03 -4.04410708e+01] [-8.65960621e-03 -9.57380746e-05 9.99962500e-01 -3.62156686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.46, Y:-40.45, Z:-3.62 [[ 9.74239772e-01 2.25383664e-01 7.68580894e-03 2.65458364e+02] [-2.25377348e-01 9.74270084e-01 -1.68945690e-03 -4.04450958e+01] [-7.86882971e-03 -8.62711369e-05 9.99969037e-01 -3.62207430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.49, Y:-40.45, Z:-3.62 [[ 9.73907519e-01 2.26824154e-01 7.41270152e-03 2.65490983e+02] [-2.26818310e-01 9.73935724e-01 -1.63087169e-03 -4.04479072e+01] [-7.58941592e-03 -9.30182286e-05 9.99971196e-01 -3.62231831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.52, Y:-40.45, Z:-3.62 [[ 9.73708803e-01 2.27652969e-01 8.08042415e-03 2.65521419e+02] [-2.27646037e-01 9.73742324e-01 -1.77983690e-03 -4.04525551e+01] [-8.27343615e-03 -1.06433671e-04 9.99965769e-01 -3.62193959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.55, Y:-40.46, Z:-3.62 [[ 9.73701171e-01 2.27685618e-01 8.08020507e-03 2.65552491e+02] [-2.27678678e-01 9.73734691e-01 -1.78083089e-03 -4.04594572e+01] [-8.27344557e-03 -1.05693287e-04 9.99965769e-01 -3.62233570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.58, Y:-40.46, Z:-3.62 [[ 9.73550280e-01 2.28232451e-01 1.04785409e-02 2.65583979e+02] [-2.28220805e-01 9.73606660e-01 -2.30996403e-03 -4.04598518e+01] [-1.07291859e-02 -1.42554898e-04 9.99942430e-01 -3.62333103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.61, Y:-40.46, Z:-3.62 [[ 9.73552157e-01 2.28218945e-01 1.05977164e-02 2.65614756e+02] [-2.28207033e-01 9.73609825e-01 -2.33619831e-03 -4.04643033e+01] [-1.08512055e-02 -1.44062511e-04 9.99941114e-01 -3.62355205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.65, Y:-40.47, Z:-3.62 [[ 9.73577863e-01 2.28131449e-01 1.01087441e-02 2.65645658e+02] [-2.28120604e-01 9.73630332e-01 -2.22863950e-03 -4.04698649e+01] [-1.03506027e-02 -1.36258728e-04 9.99946422e-01 -3.62354527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.68, Y:-40.47, Z:-3.62 [[ 9.73907090e-01 2.26788407e-01 8.48518798e-03 2.65677441e+02] [-2.26780713e-01 9.73944048e-01 -1.87085850e-03 -4.04733785e+01] [-8.68838734e-03 -1.02234625e-04 9.99962250e-01 -3.62326590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.71, Y:-40.48, Z:-3.62 [[ 9.74181591e-01 2.25606183e-01 8.48982682e-03 2.65706745e+02] [-2.25598433e-01 9.74218580e-01 -1.87221880e-03 -4.04764948e+01] [-8.69333117e-03 -9.14105349e-05 9.99962208e-01 -3.62415084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.74, Y:-40.48, Z:-3.62 [[ 9.74745571e-01 2.23049701e-01 1.09499813e-02 2.65737978e+02] [-2.23036650e-01 9.74807070e-01 -2.41451051e-03 -4.04781460e+01] [-1.12126751e-02 -8.87137239e-05 9.99937132e-01 -3.62474579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.77, Y:-40.48, Z:-3.62 [[ 9.74906151e-01 2.22265099e-01 1.24988621e-02 2.65767918e+02] [-2.22248023e-01 9.74986265e-01 -2.75656596e-03 -4.04838366e+01] [-1.27989073e-02 -9.04542922e-05 9.99918087e-01 -3.62432478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.80, Y:-40.49, Z:-3.62 [[ 9.75040492e-01 2.21639943e-01 1.31062891e-02 2.65798469e+02] [-2.21621108e-01 9.75128570e-01 -2.89071349e-03 -4.04890780e+01] [-1.34210146e-02 -8.60676221e-05 9.99909930e-01 -3.62411489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.83, Y:-40.49, Z:-3.63 [[ 9.75135186e-01 2.21375850e-01 1.02030591e-02 2.65829516e+02] [-2.21364419e-01 9.75188561e-01 -2.25059012e-03 -4.04903365e+01] [-1.04481329e-02 -6.39646456e-05 9.99945415e-01 -3.62551217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.86, Y:-40.49, Z:-3.63 [[ 9.75085400e-01 2.21691758e-01 7.82485099e-03 2.65859072e+02] [-2.21685043e-01 9.75116794e-01 -1.72622572e-03 -4.04923767e+01] [-8.01283362e-03 -5.14349298e-05 9.99967895e-01 -3.62687779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.89, Y:-40.50, Z:-3.63 [[ 9.75248216e-01 2.20956424e-01 8.31720162e-03 2.65887534e+02] [-2.20948812e-01 9.75283680e-01 -1.83466680e-03 -4.04976586e+01] [-8.51701242e-03 -4.84202915e-05 9.99963728e-01 -3.62698474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.92, Y:-40.50, Z:-3.63 [[ 9.75494543e-01 2.19828094e-01 9.27389421e-03 2.65915637e+02] [-2.19818584e-01 9.75538624e-01 -2.04528311e-03 -4.05032355e+01] [-9.49665268e-03 -4.34117819e-05 9.99954905e-01 -3.62710648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:265.94, Y:-40.51, Z:-3.63 [[ 9.75776352e-01 2.18556922e-01 9.66345742e-03 2.65944511e+02] [-2.18546536e-01 9.75824201e-01 -2.13092554e-03 -4.05085294e+01] [-9.89556414e-03 -3.26083939e-05 9.99951037e-01 -3.62742521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.97, Y:-40.51, Z:-3.63 [[ 9.76346210e-01 2.15984962e-01 9.92850210e-03 2.65972829e+02] [-2.15973868e-01 9.76396690e-01 -2.18912148e-03 -4.05108490e+01] [-1.01669739e-02 -6.95654578e-06 9.99948315e-01 -3.62879594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.00, Y:-40.51, Z:-3.63 [[ 9.76491314e-01 2.15366105e-01 9.06394199e-03 2.66003136e+02] [-2.15356834e-01 9.76533379e-01 -1.99830345e-03 -4.05114081e+01] [-9.28160873e-03 -6.55889707e-07 9.99956925e-01 -3.62926895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.03, Y:-40.51, Z:-3.63 [[ 9.76361227e-01 2.15997652e-01 7.98556903e-03 2.66031915e+02] [-2.15990478e-01 9.76393883e-01 -1.76049752e-03 -4.05146416e+01] [-8.17732408e-03 -5.92534571e-06 9.99966565e-01 -3.62917449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.06, Y:-40.52, Z:-3.63 [[ 9.76145261e-01 2.16990791e-01 7.44482633e-03 2.66059759e+02] [-2.16984586e-01 9.76173651e-01 -1.64101860e-03 -4.05192180e+01] [-7.62352922e-03 -1.35400242e-05 9.99970940e-01 -3.62946688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.09, Y:-40.52, Z:-3.63 [[ 9.76026953e-01 2.17520024e-01 7.51173458e-03 2.66088114e+02] [-2.17513727e-01 9.76055858e-01 -1.65524626e-03 -4.05249542e+01] [-7.69192175e-03 -1.83404251e-05 9.99970417e-01 -3.63023262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.12, Y:-40.53, Z:-3.63 [[ 9.76124570e-01 2.17064613e-01 7.98612579e-03 2.66116093e+02] [-2.17057483e-01 9.76157238e-01 -1.75936274e-03 -4.05310168e+01] [-8.17760988e-03 -1.60911667e-05 9.99966563e-01 -3.63049057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.14, Y:-40.53, Z:-3.63 [[ 9.76468353e-01 2.15459472e-01 9.31511061e-03 2.66143774e+02] [-2.15449704e-01 9.76512783e-01 -2.05162940e-03 -4.05341419e+01] [-9.53836757e-03 -3.58663753e-06 9.99954509e-01 -3.63106649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.17, Y:-40.54, Z:-3.63 [[ 9.76844272e-01 2.13728079e-01 9.77632573e-03 2.66171962e+02] [-2.13717239e-01 9.76893192e-01 -2.15256584e-03 -4.05382051e+01] [-1.00104898e-02 1.33522656e-05 9.99949894e-01 -3.63063944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.20, Y:-40.54, Z:-3.63 [[ 9.77270295e-01 2.11740775e-01 1.04218356e-02 2.66199855e+02] [-2.11728350e-01 9.77325863e-01 -2.29410262e-03 -4.05433911e+01] [-1.06712845e-02 3.53602986e-05 9.99943060e-01 -3.63059996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.23, Y:-40.55, Z:-3.63 [[ 9.78261749e-01 2.07024411e-01 1.20350773e-02 2.66226587e+02] [-2.07007489e-01 9.78335772e-01 -2.64882478e-03 -4.05498280e+01] [-1.23227180e-02 9.98928385e-05 9.99924067e-01 -3.62996040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.26, Y:-40.56, Z:-3.63 [[ 9.78634845e-01 2.05239617e-01 1.22694902e-02 2.66255257e+02] [-2.05221898e-01 9.78711747e-01 -2.69968255e-03 -4.05574647e+01] [-1.25623760e-02 1.24035352e-04 9.99921083e-01 -3.63086737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.28, Y:-40.57, Z:-3.63 [[ 9.79394199e-01 2.01675142e-01 1.06836500e-02 2.66284361e+02] [-2.01661498e-01 9.79452457e-01 -2.35049402e-03 -4.05676384e+01] [-1.09381634e-02 1.47579350e-04 9.99940166e-01 -3.63291126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.31, Y:-40.58, Z:-3.63 [[ 9.79790208e-01 1.99793146e-01 9.68751259e-03 2.66312709e+02] [-1.99781835e-01 9.79838086e-01 -2.13136510e-03 -4.05769633e+01] [-9.91802594e-03 1.52901604e-04 9.99950803e-01 -3.63331265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.34, Y:-40.59, Z:-3.63 [[ 9.80102928e-01 1.98267312e-01 9.39803433e-03 2.66341781e+02] [-1.98256598e-01 9.80147972e-01 -2.06753386e-03 -4.05873957e+01] [-9.62138867e-03 1.63173675e-04 9.99953700e-01 -3.63327441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.37, Y:-40.60, Z:-3.63 [[ 9.80375971e-01 1.96831810e-01 1.09633058e-02 2.66369914e+02] [-1.96817141e-01 9.80437247e-01 -2.41188798e-03 -4.06007335e+01] [-1.12235697e-02 2.06790510e-04 9.99936992e-01 -3.63249197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.40, Y:-40.61, Z:-3.63 [[ 9.80313501e-01 1.97087742e-01 1.19105708e-02 2.66399691e+02] [-1.97070447e-01 9.80385829e-01 -2.62027721e-03 -4.06104186e+01] [-1.21933793e-02 2.21471617e-04 9.99925633e-01 -3.63247784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.43, Y:-40.63, Z:-3.63 [[ 9.79759224e-01 1.99903639e-01 1.05070848e-02 2.66428490e+02] [-1.99890340e-01 9.79815548e-01 -2.31173237e-03 -4.06252464e+01] [-1.07571287e-02 1.64676370e-04 9.99942127e-01 -3.63380220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.46, Y:-40.64, Z:-3.63 [[ 9.79250793e-01 2.02450479e-01 9.03816481e-03 2.66457539e+02] [-2.02440746e-01 9.79292494e-01 -1.98871771e-03 -4.06367523e+01] [-9.25362382e-03 1.17760573e-04 9.99957177e-01 -3.63453644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.49, Y:-40.65, Z:-3.64 [[ 9.78588684e-01 2.05650215e-01 8.49570283e-03 2.66486010e+02] [-2.05641734e-01 9.78625558e-01 -1.86959121e-03 -4.06471239e+01] [-8.69859376e-03 8.24897418e-05 9.99962163e-01 -3.63540464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.51, Y:-40.66, Z:-3.64 [[ 9.76758257e-01 2.14181625e-01 8.33904249e-03 2.66513689e+02] [-2.14173762e-01 9.76793853e-01 -1.83530553e-03 -4.06578328e+01] [-8.53861417e-03 6.64573515e-06 9.99963545e-01 -3.63566821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.54, Y:-40.67, Z:-3.64 [[ 9.75777965e-01 2.18644962e-01 7.19327392e-03 2.66542185e+02] [-2.18639232e-01 9.75804478e-01 -1.58313096e-03 -4.06656965e+01] [-7.36537251e-03 -2.79475822e-05 9.99972875e-01 -3.63616423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.57, Y:-40.67, Z:-3.64 [[ 9.73699832e-01 2.27777207e-01 5.11681106e-03 2.66570341e+02] [-2.27774434e-01 9.73713274e-01 -1.12609486e-03 -4.06739027e+01] [-5.23880559e-03 -6.90003727e-05 9.99986275e-01 -3.63697340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.60, Y:-40.68, Z:-3.64 [[ 9.72495117e-01 2.32860652e-01 5.40048291e-03 2.66597700e+02] [-2.32857640e-01 9.72510106e-01 -1.18861497e-03 -4.06781215e+01] [-5.52880587e-03 -1.01621449e-04 9.99984711e-01 -3.63639738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.63, Y:-40.68, Z:-3.64 [[ 9.69968341e-01 2.43133830e-01 6.88173259e-03 2.66626869e+02] [-2.43129203e-01 9.69992731e-01 -1.51399450e-03 -4.06792455e+01] [-7.04333387e-03 -2.04623419e-04 9.99975174e-01 -3.63614048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.66, Y:-40.68, Z:-3.64 [[ 9.68946156e-01 2.47184637e-01 6.56523820e-03 2.66656342e+02] [-2.47180521e-01 9.68968372e-01 -1.44394086e-03 -4.06833626e+01] [-6.71842817e-03 -2.23698050e-04 9.99977406e-01 -3.63694719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.68, Y:-40.68, Z:-3.64 [[ 9.67911244e-01 2.51218571e-01 6.08719199e-03 2.66684649e+02] [-2.51215111e-01 9.67930357e-01 -1.33889349e-03 -4.06837509e+01] [-6.22833282e-03 -2.33264548e-04 9.99980577e-01 -3.63829360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.71, Y:-40.69, Z:-3.64 [[ 9.67908165e-01 2.51218578e-01 6.55828100e-03 2.66712802e+02] [-2.51214565e-01 9.67930350e-01 -1.44205029e-03 -4.06863024e+01] [-6.71022905e-03 -2.51763462e-04 9.99977454e-01 -3.63844031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.74, Y:-40.69, Z:-3.64 [[ 9.68181756e-01 2.50153464e-01 6.87981287e-03 2.66741671e+02] [-2.50149025e-01 9.68206165e-01 -1.51223646e-03 -4.06887534e+01] [-7.03936842e-03 -2.56858733e-04 9.99975190e-01 -3.63894110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.77, Y:-40.69, Z:-3.64 [[ 9.69233306e-01 2.46060697e-01 6.39776488e-03 2.66771029e+02] [-2.46056771e-01 9.69254398e-01 -1.40602108e-03 -4.06885209e+01] [-6.54702827e-03 -2.11450913e-04 9.99978546e-01 -3.64048840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.80, Y:-40.69, Z:-3.64 [[ 9.69932716e-01 2.43260834e-01 7.39553276e-03 2.66799649e+02] [-2.43255509e-01 9.69960884e-01 -1.62486071e-03 -4.06923338e+01] [-7.56864247e-03 -2.22998528e-04 9.99971333e-01 -3.64051860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.83, Y:-40.69, Z:-3.64 [[ 9.71198668e-01 2.38030377e-01 1.07091653e-02 2.66829385e+02] [-2.38018903e-01 9.71257674e-01 -2.35212364e-03 -4.06931506e+01] [-1.09612359e-02 -2.64604441e-04 9.99939889e-01 -3.63860156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.86, Y:-40.70, Z:-3.64 [[ 9.71652738e-01 2.36120163e-01 1.17569391e-02 2.66857180e+02] [-2.36106200e-01 9.71723828e-01 -2.58164301e-03 -4.06950586e+01] [-1.20340759e-02 -2.67425733e-04 9.99927552e-01 -3.63780665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.89, Y:-40.69, Z:-3.64 [[ 9.72366622e-01 2.33131296e-01 1.23673504e-02 2.66886624e+02] [-2.33115614e-01 9.72445237e-01 -2.71491443e-03 -4.06935440e+01] [-1.26595025e-02 -2.43130291e-04 9.99919836e-01 -3.63858397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.92, Y:-40.70, Z:-3.64 [[ 9.72800702e-01 2.31353316e-01 1.15946701e-02 2.66915040e+02] [-2.31339412e-01 9.72869776e-01 -2.54478238e-03 -4.06975423e+01] [-1.18688479e-02 -2.06738079e-04 9.99929541e-01 -3.64021255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.94, Y:-40.70, Z:-3.64 [[ 9.73414871e-01 2.28800691e-01 1.06645173e-02 2.66942424e+02] [-2.28788781e-01 9.73473275e-01 -2.34018380e-03 -4.07017162e+01] [-1.09170583e-02 -1.61952200e-04 9.99940394e-01 -3.64174330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.97, Y:-40.70, Z:-3.64 [[ 9.74973093e-01 2.22107898e-01 9.77498971e-03 2.66971841e+02] [-2.22097561e-01 9.75022090e-01 -2.14440348e-03 -4.07043409e+01] [-1.00071198e-02 -8.02656743e-05 9.99949924e-01 -3.64086876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.00, Y:-40.71, Z:-3.64 [[ 9.75695459e-01 2.18909572e-01 9.84740052e-03 2.67000323e+02] [-2.18898921e-01 9.75745150e-01 -2.15996656e-03 -4.07078509e+01] [-1.00813907e-02 -4.81157905e-05 9.99949180e-01 -3.64061747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.03, Y:-40.71, Z:-3.64 [[ 9.76798077e-01 2.13950599e-01 9.52142375e-03 2.67028498e+02] [-2.13940410e-01 9.76844482e-01 -2.08803926e-03 -4.07112217e+01] [-9.74768750e-03 2.57543660e-06 9.99952490e-01 -3.64171265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.06, Y:-40.72, Z:-3.64 [[ 9.77521025e-01 2.10633309e-01 9.28736182e-03 2.67056316e+02] [-2.10623470e-01 9.77565143e-01 -2.03610161e-03 -4.07171494e+01] [-9.50787200e-03 3.41957592e-05 9.99954799e-01 -3.64293599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.08, Y:-40.73, Z:-3.64 [[ 9.78828827e-01 2.04496990e-01 8.66655329e-03 2.67084415e+02] [-2.04488186e-01 9.78867189e-01 -1.89964117e-03 -4.07253386e+01] [-8.87187556e-03 8.72157765e-05 9.99960640e-01 -3.64345219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.11, Y:-40.73, Z:-3.64 [[ 9.79280143e-01 2.02312320e-01 8.95133541e-03 2.67111936e+02] [-2.02302839e-01 9.79321047e-01 -1.96166495e-03 -4.07321267e+01] [-9.16310016e-03 1.10138972e-04 9.99958012e-01 -3.64292648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.14, Y:-40.74, Z:-3.64 [[ 9.79846531e-01 1.99484904e-01 1.03222342e-02 2.67139995e+02] [-1.99472148e-01 9.79900887e-01 -2.26131112e-03 -4.07404362e+01] [-1.05658639e-02 1.56739626e-04 9.99944167e-01 -3.64237656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.17, Y:-40.75, Z:-3.64 [[ 9.79908499e-01 1.99157234e-01 1.07577597e-02 2.67168306e+02] [-1.99143366e-01 9.79967534e-01 -2.35616155e-03 -4.07484653e+01] [-1.10115019e-02 1.66486258e-04 9.99939358e-01 -3.64306904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.20, Y:-40.76, Z:-3.64 [[ 9.79873659e-01 1.99349845e-01 1.03562088e-02 2.67196346e+02] [-1.99337006e-01 9.79928372e-01 -2.26797034e-03 -4.07573040e+01] [-1.06004624e-02 1.57948741e-04 9.99943801e-01 -3.64356186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.22, Y:-40.77, Z:-3.65 [[ 9.80000360e-01 1.98850157e-01 7.60985219e-03 2.67222595e+02] [-1.98843210e-01 9.80029898e-01 -1.66647609e-03 -4.07696364e+01] [-7.78926170e-03 1.19979730e-04 9.99969656e-01 -3.64526499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.25, Y:-40.78, Z:-3.65 [[ 9.80151279e-01 1.98147124e-01 6.41781584e-03 2.67250816e+02] [-1.98142169e-01 9.80172284e-01 -1.40519805e-03 -4.07788514e+01] [-6.56900116e-03 1.05666715e-04 9.99978418e-01 -3.64516550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.28, Y:-40.79, Z:-3.64 [[ 9.80133269e-01 1.98155364e-01 8.55722691e-03 2.67278440e+02] [-1.98146559e-01 9.80170614e-01 -1.87327333e-03 -4.07925670e+01] [-8.75874151e-03 1.40472448e-04 9.99961632e-01 -3.64469191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.31, Y:-40.80, Z:-3.64 [[ 9.79951877e-01 1.98975204e-01 1.01581348e-02 2.67306483e+02] [-1.98962842e-01 9.80004512e-01 -2.22357788e-03 -4.08033225e+01] [-1.03974548e-02 1.57907945e-04 9.99945933e-01 -3.64393040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.34, Y:-40.81, Z:-3.64 [[ 9.79679826e-01 2.00267352e-01 1.09738739e-02 2.67335967e+02] [-2.00253007e-01 9.79741274e-01 -2.40195280e-03 -4.08139197e+01] [-1.12325900e-02 1.55593441e-04 9.99936900e-01 -3.64354833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.37, Y:-40.82, Z:-3.64 [[ 9.79672884e-01 2.00301310e-01 1.09738215e-02 2.67367049e+02] [-2.00286965e-01 9.79734332e-01 -2.40219243e-03 -4.08207779e+01] [-1.12325920e-02 1.55449386e-04 9.99936900e-01 -3.64394432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.40, Y:-40.83, Z:-3.64 [[ 9.78674360e-01 2.05172808e-01 1.00307149e-02 2.67397191e+02] [-2.05161075e-01 9.78725759e-01 -2.19609444e-03 -4.08318888e+01] [-1.02678979e-02 9.13490592e-05 9.99947280e-01 -3.64417297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.43, Y:-40.84, Z:-3.65 [[ 9.76915621e-01 2.13464197e-01 8.30100743e-03 2.67426580e+02] [-2.13456458e-01 9.76950887e-01 -1.81765097e-03 -4.08413354e+01] [-8.49767998e-03 3.78797438e-06 9.99963894e-01 -3.64561132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.46, Y:-40.85, Z:-3.65 [[ 9.76016893e-01 2.17573196e-01 7.27522581e-03 2.67455625e+02] [-2.17567366e-01 9.76044007e-01 -1.59297718e-03 -4.08494563e+01] [-7.44752968e-03 -2.80790827e-05 9.99972266e-01 -3.64599220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.49, Y:-40.86, Z:-3.65 [[ 9.75234119e-01 2.21088250e-01 6.19668916e-03 2.67485523e+02] [-2.21084091e-01 9.75253805e-01 -1.35695107e-03 -4.08571867e+01] [-6.34335062e-03 -4.66444047e-05 9.99979880e-01 -3.64666033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.51, Y:-40.86, Z:-3.65 [[ 9.73854076e-01 2.27082870e-01 6.45042167e-03 2.67514814e+02] [-2.27078494e-01 9.73875435e-01 -1.41265355e-03 -4.08636287e+01] [-6.60269663e-03 -8.90336221e-05 9.99978198e-01 -3.64685774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.54, Y:-40.87, Z:-3.65 [[ 9.73162559e-01 2.29984547e-01 7.85755754e-03 2.67543366e+02] [-2.29978149e-01 9.73194272e-01 -1.72061209e-03 -4.08691067e+01] [-8.04264418e-03 -1.32631280e-04 9.99967649e-01 -3.64700722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.57, Y:-40.87, Z:-3.65 [[ 9.72538878e-01 2.32570759e-01 8.88661945e-03 2.67572878e+02] [-2.32562687e-01 9.72579463e-01 -1.94552884e-03 -4.08745658e+01] [-9.09541669e-03 -1.74593658e-04 9.99958621e-01 -3.64721218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.60, Y:-40.88, Z:-3.65 [[ 9.71804040e-01 2.35646559e-01 8.22236323e-03 2.67601911e+02] [-2.35639760e-01 9.71838806e-01 -1.79993750e-03 -4.08772295e+01] [-8.41496073e-03 -1.88329165e-04 9.99964576e-01 -3.64837886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.63, Y:-40.88, Z:-3.65 [[ 9.71651261e-01 2.36298489e-01 7.53994378e-03 2.67629253e+02] [-2.36292792e-01 9.71680499e-01 -1.65052134e-03 -4.08813181e+01] [-7.71643203e-03 -1.77903223e-04 9.99970212e-01 -3.64930412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.66, Y:-40.89, Z:-3.65 [[ 9.71942262e-01 2.35099600e-01 7.51115629e-03 2.67658041e+02] [-2.35093914e-01 9.71971270e-01 -1.64369991e-03 -4.08866837e+01] [-7.68706131e-03 -1.68245725e-04 9.99970440e-01 -3.64928989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.69, Y:-40.89, Z:-3.65 [[ 9.72341709e-01 2.33413422e-01 8.35320313e-03 2.67686121e+02] [-2.33406332e-01 9.72377573e-01 -1.82749560e-03 -4.08923379e+01] [-8.54902939e-03 -1.72740304e-04 9.99963441e-01 -3.64925142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.71, Y:-40.90, Z:-3.65 [[ 9.73214405e-01 2.29623466e-01 1.12599445e-02 2.67714169e+02] [-2.29610337e-01 9.73279522e-01 -2.46265694e-03 -4.08977870e+01] [-1.15245572e-02 -1.88706447e-04 9.99933572e-01 -3.64894232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.74, Y:-40.90, Z:-3.65 [[ 9.73705334e-01 2.27490696e-01 1.20791748e-02 2.67742031e+02] [-2.27475428e-01 9.73780238e-01 -2.64148621e-03 -4.09048168e+01] [-1.23633753e-02 -1.75686255e-04 9.99923555e-01 -3.64892678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.77, Y:-40.91, Z:-3.65 [[ 9.74668103e-01 2.23386216e-01 1.09857942e-02 2.67770187e+02] [-2.23373330e-01 9.74730007e-01 -2.40200086e-03 -4.09138371e+01] [-1.12447571e-02 -1.12779808e-04 9.99936769e-01 -3.64955122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.80, Y:-40.92, Z:-3.65 [[ 9.75067119e-01 2.21691163e-01 9.85607035e-03 2.67797997e+02] [-2.21680705e-01 9.75116927e-01 -2.15494351e-03 -4.09207426e+01] [-1.00885530e-02 -8.36860616e-05 9.99949106e-01 -3.65015289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.83, Y:-40.93, Z:-3.65 [[ 9.75306115e-01 2.20676296e-01 8.94176177e-03 2.67826763e+02] [-2.20667649e-01 9.75347101e-01 -1.95472101e-03 -4.09272883e+01] [-9.15268201e-03 -6.67061981e-05 9.99958111e-01 -3.65127996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.86, Y:-40.94, Z:-3.65 [[ 9.74997043e-01 2.22105162e-01 7.07548730e-03 2.67855482e+02] [-2.22099786e-01 9.75022714e-01 -1.54663461e-03 -4.09350572e+01] [-7.24227636e-03 -6.35000426e-05 9.99973772e-01 -3.65184784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.88, Y:-40.94, Z:-3.65 [[ 9.74443665e-01 2.24548218e-01 6.13535134e-03 2.67884265e+02] [-2.24544224e-01 9.74462977e-01 -1.34102253e-03 -4.09424184e+01] [-6.27979695e-03 -7.09068015e-05 9.99980279e-01 -3.65171836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.91, Y:-40.95, Z:-3.65 [[ 9.73043311e-01 2.30545217e-01 5.96803068e-03 2.67912785e+02] [-2.30541552e-01 9.73061607e-01 -1.30432175e-03 -4.09493424e+01] [-6.10796666e-03 -1.06717502e-04 9.99981341e-01 -3.65011919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.94, Y:-40.95, Z:-3.65 [[ 9.72333962e-01 2.33470947e-01 7.61461576e-03 2.67940294e+02] [-2.33465072e-01 9.72363765e-01 -1.66408286e-03 -4.09541077e+01] [-7.79269145e-03 -1.59702536e-04 9.99969624e-01 -3.65034935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.97, Y:-40.96, Z:-3.65 [[ 9.71646743e-01 2.36232102e-01 9.84893478e-03 2.67968944e+02] [-2.36222422e-01 9.71696629e-01 -2.15152354e-03 -4.09584918e+01] [-1.00784356e-02 -2.36018386e-04 9.99949183e-01 -3.65031659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.00, Y:-40.96, Z:-3.65 [[ 9.70707368e-01 2.39934157e-01 1.26018161e-02 2.67998201e+02] [-2.39918630e-01 9.70789100e-01 -2.75215566e-03 -4.09594017e+01] [-1.28940419e-02 -3.51872679e-04 9.99916806e-01 -3.65090045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.03, Y:-40.96, Z:-3.65 [[ 9.69969621e-01 2.43021442e-01 9.97559186e-03 2.68026640e+02] [-2.43011879e-01 9.70020867e-01 -2.17827444e-03 -4.09577812e+01] [-1.02058997e-02 -3.11327290e-04 9.99947870e-01 -3.65094015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.06, Y:-40.96, Z:-3.65 [[ 9.69625672e-01 2.44440587e-01 8.65192510e-03 2.68056012e+02] [-2.44433453e-01 9.69664230e-01 -1.88878683e-03 -4.09598262e+01] [-8.85115846e-03 -2.83403735e-04 9.99960788e-01 -3.65119116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:268.08, Y:-40.96, Z:-3.65 [[ 9.69399136e-01 2.45350850e-01 8.26294791e-03 2.68084353e+02] [-2.45344380e-01 9.69434311e-01 -1.80353699e-03 -4.09612326e+01] [-8.45288454e-03 -2.78920632e-04 9.99964235e-01 -3.65214520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.11, Y:-40.96, Z:-3.65 [[ 9.69543397e-01 2.44743715e-01 9.27980751e-03 2.68113725e+02] [-2.44735533e-01 9.69587757e-01 -2.02485858e-03 -4.09581303e+01] [-9.49315916e-03 -3.07910367e-04 9.99954892e-01 -3.65371953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.14, Y:-40.96, Z:-3.65 [[ 9.69954779e-01 2.43043904e-01 1.08345646e-02 2.68141908e+02] [-2.43032655e-01 9.70015229e-01 -2.36314705e-03 -4.09596609e+01] [-1.10840411e-02 -3.41007213e-04 9.99938512e-01 -3.65361633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.17, Y:-40.96, Z:-3.65 [[ 9.71049214e-01 2.38467578e-01 1.40228094e-02 2.68170682e+02] [-2.38448271e-01 9.71150387e-01 -3.05744648e-03 -4.09570440e+01] [-1.43473586e-02 -3.74783649e-04 9.99897001e-01 -3.65282858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.20, Y:-40.96, Z:-3.65 [[ 9.71673733e-01 2.35911156e-01 1.40029949e-02 2.68199746e+02] [-2.35891653e-01 9.71774569e-01 -3.05213859e-03 -4.09590321e+01] [-1.43277879e-02 -3.37506724e-04 9.99897295e-01 -3.65355751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.23, Y:-40.96, Z:-3.65 [[ 9.72328377e-01 2.33267049e-01 1.28066869e-02 2.68227649e+02] [-2.33250515e-01 9.72412674e-01 -2.79079109e-03 -4.09614517e+01] [-1.31043842e-02 -2.73600942e-04 9.99914096e-01 -3.65464620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.26, Y:-40.96, Z:-3.66 [[ 9.73401660e-01 2.28945102e-01 8.56438510e-03 2.68256209e+02] [-2.28937543e-01 9.73439325e-01 -1.86595973e-03 -4.09637114e+01] [-8.76411159e-03 -1.44380989e-04 9.99961584e-01 -3.65681756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.28, Y:-40.97, Z:-3.66 [[ 9.73875476e-01 2.26954577e-01 7.62736265e-03 2.68283193e+02] [-2.26948523e-01 9.73905338e-01 -1.66154586e-03 -4.09683093e+01] [-7.80542464e-03 -1.12879916e-04 9.99969531e-01 -3.65723408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.31, Y:-40.97, Z:-3.66 [[ 9.74743151e-01 2.23101930e-01 1.00656957e-02 2.68310320e+02] [-2.23091189e-01 9.74795115e-01 -2.19183912e-03 -4.09724444e+01] [-1.03009946e-02 -1.09087867e-04 9.99946937e-01 -3.65507914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.34, Y:-40.98, Z:-3.65 [[ 9.75130050e-01 2.21343001e-01 1.13428797e-02 2.68336641e+02] [-2.21329251e-01 9.75196014e-01 -2.46919552e-03 -4.09777829e+01] [-1.16080702e-02 -1.02724325e-04 9.99932619e-01 -3.65498993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.36, Y:-40.98, Z:-3.66 [[ 9.75415263e-01 2.20063619e-01 1.17076423e-02 2.68363939e+02] [-2.20048895e-01 9.75485518e-01 -2.54731297e-03 -4.09843928e+01] [-1.19812064e-02 -9.15657919e-05 9.99928219e-01 -3.65521978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.39, Y:-40.99, Z:-3.66 [[ 9.75770052e-01 2.18405459e-01 1.31095796e-02 2.68390841e+02] [-2.18386862e-01 9.75858109e-01 -2.85129038e-03 -4.09940301e+01] [-1.34158269e-02 -8.07561811e-05 9.99910000e-01 -3.65647655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.42, Y:-41.00, Z:-3.66 [[ 9.76445020e-01 2.15354899e-01 1.33188135e-02 2.68417975e+02] [-2.15335428e-01 9.76535850e-01 -2.89612856e-03 -4.10044345e+01] [-1.36299943e-02 -4.01020917e-05 9.99907107e-01 -3.65682460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.44, Y:-41.01, Z:-3.66 [[ 9.76946025e-01 2.13091948e-01 1.29725045e-02 2.68444738e+02] [-2.13073286e-01 9.77032150e-01 -2.82017781e-03 -4.10133638e+01] [-1.32755111e-02 -8.93265388e-06 9.99911876e-01 -3.65689199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.47, Y:-41.02, Z:-3.66 [[ 9.77396246e-01 2.11062761e-01 1.22102324e-02 2.68471610e+02] [-2.11046078e-01 9.77472511e-01 -2.65374231e-03 -4.10227657e+01] [-1.24952728e-02 1.68361013e-05 9.99921931e-01 -3.65681082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.50, Y:-41.03, Z:-3.66 [[ 9.77711191e-01 2.09637565e-01 1.15290213e-02 2.68499256e+02] [-2.09622601e-01 9.77779162e-01 -2.50496436e-03 -4.10321250e+01] [-1.17979714e-02 3.23882585e-05 9.99930401e-01 -3.65706617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.53, Y:-41.04, Z:-3.66 [[ 9.78194886e-01 2.07444221e-01 1.00826955e-02 2.68527186e+02] [-2.07432664e-01 9.78246847e-01 -2.19025285e-03 -4.10430343e+01] [-1.03177204e-02 5.10137453e-05 9.99946770e-01 -3.65871560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.55, Y:-41.05, Z:-3.66 [[ 9.78638489e-01 2.05384356e-01 9.16378431e-03 2.68553865e+02] [-2.05374721e-01 9.78681389e-01 -1.99044791e-03 -4.10543875e+01] [-9.37723203e-03 6.59192883e-05 9.99956031e-01 -3.66080390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.58, Y:-41.06, Z:-3.66 [[ 9.78770860e-01 2.04778931e-01 8.55523813e-03 2.68581621e+02] [-2.04770513e-01 9.78808247e-01 -1.85806381e-03 -4.10636564e+01] [-8.75442996e-03 6.67582217e-05 9.99961677e-01 -3.66087344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.61, Y:-41.07, Z:-3.66 [[ 9.78871940e-01 2.04317541e-01 8.00416387e-03 2.68609602e+02] [-2.04310159e-01 9.78904662e-01 -1.73806126e-03 -4.10725182e+01] [-8.19042973e-03 6.60074001e-05 9.99966456e-01 -3.66095358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.64, Y:-41.08, Z:-3.66 [[ 9.78980013e-01 2.03754407e-01 9.07066104e-03 2.68636897e+02] [-2.03744904e-01 9.79022030e-01 -1.96942377e-03 -4.10827768e+01] [-9.28165575e-03 7.99255378e-05 9.99956921e-01 -3.65973367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.67, Y:-41.09, Z:-3.66 [[ 9.78919569e-01 2.03974633e-01 1.05274172e-02 2.68666048e+02] [-2.03961851e-01 9.78976170e-01 -2.28524301e-03 -4.10903878e+01] [-1.07722222e-02 8.98775934e-05 9.99941974e-01 -3.65994937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.69, Y:-41.10, Z:-3.66 [[ 9.78554440e-01 2.05616760e-01 1.23675093e-02 2.68694380e+02] [-2.05599255e-01 9.78632587e-01 -2.68433865e-03 -4.10975013e+01] [-1.26551926e-02 8.40208190e-05 9.99919916e-01 -3.65969235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.72, Y:-41.10, Z:-3.66 [[ 9.78431630e-01 2.06203958e-01 1.23074217e-02 2.68723252e+02] [-2.06186672e-01 9.78509030e-01 -2.67100304e-03 -4.11029875e+01] [-1.25936947e-02 7.57675372e-05 9.99920693e-01 -3.66065530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.75, Y:-41.11, Z:-3.66 [[ 9.78259537e-01 2.07084779e-01 1.11432691e-02 2.68752435e+02] [-2.07070668e-01 9.78322999e-01 -2.41809541e-03 -4.11091942e+01] [-1.14024672e-02 5.80807141e-05 9.99934988e-01 -3.66193235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.78, Y:-41.12, Z:-3.66 [[ 9.78289135e-01 2.07071087e-01 8.48132131e-03 2.68781262e+02] [-2.07062913e-01 9.78325898e-01 -1.84042875e-03 -4.11174408e+01] [-8.67859587e-03 4.43043470e-05 9.99962339e-01 -3.66361472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.81, Y:-41.13, Z:-3.66 [[ 9.78668999e-01 2.05272033e-01 8.38940141e-03 2.68808910e+02] [-2.05263971e-01 9.78704955e-01 -1.82023283e-03 -4.11273444e+01] [-8.58439162e-03 5.93635883e-05 9.99963152e-01 -3.66258380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.84, Y:-41.14, Z:-3.66 [[ 9.78921793e-01 2.03997464e-01 9.85690709e-03 2.68839176e+02] [-2.03986273e-01 9.78971413e-01 -2.13840260e-03 -4.11356028e+01] [-1.00858590e-02 8.26551692e-05 9.99949133e-01 -3.66188691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.87, Y:-41.14, Z:-3.66 [[ 9.79124736e-01 2.02909932e-01 1.19293977e-02 2.68869569e+02] [-2.02893454e-01 9.79197399e-01 -2.58838043e-03 -4.11439220e+01] [-1.22064433e-02 1.13950595e-04 9.99925492e-01 -3.66186237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.90, Y:-41.15, Z:-3.66 [[ 9.79085417e-01 2.02904609e-01 1.48817647e-02 2.68898496e+02] [-2.02878958e-01 9.79198498e-01 -3.22938104e-03 -4.11542121e+01] [-1.52274580e-02 1.42642962e-04 9.99884045e-01 -3.66175335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.93, Y:-41.16, Z:-3.66 [[ 9.78642137e-01 2.05021674e-01 1.50226863e-02 2.68929422e+02] [-2.04995782e-01 9.78757427e-01 -3.26018188e-03 -4.11617812e+01] [-1.53719737e-02 1.10964045e-04 9.99881838e-01 -3.66143621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.96, Y:-41.17, Z:-3.66 [[ 9.77059548e-01 2.12555528e-01 1.32207451e-02 2.68960666e+02] [-2.12536159e-01 9.77148989e-01 -2.86941268e-03 -4.11660791e+01] [-1.35285472e-02 -6.29932574e-06 9.99908485e-01 -3.66232023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.99, Y:-41.17, Z:-3.66 [[ 9.76163501e-01 2.16751665e-01 1.11146435e-02 2.68990467e+02] [-2.16738245e-01 9.76226773e-01 -2.41255314e-03 -4.11710273e+01] [-1.13733375e-02 -5.39220115e-05 9.99935320e-01 -3.66340275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:269.02, Y:-41.18, Z:-3.66 [[ 9.75415430e-01 2.20173982e-01 9.38921638e-03 2.69019024e+02] [-2.20164561e-01 9.75460615e-01 -2.03826105e-03 -4.11760207e+01] [-9.60758284e-03 -7.90214238e-05 9.99953843e-01 -3.66453696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.05, Y:-41.18, Z:-3.66 [[ 9.74509496e-01 2.24166810e-01 8.97130699e-03 2.69047896e+02] [-2.24158381e-01 9.74550783e-01 -1.94726195e-03 -4.11797019e+01] [-9.17950575e-03 -1.13368382e-04 9.99957861e-01 -3.66446624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.08, Y:-41.18, Z:-3.66 [[ 9.74316195e-01 2.24971674e-01 9.78248875e-03 2.69077636e+02] [-2.24961698e-01 9.74365295e-01 -2.12277191e-03 -4.11837333e+01] [-1.00092811e-02 -1.32434232e-04 9.99949897e-01 -3.66467239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.11, Y:-41.19, Z:-3.67 [[ 9.74564176e-01 2.23819678e-01 1.13762010e-02 2.69106494e+02] [-2.23806112e-01 9.74630562e-01 -2.46828223e-03 -4.11853156e+01] [-1.16400433e-02 -1.40563887e-04 9.99932243e-01 -3.66514414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.14, Y:-41.19, Z:-3.67 [[ 9.75083847e-01 2.21503739e-01 1.21484567e-02 2.69136294e+02] [-2.21488094e-01 9.75159515e-01 -2.63535992e-03 -4.11895580e+01] [-1.24304252e-02 -1.21041631e-04 9.99922732e-01 -3.66588692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.16, Y:-41.19, Z:-3.67 [[ 9.76903884e-01 2.13348306e-01 1.18870615e-02 2.69164987e+02] [-2.13332726e-01 9.76976202e-01 -2.57837337e-03 -4.11916314e+01] [-1.21634678e-02 -1.70762603e-05 9.99926022e-01 -3.66749975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.19, Y:-41.20, Z:-3.67 [[ 9.76911288e-01 2.13314397e-01 1.18871516e-02 2.69193670e+02] [-2.13298820e-01 9.76983607e-01 -2.57795763e-03 -4.11977641e+01] [-1.21634677e-02 -1.70795035e-05 9.99926022e-01 -3.66786458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.22, Y:-41.20, Z:-3.67 [[ 9.77842446e-01 2.09027901e-01 1.14668329e-02 2.69223232e+02] [-2.09013116e-01 9.77909676e-01 -2.48639395e-03 -4.12036656e+01] [-1.17332526e-02 3.45830709e-05 9.99931162e-01 -3.66895593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.25, Y:-41.21, Z:-3.67 [[ 9.78713727e-01 2.04947491e-01 1.07687785e-02 2.69252336e+02] [-2.04934206e-01 9.78772966e-01 -2.33479010e-03 -4.12112674e+01] [-1.10186986e-02 7.82000517e-05 9.99939289e-01 -3.66960707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.28, Y:-41.22, Z:-3.67 [[ 9.80507828e-01 1.96197319e-01 1.05361504e-02 2.69280506e+02] [-1.96184099e-01 9.80564420e-01 -2.28404602e-03 -4.12222337e+01] [-1.07794979e-02 1.72499825e-04 9.99941885e-01 -3.66992888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.31, Y:-41.23, Z:-3.67 [[ 9.81353001e-01 1.91922579e-01 1.05835021e-02 2.69309847e+02] [-1.91908990e-01 9.81410044e-01 -2.29443989e-03 -4.12304853e+01] [-1.08271101e-02 2.20586262e-04 9.99941361e-01 -3.66996723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.34, Y:-41.24, Z:-3.67 [[ 9.82603217e-01 1.85374279e-01 1.12824579e-02 2.69340274e+02] [-1.85358404e-01 9.82667939e-01 -2.44597898e-03 -4.12414930e+01] [-1.15403313e-02 3.12128418e-04 9.99933359e-01 -3.67082444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.37, Y:-41.25, Z:-3.67 [[ 9.82936520e-01 1.83595835e-01 1.13299333e-02 2.69370833e+02] [-1.83579686e-01 9.83001758e-01 -2.45816427e-03 -4.12519851e+01] [-1.15886531e-02 3.36273833e-04 9.99932793e-01 -3.67095817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.40, Y:-41.27, Z:-3.67 [[ 9.82993495e-01 1.83230062e-01 1.22692388e-02 2.69400133e+02] [-1.83211068e-01 9.83069991e-01 -2.66415725e-03 -4.12658459e+01] [-1.25496741e-02 3.70988908e-04 9.99921181e-01 -3.67122877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.43, Y:-41.28, Z:-3.67 [[ 9.82741511e-01 1.84582494e-01 1.21830186e-02 2.69431969e+02] [-1.84563843e-01 9.82816961e-01 -2.64757758e-03 -4.12752877e+01] [-1.24623737e-02 3.53339666e-04 9.99922279e-01 -3.67200864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.46, Y:-41.29, Z:-3.67 [[ 9.81736546e-01 1.89956837e-01 1.04763681e-02 2.69460833e+02] [-1.89943333e-01 9.81792411e-01 -2.27838130e-03 -4.12868706e+01] [-1.07184128e-02 2.46853916e-04 9.99942526e-01 -3.67401271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.49, Y:-41.30, Z:-3.67 [[ 9.81142474e-01 1.93069454e-01 9.14499487e-03 2.69490892e+02] [-1.93059284e-01 9.81185075e-01 -1.99046431e-03 -4.12968303e+01] [-9.35723033e-03 1.87402915e-04 9.99956203e-01 -3.67387914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:269.52, Y:-41.31, Z:-3.67 [[ 9.80512813e-01 1.96260960e-01 8.73259391e-03 2.69520367e+02] [-1.96251814e-01 9.80551688e-01 -1.90058915e-03 -4.13060997e+01] [-8.93577116e-03 1.49764617e-04 9.99960064e-01 -3.67391203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.55, Y:-41.31, Z:-3.67 [[ 9.79269799e-01 2.02327660e-01 9.70453123e-03 2.69549571e+02] [-2.02316643e-01 9.79317878e-01 -2.11415284e-03 -4.13142147e+01] [-9.93157253e-03 1.06937845e-04 9.99950675e-01 -3.67310909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.58, Y:-41.32, Z:-3.67 [[ 9.78571397e-01 2.05599667e-01 1.12604432e-02 2.69579288e+02] [-2.05585048e-01 9.78636178e-01 -2.45327413e-03 -4.13201733e+01] [-1.15242694e-02 8.57251409e-05 9.99933590e-01 -3.67369796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.61, Y:-41.32, Z:-3.67 [[ 9.77096712e-01 2.12410514e-01 1.27979678e-02 2.69608183e+02] [-2.12392214e-01 9.77180522e-01 -2.78823469e-03 -4.13248263e+01] [-1.30981752e-02 6.18623147e-06 9.99914215e-01 -3.67347132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.64, Y:-41.33, Z:-3.67 [[ 9.76431526e-01 2.15504358e-01 1.18045322e-02 2.69638467e+02] [-2.15489017e-01 9.76502878e-01 -2.57154437e-03 -4.13297980e+01] [-1.20813386e-02 -3.28100328e-05 9.99927017e-01 -3.67427144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.67, Y:-41.33, Z:-3.68 [[ 9.75146430e-01 2.21374162e-01 9.10605514e-03 2.69669947e+02] [-2.21365289e-01 9.75188943e-01 -1.98369783e-03 -4.13294631e+01] [-9.31926373e-03 -8.13686646e-05 9.99956571e-01 -3.67634741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.70, Y:-41.33, Z:-3.68 [[ 9.74617586e-01 2.23712122e-01 8.57012363e-03 2.69700075e+02] [-2.23704353e-01 9.74655261e-01 -1.86694847e-03 -4.13322705e+01] [-8.77057509e-03 -9.76131503e-05 9.99961533e-01 -3.67645412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.73, Y:-41.34, Z:-3.68 [[ 9.74222662e-01 2.25432206e-01 8.39791948e-03 2.69729600e+02] [-2.25424809e-01 9.74258851e-01 -1.82952797e-03 -4.13359296e+01] [-8.59418190e-03 -1.10731783e-04 9.99963063e-01 -3.67659575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.76, Y:-41.34, Z:-3.68 [[ 9.74130971e-01 2.25821812e-01 8.56501937e-03 2.69760196e+02] [-2.25814135e-01 9.74168618e-01 -1.86571343e-03 -4.13355134e+01] [-8.76509187e-03 -1.16653210e-04 9.99961579e-01 -3.67609406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.79, Y:-41.34, Z:-3.68 [[ 9.74330121e-01 2.24940999e-01 9.07535150e-03 2.69789604e+02] [-2.24932344e-01 9.74372379e-01 -1.97664563e-03 -4.13371210e+01] [-9.28740047e-03 -1.15434704e-04 9.99956865e-01 -3.67710562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.82, Y:-41.34, Z:-3.68 [[ 9.75257019e-01 2.20825733e-01 1.04758165e-02 2.69818263e+02] [-2.20813966e-01 9.75313277e-01 -2.28137433e-03 -4.13372476e+01] [-1.07209891e-02 -8.82802635e-05 9.99942525e-01 -3.67887328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.85, Y:-41.34, Z:-3.68 [[ 9.75958144e-01 2.17725576e-01 1.00635461e-02 2.69846906e+02] [-2.17714558e-01 9.76010026e-01 -2.19100333e-03 -4.13422827e+01] [-1.02991594e-02 -5.26529663e-05 9.99946961e-01 -3.67914976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.87, Y:-41.35, Z:-3.68 [[ 9.76670858e-01 2.14551963e-01 9.02720273e-03 2.69874763e+02] [-2.14542965e-01 9.76712575e-01 -1.96503958e-03 -4.13466993e+01] [-9.23858553e-03 -1.75259427e-05 9.99957323e-01 -3.67968022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.90, Y:-41.35, Z:-3.68 [[ 9.77691412e-01 2.09942043e-01 6.62133842e-03 2.69904276e+02] [-2.09937099e-01 9.77713833e-01 -1.44093748e-03 -4.13483587e+01] [-6.77628752e-03 1.87276200e-05 9.99977041e-01 -3.67932978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.93, Y:-41.35, Z:-3.68 [[ 9.78037418e-01 2.08318708e-01 6.79146177e-03 2.69932472e+02] [-2.08313468e-01 9.78060998e-01 -1.47791734e-03 -4.13529708e+01] [-6.95034170e-03 3.07055049e-05 9.99975846e-01 -3.67952298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.96, Y:-41.36, Z:-3.68 [[ 9.78715559e-01 2.04995766e-01 9.62240691e-03 2.69959970e+02] [-2.04985092e-01 9.78762857e-01 -2.09328219e-03 -4.13580583e+01] [-9.84716847e-03 7.62778849e-05 9.99951513e-01 -3.67886450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.99, Y:-41.36, Z:-3.68 [[ 9.79078650e-01 2.03195329e-01 1.08006639e-02 2.69989285e+02] [-2.03181781e-01 9.79138217e-01 -2.34880459e-03 -4.13646675e+01] [-1.10526090e-02 1.05166293e-04 9.99938913e-01 -3.67947134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.02, Y:-41.37, Z:-3.68 [[ 9.80025773e-01 1.98534971e-01 1.15477323e-02 2.70017746e+02] [-1.98519163e-01 9.80093790e-01 -2.51096707e-03 -4.13743633e+01] [-1.18163755e-02 1.68366287e-04 9.99930170e-01 -3.68089464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.05, Y:-41.38, Z:-3.68 [[ 9.80573816e-01 1.95845365e-01 1.09354829e-02 2.70046573e+02] [-1.95831025e-01 9.80634772e-01 -2.37755890e-03 -4.13835735e+01] [-1.11893487e-02 1.89865176e-04 9.99937379e-01 -3.68128858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.08, Y:-41.40, Z:-3.68 [[ 9.81192374e-01 1.92761469e-01 1.02245340e-02 2.70075699e+02] [-1.92748766e-01 9.81245623e-01 -2.22293928e-03 -4.13971761e+01] [-1.04612763e-02 2.10364756e-04 9.99945257e-01 -3.68086910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.11, Y:-41.41, Z:-3.68 [[ 9.81245990e-01 1.92495638e-01 1.00864806e-02 2.70105789e+02] [-1.92483259e-01 9.81297807e-01 -2.19316797e-03 -4.14067149e+01] [-1.03200165e-02 2.10558628e-04 9.99946725e-01 -3.68060198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.13, Y:-41.42, Z:-3.68 [[ 9.81062840e-01 1.93428723e-01 1.00515019e-02 2.70134729e+02] [-1.93416475e-01 9.81114310e-01 -2.18583346e-03 -4.14158389e+01] [-1.02844753e-02 2.00313924e-04 9.99947093e-01 -3.68078285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.16, Y:-41.43, Z:-3.68 [[ 9.80221690e-01 1.97682742e-01 9.32590973e-03 2.70164707e+02] [-1.97672391e-01 9.80266042e-01 -2.02810997e-03 -4.14270472e+01] [-9.54279495e-03 1.44522511e-04 9.99954456e-01 -3.68088029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.19, Y:-41.44, Z:-3.68 [[ 9.79639241e-01 2.00572283e-01 8.81568142e-03 2.70194008e+02] [-2.00563148e-01 9.79678900e-01 -1.91739796e-03 -4.14351342e+01] [-9.02111397e-03 1.10257468e-04 9.99959303e-01 -3.68109829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.22, Y:-41.44, Z:-3.68 [[ 9.78380026e-01 2.06660656e-01 7.99366206e-03 2.70222739e+02] [-2.06653348e-01 9.78412679e-01 -1.73874816e-03 -4.14446072e+01] [-8.18043115e-03 4.92394434e-05 9.99966539e-01 -3.68143057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.25, Y:-41.45, Z:-3.68 [[ 9.77894984e-01 2.08968821e-01 7.30973119e-03 2.70251727e+02] [-2.08962774e-01 9.77922303e-01 -1.58992255e-03 -4.14526938e+01] [-7.48059341e-03 2.73155806e-05 9.99972020e-01 -3.68182674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.28, Y:-41.46, Z:-3.68 [[ 9.77554932e-01 2.10550670e-01 7.40068881e-03 2.70281349e+02] [-2.10544516e-01 9.77582945e-01 -1.60985844e-03 -4.14607665e+01] [-7.57374394e-03 1.55506134e-05 9.99971319e-01 -3.68171972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.31, Y:-41.47, Z:-3.68 [[ 9.77552131e-01 2.10529432e-01 8.31804252e-03 2.70311881e+02] [-2.10521658e-01 9.77587519e-01 -1.80931173e-03 -4.14674786e+01] [-8.51252793e-03 1.75684386e-05 9.99963768e-01 -3.68231356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.34, Y:-41.47, Z:-3.68 [[ 9.77366430e-01 2.11373171e-01 8.73177140e-03 2.70341470e+02] [-2.11364636e-01 9.77405434e-01 -1.89958432e-03 -4.14744453e+01] [-8.93600198e-03 1.10022660e-05 9.99960073e-01 -3.68304640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.37, Y:-41.48, Z:-3.68 [[ 9.76637502e-01 2.14784894e-01 6.82931712e-03 2.70371084e+02] [-2.14779755e-01 9.76661379e-01 -1.48576197e-03 -4.14823531e+01] [-6.98904950e-03 -1.57482001e-05 9.99975576e-01 -3.68496685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.40, Y:-41.49, Z:-3.69 [[ 9.75723885e-01 2.18943581e-01 5.15839711e-03 2.70399712e+02] [-2.18940706e-01 9.75737520e-01 -1.12260649e-03 -4.14867616e+01] [-5.27902909e-03 -3.40291338e-05 9.99986065e-01 -3.68525849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.43, Y:-41.49, Z:-3.68 [[ 9.75236679e-01 2.21093925e-01 5.55852781e-03 2.70429203e+02] [-2.21090623e-01 9.75252518e-01 -1.20937394e-03 -4.14907864e+01] [-5.68835348e-03 -4.95125489e-05 9.99983820e-01 -3.68460974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.46, Y:-41.50, Z:-3.68 [[ 9.74808892e-01 2.22942223e-01 6.66251439e-03 2.70459051e+02] [-2.22937523e-01 9.74831657e-01 -1.44935682e-03 -4.14952327e+01] [-6.81795278e-03 -7.24785462e-05 9.99976755e-01 -3.68472871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.49, Y:-41.50, Z:-3.68 [[ 9.74369448e-01 2.24759387e-01 9.34861763e-03 2.70488259e+02] [-2.24750221e-01 9.74414288e-01 -2.03336454e-03 -4.14975657e+01] [-9.56644435e-03 -1.19855587e-04 9.99954233e-01 -3.68464561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:270.52, Y:-41.50, Z:-3.69 [[ 9.74200181e-01 2.25471754e-01 9.82323880e-03 2.70517250e+02] [-2.25461674e-01 9.74249696e-01 -2.13617421e-03 -4.15019517e+01] [-1.00519344e-02 -1.33702558e-04 9.99949469e-01 -3.68585714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:270.55, Y:-41.50, Z:-3.69 [[ 9.74016766e-01 2.26371655e-01 6.87116930e-03 2.70546228e+02] [-2.26366746e-01 9.74040997e-01 -1.49415211e-03 -4.15044263e+01] [-7.03103428e-03 -1.00075032e-04 9.99975277e-01 -3.68802659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:270.57, Y:-41.51, Z:-3.69 [[ 9.74119676e-01 2.25980547e-01 4.86298770e-03 2.70574370e+02] [-2.25978083e-01 9.74131812e-01 -1.05757927e-03 -4.15091801e+01] [-4.97618336e-03 -6.87198639e-05 9.99987616e-01 -3.68940400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:270.60, Y:-41.51, Z:-3.69 [[ 9.74453428e-01 2.24559366e-01 3.68886022e-03 2.70603065e+02] [-2.24557938e-01 9.74460409e-01 -8.02202517e-04 -4.15142770e+01] [-3.77479033e-03 -4.66538538e-05 9.99992874e-01 -3.69016112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.63, Y:-41.52, Z:-3.69 [[ 9.75344183e-01 2.20663451e-01 3.37134121e-03 2.70630670e+02] [-2.20662235e-01 9.75350009e-01 -7.33146519e-04 -4.15190469e+01] [-3.45001633e-03 -2.88574935e-05 9.99994048e-01 -3.69017644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:270.66, Y:-41.53, Z:-3.69 [[ 9.76150589e-01 2.17050294e-01 4.38143983e-03 2.70659217e+02] [-2.17048206e-01 9.76160422e-01 -9.52222577e-04 -4.15252610e+01] [-4.48366834e-03 -2.14710261e-05 9.99989948e-01 -3.69011649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:270.69, Y:-41.53, Z:-3.69 [[ 9.76207546e-01 2.16772182e-01 5.35245106e-03 2.70688511e+02] [-2.16769065e-01 9.76222219e-01 -1.16269658e-03 -4.15313350e+01] [-5.47722192e-03 -2.52126338e-05 9.99985000e-01 -3.69049051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:270.72, Y:-41.54, Z:-3.69 [[ 9.76017517e-01 2.17623589e-01 5.45707577e-03 2.70717352e+02] [-2.17620363e-01 9.76032772e-01 -1.18544837e-03 -4.15366333e+01] [-5.58426632e-03 -3.05524358e-05 9.99984407e-01 -3.69035854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.75, Y:-41.54, Z:-3.69 [[ 9.75169889e-01 2.21407691e-01 4.72460533e-03 2.70746039e+02] [-2.21405317e-01 9.75181333e-01 -1.02626654e-03 -4.15377823e+01] [-4.83457023e-03 -4.52685158e-05 9.99988312e-01 -3.69042430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:270.77, Y:-41.54, Z:-3.69 [[ 9.74552666e-01 2.24106511e-01 4.83465721e-03 2.70774500e+02] [-2.24104060e-01 9.74564656e-01 -1.04975880e-03 -4.15416013e+01] [-4.94694382e-03 -6.04210733e-05 9.99987762e-01 -3.69089546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:270.80, Y:-41.54, Z:-3.69 [[ 9.73426121e-01 2.28934952e-01 5.51130233e-03 2.70803221e+02] [-2.28931847e-01 9.73441718e-01 -1.19633425e-03 -4.15449871e+01] [-5.63881433e-03 -9.71696157e-05 9.99984097e-01 -3.69121568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7857692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:270.83, Y:-41.55, Z:-3.69 [[ 9.73192359e-01 2.29941770e-01 4.83888403e-03 2.70830539e+02] [-2.29939389e-01 9.73204385e-01 -1.05033135e-03 -4.15490126e+01] [-4.95073820e-03 -9.04755915e-05 9.99987741e-01 -3.69154132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81576923100005 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:270.86, Y:-41.55, Z:-3.69 [[ 9.73281968e-01 2.29570199e-01 4.44243378e-03 2.70858599e+02] [-2.29568190e-01 9.73292103e-01 -9.64007922e-04 -4.15524172e+01] [-4.54509320e-03 -8.15899533e-05 9.99989668e-01 -3.69213536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8457692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:270.89, Y:-41.55, Z:-3.69 [[ 9.74102738e-01 2.26024404e-01 6.06833454e-03 2.70886350e+02] [-2.26020589e-01 9.74121636e-01 -1.31626729e-03 -4.15548201e+01] [-6.20880449e-03 -8.93889805e-05 9.99980721e-01 -3.69151062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:270.91, Y:-41.56, Z:-3.69 [[ 9.74689965e-01 2.23442952e-01 7.26074386e-03 2.70913564e+02] [-2.23437424e-01 9.74717005e-01 -1.57416803e-03 -4.15598764e+01] [-7.42890726e-03 -8.79961194e-05 9.99972401e-01 -3.69125884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.905769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:270.94, Y:-41.57, Z:-3.69 [[ 9.75919376e-01 2.17977757e-01 8.18956659e-03 2.70941652e+02] [-2.17970537e-01 9.75953736e-01 -1.77483441e-03 -4.15658475e+01] [-8.37951254e-03 -5.29889420e-05 9.99964890e-01 -3.69207544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:270.97, Y:-41.57, Z:-3.69 [[ 9.76547681e-01 2.15198430e-01 6.65297657e-03 2.70969928e+02] [-2.15193602e-01 9.76570343e-01 -1.44162402e-03 -4.15723812e+01] [-6.80733483e-03 -2.38633977e-05 9.99976830e-01 -3.69339496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.965769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:271.00, Y:-41.58, Z:-3.69 [[ 9.77469934e-01 2.11037338e-01 3.97124484e-03 2.70996634e+02] [-2.11035583e-01 9.77478001e-01 -8.60665888e-04 -4.15800930e+01] [-4.06343711e-03 3.20105584e-06 9.99991744e-01 -3.69461991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:271.03, Y:-41.59, Z:-3.69 [[ 9.77477118e-01 2.11004056e-01 3.97133715e-03 2.71025320e+02] [-2.11002302e-01 9.77485186e-01 -8.60239624e-04 -4.15862148e+01] [-4.06343728e-03 2.90326607e-06 9.99991744e-01 -3.69498472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.025769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:271.05, Y:-41.59, Z:-3.70 [[ 9.77767214e-01 2.09659053e-01 3.78892550e-03 2.71053350e+02] [-2.09657446e-01 9.77774556e-01 -8.20725758e-04 -4.15946290e+01] [-3.87678753e-03 8.10229318e-06 9.99992485e-01 -3.69510446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:271.08, Y:-41.61, Z:-3.69 [[ 9.78375707e-01 2.06769497e-01 5.22988164e-03 2.71079026e+02] [-2.06766397e-01 9.78389684e-01 -1.13245041e-03 -4.16067545e+01] [-5.35101845e-03 2.65981813e-05 9.99985683e-01 -3.69495369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08576923100003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:271.11, Y:-41.62, Z:-3.69 [[ 9.78618008e-01 2.05614742e-01 5.41957654e-03 2.71106909e+02] [-2.05611398e-01 9.78633014e-01 -1.17308384e-03 -4.16157241e+01] [-5.54497985e-03 3.36742609e-05 9.99984626e-01 -3.69455614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:271.13, Y:-41.63, Z:-3.70 [[ 9.78387480e-01 2.06728071e-01 4.63082669e-03 2.71133323e+02] [-2.06725643e-01 9.78398438e-01 -1.00212491e-03 -4.16269514e+01] [-4.73796095e-03 2.31558444e-05 9.99988776e-01 -3.69555680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:271.16, Y:-41.64, Z:-3.70 [[ 9.78020707e-01 2.08448866e-01 4.95643035e-03 2.71161324e+02] [-2.08446109e-01 9.78033266e-01 -1.07228854e-03 -4.16369779e+01] [-5.07107109e-03 1.55717740e-05 9.99987142e-01 -3.69531889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17576923100006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:271.19, Y:-41.65, Z:-3.69 [[ 9.77511463e-01 2.10788194e-01 6.29901328e-03 2.71188019e+02] [-2.10783790e-01 9.77531758e-01 -1.36258448e-03 -4.16474578e+01] [-6.44470224e-03 4.21205739e-06 9.99979233e-01 -3.69436068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:271.22, Y:-41.66, Z:-3.69 [[ 9.76420974e-01 2.15643218e-01 1.00041644e-02 2.71215243e+02] [-2.15632370e-01 9.76472222e-01 -2.16343005e-03 -4.16611376e+01] [-1.02353177e-02 -4.48032047e-05 9.99947617e-01 -3.69233621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23576923100006 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:271.24, Y:-41.67, Z:-3.69 [[ 9.75829205e-01 2.18293748e-01 1.02567969e-02 2.71243607e+02] [-2.18282494e-01 9.75883105e-01 -2.21781283e-03 -4.16692338e+01] [-1.04935694e-02 -7.46726725e-05 9.99944938e-01 -3.69287823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26576923100004 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:271.27, Y:-41.68, Z:-3.69 [[ 9.74483206e-01 2.24362515e-01 6.62900760e-03 2.71271573e+02] [-2.24357954e-01 9.74505749e-01 -1.43334291e-03 -4.16773070e+01] [-6.78159443e-03 -9.05019859e-05 9.99977001e-01 -3.69499484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:271.30, Y:-41.68, Z:-3.70 [[ 9.73765739e-01 2.27507041e-01 4.56419159e-03 2.71299782e+02] [-2.27504913e-01 9.73776433e-01 -9.87013355e-04 -4.16840036e+01] [-4.66905469e-03 -7.72562188e-05 9.99989097e-01 -3.69593296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32576923100004 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:271.33, Y:-41.69, Z:-3.70 [[ 9.73075272e-01 2.30467827e-01 3.01589392e-03 2.71327661e+02] [-2.30466912e-01 9.73079944e-01 -6.52240432e-04 -4.16899068e+01] [-3.08502632e-03 -6.03847223e-05 9.99995239e-01 -3.69630740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:271.36, Y:-41.69, Z:-3.70 [[ 9.72144093e-01 2.34358053e-01 3.48776341e-03 2.71355956e+02] [-2.34356855e-01 9.72150346e-01 -7.54039057e-04 -4.16933173e+01] [-3.56734554e-03 -8.43466500e-05 9.99993633e-01 -3.69547625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38576923100004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:271.39, Y:-41.70, Z:-3.70 [[ 9.71980673e-01 2.35015517e-01 4.61271832e-03 2.71385076e+02] [-2.35013432e-01 9.71991612e-01 -9.96700035e-04 -4.16986174e+01] [-4.71776349e-03 -1.15277593e-04 9.99988865e-01 -3.69558657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41576923100007 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:271.41, Y:-41.70, Z:-3.69 [[ 9.71755910e-01 2.35899697e-01 6.46406687e-03 2.71413105e+02] [-2.35895623e-01 9.71777395e-01 -1.39647094e-03 -4.17029528e+01] [-6.61106114e-03 -1.67816190e-04 9.99978133e-01 -3.69429218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:271.44, Y:-41.71, Z:-3.69 [[ 9.71830987e-01 2.35566173e-01 7.28770923e-03 2.71440939e+02] [-2.35560986e-01 9.71858294e-01 -1.57431211e-03 -4.17066182e+01] [-7.45347534e-03 -1.86734678e-04 9.99972205e-01 -3.69465790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.4757692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:271.47, Y:-41.71, Z:-3.70 [[ 9.72287969e-01 2.33645779e-01 8.10893089e-03 2.71468818e+02] [-2.33639295e-01 9.72321764e-01 -1.75114790e-03 -4.17072157e+01] [-8.29363831e-03 -1.91944859e-04 9.99965589e-01 -3.69616107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:271.50, Y:-41.71, Z:-3.70 [[ 9.72812432e-01 2.31468920e-01 7.62305847e-03 2.71497705e+02] [-2.31463127e-01 9.72842286e-01 -1.64565499e-03 -4.17116247e+01] [-7.79695161e-03 -1.63543317e-04 9.99969590e-01 -3.69710054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5357692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:271.53, Y:-41.72, Z:-3.70 [[ 9.73516093e-01 2.28524252e-01 6.56383271e-03 2.71526429e+02] [-2.28519891e-01 9.73538213e-01 -1.41693918e-03 -4.17163342e+01] [-6.71394693e-03 -1.20553238e-04 9.99977454e-01 -3.69771171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:271.56, Y:-41.72, Z:-3.70 [[ 9.74826345e-01 2.22908746e-01 5.02881549e-03 2.71555784e+02] [-2.22906112e-01 9.74839313e-01 -1.08540285e-03 -4.17202288e+01] [-5.14423282e-03 -6.28744210e-05 9.99986766e-01 -3.69708896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5957692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:271.59, Y:-41.73, Z:-3.70 [[ 9.75318469e-01 2.20740795e-01 5.23313343e-03 2.71585096e+02] [-2.20737913e-01 9.75332507e-01 -1.12936871e-03 -4.17256211e+01] [-5.35334289e-03 -5.36567852e-05 9.99985669e-01 -3.69753348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62576923100005 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:271.61, Y:-41.73, Z:-3.70 [[ 9.76237863e-01 2.16615378e-01 6.11662125e-03 2.71613255e+02] [-2.16611359e-01 9.76257024e-01 -1.31990656e-03 -4.17308042e+01] [-6.25730651e-03 -3.63868823e-05 9.99980422e-01 -3.69720426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.655769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:271.64, Y:-41.74, Z:-3.70 [[ 9.76547284e-01 2.15201339e-01 6.61704424e-03 2.71641449e+02] [-2.15196606e-01 9.76569702e-01 -1.42766878e-03 -4.17357884e+01] [-6.76924116e-03 -2.97793881e-05 9.99977088e-01 -3.69774884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:271.67, Y:-41.74, Z:-3.70 [[ 9.76673815e-01 2.14629810e-01 6.50412517e-03 2.71671099e+02] [-2.14625227e-01 9.76695471e-01 -1.40287281e-03 -4.17412455e+01] [-6.65364792e-03 -2.58002055e-05 9.99977864e-01 -3.69844598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.715769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:271.70, Y:-41.75, Z:-3.70 [[ 9.76573983e-01 2.15081551e-01 6.57135964e-03 2.71699391e+02] [-2.15076884e-01 9.76596091e-01 -1.41721019e-03 -4.17484408e+01] [-6.72237991e-03 -2.93369538e-05 9.99977404e-01 -3.69826594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:271.73, Y:-41.76, Z:-3.70 [[ 9.75884694e-01 2.18208064e-01 5.85703148e-03 2.71727604e+02] [-2.18204412e-01 9.75902269e-01 -1.26319634e-03 -4.17554476e+01] [-5.99152994e-03 -4.52961371e-05 9.99982050e-01 -3.69754625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.775769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:271.76, Y:-41.76, Z:-3.70 [[ 9.75367153e-01 2.20520758e-01 5.43257262e-03 2.71755974e+02] [-2.20517654e-01 9.75382280e-01 -1.17143499e-03 -4.17596759e+01] [-5.55716080e-03 -5.53989598e-05 9.99984557e-01 -3.69806333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:271.78, Y:-41.76, Z:-3.70 [[ 9.74843346e-01 2.22810914e-01 5.97886276e-03 2.71784488e+02] [-2.22807199e-01 9.74861678e-01 -1.28887559e-03 -4.17638281e+01] [-6.11573973e-03 -7.56818763e-05 9.99981296e-01 -3.69842292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.83576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:271.81, Y:-41.77, Z:-3.70 [[ 9.73997587e-01 2.26397140e-01 8.54612029e-03 2.71812120e+02] [-2.26389692e-01 9.74035069e-01 -1.84168779e-03 -4.17699240e+01] [-8.74117372e-03 -1.40954086e-04 9.99961785e-01 -3.69817511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:271.84, Y:-41.78, Z:-3.70 [[ 9.73866796e-01 2.26975366e-01 8.10227078e-03 2.71840404e+02] [-2.26968697e-01 9.73900490e-01 -1.74549062e-03 -4.17770191e+01] [-8.28698885e-03 -1.39086487e-04 9.99965653e-01 -3.69845350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:271.87, Y:-41.78, Z:-3.70 [[ 9.73853269e-01 2.27132217e-01 4.55700902e-03 2.71869118e+02] [-2.27130109e-01 9.73863928e-01 -9.81771051e-04 -4.17807919e+01] [-4.66089854e-03 -7.89330101e-05 9.99989135e-01 -3.69965784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:271.90, Y:-41.78, Z:-3.70 [[ 9.73814350e-01 2.27311724e-01 3.87189821e-03 2.71896204e+02] [-2.27310203e-01 9.73822045e-01 -8.34170817e-04 -4.17849736e+01] [-3.96015664e-03 -6.77944585e-05 9.99992156e-01 -3.70087417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:271.92, Y:-41.79, Z:-3.70 [[ 9.73915128e-01 2.26869524e-01 4.42062933e-03 2.71924507e+02] [-2.26867540e-01 9.73925158e-01 -9.51915258e-04 -4.17903941e+01] [-4.52132268e-03 -7.58126309e-05 9.99989776e-01 -3.70097250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:271.95, Y:-41.80, Z:-3.70 [[ 9.74197808e-01 2.25619600e-01 5.86747131e-03 2.71952004e+02] [-2.25616084e-01 9.74215473e-01 -1.26306881e-03 -4.17973723e+01] [-6.00115442e-03 -9.33170361e-05 9.99981989e-01 -3.69960897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01576923100004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:271.98, Y:-41.80, Z:-3.70 [[ 9.74348933e-01 2.24950821e-01 6.42540934e-03 2.71980166e+02] [-2.24946593e-01 9.74370114e-01 -1.38264782e-03 -4.18030696e+01] [-6.57175459e-03 -9.81925129e-05 9.99978401e-01 -3.69899898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.01, Y:-41.81, Z:-3.70 [[ 9.74340787e-01 2.24942719e-01 7.79764191e-03 2.72007839e+02] [-2.24936495e-01 9.74371982e-01 -1.67748084e-03 -4.18082488e+01] [-7.97514090e-03 -1.19536241e-04 9.99968191e-01 -3.69965652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:272.04, Y:-41.82, Z:-3.70 [[ 9.74291474e-01 2.25118864e-01 8.81028688e-03 2.72035714e+02] [-2.25110933e-01 9.74331298e-01 -1.89465988e-03 -4.18150728e+01] [-9.01066193e-03 -1.37340935e-04 9.99959394e-01 -3.70006114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:272.06, Y:-41.82, Z:-3.70 [[ 9.74675158e-01 2.23392198e-01 1.02108976e-02 2.72064074e+02] [-2.23381457e-01 9.74728632e-01 -2.19524890e-03 -4.18219889e+01] [-1.04432557e-02 -1.41270613e-04 9.99945458e-01 -3.70046420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:272.09, Y:-41.83, Z:-3.70 [[ 9.74932503e-01 2.22295327e-01 9.56045284e-03 2.72092453e+02] [-2.22285859e-01 9.74979371e-01 -2.05522299e-03 -4.18272737e+01] [-9.77811076e-03 -1.21449779e-04 9.99952186e-01 -3.70109386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.12, Y:-41.83, Z:-3.70 [[ 9.75135308e-01 2.21443138e-01 8.60627402e-03 2.72120979e+02] [-2.21435435e-01 9.75173280e-01 -1.84986911e-03 -4.18330593e+01] [-8.80224928e-03 -1.01861343e-04 9.99961254e-01 -3.70273490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19576923100004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:272.15, Y:-41.84, Z:-3.70 [[ 9.75889168e-01 2.18128372e-01 7.76816898e-03 2.72149099e+02] [-2.18121994e-01 9.75920083e-01 -1.66929984e-03 -4.18417268e+01] [-7.94523378e-03 -6.53568739e-05 9.99968434e-01 -3.70328616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2257692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.18, Y:-41.85, Z:-3.70 [[ 9.76423070e-01 2.15686716e-01 8.78804098e-03 2.72176925e+02] [-2.15678456e-01 9.76462615e-01 -1.88824550e-03 -4.18495846e+01] [-8.98846294e-03 -5.16646459e-05 9.99959602e-01 -3.70289339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:272.21, Y:-41.86, Z:-3.70 [[ 9.77282206e-01 2.11686817e-01 1.04010117e-02 2.72206096e+02] [-2.11675026e-01 9.77337552e-01 -2.23432941e-03 -4.18555314e+01] [-1.06382774e-02 -1.80640433e-05 9.99943412e-01 -3.70291890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2857692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.23, Y:-41.86, Z:-3.70 [[ 9.77654124e-01 2.09972905e-01 1.01878564e-02 2.72234122e+02] [-2.09961502e-01 9.77707205e-01 -2.18832687e-03 -4.18606062e+01] [-1.04202299e-02 3.69166950e-07 9.99945708e-01 -3.70429480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:272.26, Y:-41.87, Z:-3.70 [[ 9.77990170e-01 2.08430459e-01 9.59019693e-03 2.72263985e+02] [-2.08420284e-01 9.78037189e-01 -2.05954776e-03 -4.18674777e+01] [-9.80884174e-03 1.54258975e-05 9.99951892e-01 -3.70497758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3457692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:272.29, Y:-41.88, Z:-3.71 [[ 9.78741773e-01 2.04961350e-01 7.44219863e-03 2.72292679e+02] [-2.04955125e-01 9.78770067e-01 -1.59798075e-03 -4.18787439e+01] [-7.61172554e-03 3.86937641e-05 9.99971030e-01 -3.70552829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37576923100005 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:272.32, Y:-41.89, Z:-3.71 [[ 9.79128778e-01 2.03146903e-01 6.17833866e-03 2.72322485e+02] [-2.03142574e-01 9.79148270e-01 -1.32704138e-03 -4.18884139e+01] [-6.31909396e-03 4.42607836e-05 9.99980033e-01 -3.70566319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.405769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:272.35, Y:-41.90, Z:-3.71 [[ 9.79327231e-01 2.02196168e-01 5.90623860e-03 2.72351517e+02] [-2.02192193e-01 9.79345040e-01 -1.26880729e-03 -4.18971166e+01] [-6.04079345e-03 4.83821922e-05 9.99981753e-01 -3.70560885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43576923100005 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:272.38, Y:-41.91, Z:-3.71 [[ 9.78901754e-01 2.04225433e-01 6.58236694e-03 2.72380694e+02] [-2.04220540e-01 9.78923884e-01 -1.41422334e-03 -4.19077298e+01] [-6.73245658e-03 4.01311708e-05 9.99977336e-01 -3.70518317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.465769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:272.41, Y:-41.92, Z:-3.70 [[ 9.78148247e-01 2.07800808e-01 6.69556327e-03 2.72408511e+02] [-2.07795829e-01 9.78171163e-01 -1.43860983e-03 -4.19177105e+01] [-6.84835120e-03 1.58635651e-05 9.99976550e-01 -3.70393474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:272.44, Y:-41.92, Z:-3.70 [[ 9.77780822e-01 2.09504993e-01 7.23343490e-03 2.72438800e+02] [-2.09499230e-01 9.77807577e-01 -1.55389638e-03 -4.19247306e+01] [-7.39845650e-03 3.97103362e-06 9.99972631e-01 -3.70438875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.525769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:272.47, Y:-41.93, Z:-3.70 [[ 9.77375079e-01 2.11359176e-01 8.07794498e-03 2.72468856e+02] [-2.11352052e-01 9.77408460e-01 -1.73541766e-03 -4.19314540e+01] [-8.26224821e-03 -1.11362686e-05 9.99965867e-01 -3.70479929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.50, Y:-41.94, Z:-3.70 [[ 9.76663100e-01 2.14549180e-01 9.89133423e-03 2.72499058e+02] [-2.14538654e-01 9.76713186e-01 -2.12578654e-03 -4.19386385e+01] [-1.01170823e-02 -4.58962534e-05 9.99948820e-01 -3.70487465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:272.53, Y:-41.95, Z:-3.70 [[ 9.76362776e-01 2.15910978e-01 9.90850996e-03 2.72528433e+02] [-2.15900483e-01 9.76413051e-01 -2.12964872e-03 -4.19450733e+01] [-1.01346130e-02 -5.99423497e-05 9.99948642e-01 -3.70440702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.56, Y:-41.95, Z:-3.71 [[ 9.76361575e-01 2.15944235e-01 9.28233613e-03 2.72558627e+02] [-2.15935021e-01 9.76405696e-01 -1.99571226e-03 -4.19499541e+01] [-9.49428843e-03 -5.58446777e-05 9.99954927e-01 -3.70520784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.59, Y:-41.96, Z:-3.71 [[ 9.76647200e-01 2.14665891e-01 8.87705534e-03 2.72589494e+02] [-2.14657411e-01 9.76687541e-01 -1.90849675e-03 -4.19560389e+01] [-9.07979851e-03 -4.15977136e-05 9.99958777e-01 -3.70649055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.62, Y:-41.96, Z:-3.71 [[ 9.77113341e-01 2.12573814e-01 7.86717849e-03 2.72618827e+02] [-2.12567084e-01 9.77145011e-01 -1.69159111e-03 -4.19622484e+01] [-8.04696219e-03 -1.94269472e-05 9.99967622e-01 -3.70772086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:272.65, Y:-41.97, Z:-3.71 [[ 9.78061824e-01 2.08204250e-01 6.78668681e-03 2.72649062e+02] [-2.08199137e-01 9.78085370e-01 -1.45926225e-03 -4.19696940e+01] [-6.94178368e-03 1.42663671e-05 9.99975905e-01 -3.70875696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.68, Y:-41.98, Z:-3.71 [[ 9.78557264e-01 2.05829862e-01 7.72976407e-03 2.72678613e+02] [-2.05823153e-01 9.78587792e-01 -1.66226773e-03 -4.19752865e+01] [-7.90639709e-03 3.56597550e-05 9.99968743e-01 -3.70681981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:272.71, Y:-41.98, Z:-3.71 [[ 9.78426259e-01 2.06397710e-01 9.05770836e-03 2.72709758e+02] [-2.06388519e-01 9.78468182e-01 -1.94810419e-03 -4.19816937e+01] [-9.26476368e-03 3.66692793e-05 9.99957080e-01 -3.70628335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.74, Y:-41.99, Z:-3.71 [[ 9.78127378e-01 2.07750278e-01 1.03273655e-02 2.72739137e+02] [-2.07738402e-01 9.78181896e-01 -2.22149891e-03 -4.19877687e+01] [-1.05635590e-02 2.75184966e-05 9.99944204e-01 -3.70599596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.77, Y:-41.99, Z:-3.71 [[ 9.77307158e-01 2.11554812e-01 1.07369122e-02 2.72769819e+02] [-2.11542204e-01 9.77366135e-01 -2.30971524e-03 -4.19919543e+01] [-1.09825257e-02 -1.40088345e-05 9.99939690e-01 -3.70628363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85576923100007 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:272.80, Y:-42.00, Z:-3.71 [[ 9.76793000e-01 2.13937545e-01 1.03035131e-02 2.72800251e+02] [-2.13926064e-01 9.76847340e-01 -2.21675350e-03 -4.19953465e+01] [-1.05392061e-02 -3.88806955e-05 9.99944460e-01 -3.70731601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:272.83, Y:-42.00, Z:-3.71 [[ 9.75795158e-01 2.18498057e-01 9.07792792e-03 2.72829667e+02] [-2.18489339e-01 9.75837381e-01 -1.95335444e-03 -4.19963378e+01] [-9.28538555e-03 -7.73566699e-05 9.99956887e-01 -3.70853616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:272.86, Y:-42.00, Z:-3.71 [[ 9.75802555e-01 2.18465015e-01 9.07802413e-03 2.72858361e+02] [-2.18456300e-01 9.75844778e-01 -1.95290722e-03 -4.20024223e+01] [-9.28538435e-03 -7.74997036e-05 9.99956887e-01 -3.70890098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:272.89, Y:-42.01, Z:-3.71 [[ 9.75577784e-01 2.19488502e-01 8.53134193e-03 2.72888624e+02] [-2.19480848e-01 9.75615083e-01 -1.83489754e-03 -4.20082964e+01] [-8.72604478e-03 -8.23808874e-05 9.99961924e-01 -3.70930748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.9757692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:272.92, Y:-42.01, Z:-3.71 [[ 9.75803487e-01 2.18491790e-01 8.30013112e-03 2.72917497e+02] [-2.18484509e-01 9.75838784e-01 -1.78511505e-03 -4.20142813e+01] [-8.48962285e-03 -7.15285863e-05 9.99963960e-01 -3.70967804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.95, Y:-42.02, Z:-3.71 [[ 9.77113859e-01 2.12518873e-01 9.17793561e-03 2.72947765e+02] [-2.12509706e-01 9.77156962e-01 -1.97401987e-03 -4.20206334e+01] [-9.38780016e-03 -2.15582163e-05 9.99955933e-01 -3.70986043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.98, Y:-42.03, Z:-3.71 [[ 9.77810382e-01 2.09259934e-01 9.85583406e-03 2.72978284e+02] [-2.09249194e-01 9.77860051e-01 -2.12009242e-03 -4.20278863e+01] [-1.00812768e-02 1.07230489e-05 9.99949183e-01 -3.71098561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:273.01, Y:-42.04, Z:-3.71 [[ 9.78953091e-01 2.03879739e-01 9.15957060e-03 2.73008543e+02] [-2.03870230e-01 9.78995939e-01 -1.97007766e-03 -4.20367419e+01] [-9.36884134e-03 6.12498462e-05 9.99956110e-01 -3.71229650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0957692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:273.04, Y:-42.04, Z:-3.71 [[ 9.79289431e-01 2.02304800e-01 8.06094863e-03 2.73037707e+02] [-2.02297366e-01 9.79322604e-01 -1.73564892e-03 -4.20439842e+01] [-8.24539931e-03 6.89939672e-05 9.99966004e-01 -3.71276886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12576923100005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:273.07, Y:-42.05, Z:-3.71 [[ 9.79356516e-01 2.02023108e-01 6.89046681e-03 2.73066630e+02] [-2.02017668e-01 9.79380753e-01 -1.48374969e-03 -4.20506517e+01] [-7.04814230e-03 6.11238849e-05 9.99975160e-01 -3.71367448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.155769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:273.10, Y:-42.06, Z:-3.71 [[ 9.79038292e-01 2.03615143e-01 4.98963299e-03 2.73096476e+02] [-2.03612313e-01 9.79051006e-01 -1.07405218e-03 -4.20600402e+01] [-5.10379848e-03 3.55874991e-05 9.99986975e-01 -3.71452480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:273.13, Y:-42.07, Z:-3.71 [[ 9.78851911e-01 2.04511422e-01 4.90058220e-03 2.73126203e+02] [-2.04508702e-01 9.78864177e-01 -1.05517804e-03 -4.20688675e+01] [-5.01280032e-03 3.06513380e-05 9.99987435e-01 -3.71481610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.215769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:273.15, Y:-42.08, Z:-3.71 [[ 9.78569402e-01 2.05817617e-01 6.40574985e-03 2.73154297e+02] [-2.05812998e-01 9.78590368e-01 -1.37919553e-03 -4.20805622e+01] [-6.55246784e-03 3.12519649e-05 9.99978532e-01 -3.71317333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:273.19, Y:-42.09, Z:-3.71 [[ 9.78493093e-01 2.06140562e-01 7.57200737e-03 2.73185052e+02] [-2.06134118e-01 9.78522390e-01 -1.63036236e-03 -4.20888733e+01] [-7.74546256e-03 3.44492508e-05 9.99970003e-01 -3.71295971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.275769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:273.21, Y:-42.10, Z:-3.71 [[ 9.78366083e-01 2.06700194e-01 8.65088918e-03 2.73214517e+02] [-2.06691801e-01 9.78404328e-01 -1.86295597e-03 -4.20965339e+01] [-8.84914077e-03 3.45850628e-05 9.99960845e-01 -3.71267210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30576923100006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:273.24, Y:-42.11, Z:-3.71 [[ 9.77988861e-01 2.08445289e-01 9.39940251e-03 2.73244164e+02] [-2.08435461e-01 9.78034029e-01 -2.02424190e-03 -4.21054614e+01] [-9.61487919e-03 2.05172353e-05 9.99953776e-01 -3.71332920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.33576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:273.28, Y:-42.11, Z:-3.71 [[ 9.77746256e-01 2.09618347e-01 8.50931816e-03 2.73275793e+02] [-2.09610339e-01 9.77783283e-01 -1.83219339e-03 -4.21133299e+01] [-8.70433040e-03 7.77916008e-06 9.99962117e-01 -3.71436371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36576923100006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:273.31, Y:-42.12, Z:-3.72 [[ 9.77228524e-01 2.12126957e-01 5.15422210e-03 2.73305595e+02] [-2.12124048e-01 9.77242116e-01 -1.11095534e-03 -4.21200085e+01] [-5.27258649e-03 -7.67721410e-06 9.99986100e-01 -3.71539319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39576923100003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:273.34, Y:-42.13, Z:-3.72 [[ 9.76919181e-01 2.13550886e-01 4.99323507e-03 2.73336717e+02] [-2.13548175e-01 9.76931942e-01 -1.07622094e-03 -4.21260808e+01] [-5.10787877e-03 -1.49153586e-05 9.99986955e-01 -3.71554689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42576923100006 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:273.37, Y:-42.13, Z:-3.71 [[ 9.76642922e-01 2.14793536e-01 5.68676027e-03 2.73366146e+02] [-2.14790038e-01 9.76659478e-01 -1.22596377e-03 -4.21316610e+01] [-5.81735741e-03 -2.41306189e-05 9.99983079e-01 -3.71489116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:273.40, Y:-42.14, Z:-3.71 [[ 9.76547900e-01 2.15128960e-01 8.58655240e-03 2.73397171e+02] [-2.15120998e-01 9.76585649e-01 -1.85124353e-03 -4.21373700e+01] [-8.78375994e-03 -3.93197392e-05 9.99961421e-01 -3.71458390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:273.43, Y:-42.15, Z:-3.72 [[ 9.76563846e-01 2.15013751e-01 9.59900071e-03 2.73428546e+02] [-2.15003795e-01 9.76611020e-01 -2.06954629e-03 -4.21451263e+01] [-9.81947079e-03 -4.27774941e-05 9.99951787e-01 -3.71536478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51576923100004 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:273.46, Y:-42.15, Z:-3.72 [[ 9.76751375e-01 2.14124693e-01 1.03618224e-02 2.73458346e+02] [-2.14113026e-01 9.76806334e-01 -2.23549220e-03 -4.21528396e+01] [-1.06001678e-02 -3.50810794e-05 9.99943816e-01 -3.71607464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:273.49, Y:-42.16, Z:-3.72 [[ 9.77426384e-01 2.10983778e-01 1.11134231e-02 2.73489018e+02] [-2.10970142e-01 9.77489563e-01 -2.39873343e-03 -4.21621203e+01] [-1.13693490e-02 -1.51090655e-08 9.99935367e-01 -3.71743798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:273.52, Y:-42.17, Z:-3.72 [[ 9.77679363e-01 2.09786432e-01 1.15202514e-02 2.73520771e+02] [-2.09771670e-01 9.77747234e-01 -2.48873366e-03 -4.21694303e+01] [-1.17859965e-02 1.65611705e-05 9.99930543e-01 -3.71818585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:273.55, Y:-42.18, Z:-3.72 [[ 9.77826341e-01 2.09101229e-01 1.15031481e-02 2.73552224e+02] [-2.09086441e-01 9.77894000e-01 -2.48696906e-03 -4.21766493e+01] [-1.17688878e-02 2.66715623e-05 9.99930744e-01 -3.71883209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:273.58, Y:-42.18, Z:-3.72 [[ 9.77669967e-01 2.09882419e-01 1.05264387e-02 2.73584282e+02] [-2.09870062e-01 9.77726634e-01 -2.27749117e-03 -4.21841601e+01] [-1.07699848e-02 1.74503759e-05 9.99942002e-01 -3.71861344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:273.62, Y:-42.19, Z:-3.72 [[ 9.77406047e-01 2.11159291e-01 9.44314762e-03 2.73615464e+02] [-2.11149391e-01 9.77451663e-01 -2.04478010e-03 -4.21911806e+01] [-9.66199466e-03 4.66556907e-06 9.99953322e-01 -3.71924780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69576923100004 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:273.65, Y:-42.20, Z:-3.72 [[ 9.77114038e-01 2.12541481e-01 8.61832557e-03 2.73646557e+02] [-2.12533276e-01 9.77152045e-01 -1.86762566e-03 -4.21982078e+01] [-8.81836238e-03 -6.79771594e-06 9.99961117e-01 -3.71964911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7257692310001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:273.68, Y:-42.21, Z:-3.72 [[ 9.76615839e-01 2.14777244e-01 9.60408097e-03 2.73677524e+02] [-2.14767143e-01 9.76663061e-01 -2.08314036e-03 -4.22055628e+01] [-9.82736226e-03 -2.82131585e-05 9.99951710e-01 -3.71968967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:273.71, Y:-42.21, Z:-3.72 [[ 9.76384343e-01 2.15767737e-01 1.08581227e-02 2.73708168e+02] [-2.15754864e-01 9.76444715e-01 -2.35730942e-03 -4.22125468e+01] [-1.11109878e-02 -4.10527746e-05 9.99938270e-01 -3.72069970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7857692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:273.74, Y:-42.22, Z:-3.72 [[ 9.76188007e-01 2.16641463e-01 1.11109192e-02 2.73739094e+02] [-2.16628019e-01 9.76251235e-01 -2.41399608e-03 -4.22204674e+01] [-1.13700202e-02 -5.04223853e-05 9.99935358e-01 -3.72189604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:273.77, Y:-42.23, Z:-3.72 [[ 9.76107509e-01 2.17090338e-01 9.26913859e-03 2.73771264e+02] [-2.17080991e-01 9.76151517e-01 -2.01497713e-03 -4.22282286e+01] [-9.48551576e-03 -4.53194851e-05 9.99955010e-01 -3.72253518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8457692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:273.80, Y:-42.23, Z:-3.72 [[ 9.75748389e-01 2.18833821e-01 5.18078227e-03 2.73803184e+02] [-2.18830926e-01 9.75762142e-01 -1.12618741e-03 -4.22349402e+01] [-5.30165910e-03 -3.48398351e-05 9.99985945e-01 -3.72221477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:273.83, Y:-42.24, Z:-3.72 [[ 9.75388328e-01 2.20434477e-01 5.12353875e-03 2.73833231e+02] [-2.20431660e-01 9.75401784e-01 -1.11503418e-03 -4.22412480e+01] [-5.24330081e-03 -4.17988330e-05 9.99986253e-01 -3.72223880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.905769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:273.86, Y:-42.25, Z:-3.72 [[ 9.74970391e-01 2.22249416e-01 6.15898678e-03 2.73862342e+02] [-2.22245368e-01 9.74989843e-01 -1.34271403e-03 -4.22481249e+01] [-6.30336696e-03 -5.96998671e-05 9.99980132e-01 -3.72241012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:273.89, Y:-42.26, Z:-3.72 [[ 9.74231249e-01 2.25400747e-01 8.24479904e-03 2.73891672e+02] [-2.25393604e-01 9.74266130e-01 -1.79764179e-03 -4.22570106e+01] [-8.43781826e-03 -1.07006159e-04 9.99964395e-01 -3.72252111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.92, Y:-42.26, Z:-3.72 [[ 9.73981007e-01 2.26446858e-01 9.10044146e-03 2.73920785e+02] [-2.26438202e-01 9.74023513e-01 -1.98416393e-03 -4.22644110e+01] [-9.31335165e-03 -1.28149616e-04 9.99956622e-01 -3.72280452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.95, Y:-42.27, Z:-3.72 [[ 9.73708069e-01 2.27514482e-01 1.13910434e-02 2.73951762e+02] [-2.27500992e-01 9.73774681e-01 -2.48363388e-03 -4.22722133e+01] [-1.16573724e-02 -1.73139331e-04 9.99932036e-01 -3.72218390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.025769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:273.98, Y:-42.28, Z:-3.72 [[ 9.73626697e-01 2.27800095e-01 1.25766306e-02 2.73982031e+02] [-2.27783644e-01 9.73707903e-01 -2.74449799e-03 -4.22790927e+01] [-1.28711615e-02 -1.92634225e-04 9.99917145e-01 -3.72194827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:274.01, Y:-42.29, Z:-3.72 [[ 9.73492406e-01 2.28334572e-01 1.32611677e-02 2.74013078e+02] [-2.28316301e-01 9.73582703e-01 -2.89608570e-03 -4.22862324e+01] [-1.35721200e-02 -2.08423310e-04 9.99907873e-01 -3.72186743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.05, Y:-42.29, Z:-3.72 [[ 9.73450023e-01 2.28594724e-01 1.18112413e-02 2.74045278e+02] [-2.28580228e-01 9.73521657e-01 -2.58120120e-03 -4.22945481e+01] [-1.20885482e-02 -1.87145854e-04 9.99926913e-01 -3.72400314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.08, Y:-42.30, Z:-3.73 [[ 9.73434659e-01 2.28723438e-01 1.05144677e-02 2.74075989e+02] [-2.28711937e-01 9.73491429e-01 -2.29963090e-03 -4.23025635e+01] [-1.07617236e-02 -1.66243850e-04 9.99942077e-01 -3.72528144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:274.11, Y:-42.31, Z:-3.73 [[ 9.73415367e-01 2.28867603e-01 9.06326237e-03 2.74107709e+02] [-2.28859053e-01 9.73457549e-01 -1.98353643e-03 -4.23117626e+01] [-9.27666840e-03 -1.43404794e-04 9.99956961e-01 -3.72589726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:274.14, Y:-42.32, Z:-3.73 [[ 9.73311897e-01 2.29316758e-01 8.81901702e-03 2.74138379e+02] [-2.29308665e-01 9.73351840e-01 -1.93181111e-03 -4.23190474e+01] [-9.02700311e-03 -1.42022284e-04 9.99959246e-01 -3.72559711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20576923100003 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:274.17, Y:-42.33, Z:-3.73 [[ 9.73232874e-01 2.29650287e-01 8.86105999e-03 2.74169809e+02] [-2.29642115e-01 9.73273202e-01 -1.94273018e-03 -4.23266064e+01] [-9.07038077e-03 -1.44143683e-04 9.99958853e-01 -3.72585564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:274.20, Y:-42.33, Z:-3.73 [[ 9.73099591e-01 2.30130151e-01 1.08304513e-02 2.74201895e+02] [-2.30117947e-01 9.73159844e-01 -2.37674513e-03 -4.23345157e+01] [-1.10867210e-02 -1.79471512e-04 9.99938524e-01 -3.72681696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:274.23, Y:-42.34, Z:-3.73 [[ 9.72841053e-01 2.31178185e-01 1.17017859e-02 2.74232784e+02] [-2.31163984e-01 9.72911407e-01 -2.57052836e-03 -4.23422024e+01] [-1.19790510e-02 -2.04315921e-04 9.99928228e-01 -3.72692578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29576923100007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:274.26, Y:-42.35, Z:-3.73 [[ 9.72345019e-01 2.33232451e-01 1.21567700e-02 2.74263683e+02] [-2.33217254e-01 9.72420983e-01 -2.67285689e-03 -4.23502934e+01] [-1.24448952e-02 -2.36229432e-04 9.99922531e-01 -3.72636174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:274.30, Y:-42.36, Z:-3.73 [[ 9.72012715e-01 2.34630241e-01 1.18293180e-02 2.74295387e+02] [-2.34615932e-01 9.72084662e-01 -2.60278602e-03 -4.23579648e+01] [-1.21097909e-02 -2.45405364e-04 9.99926644e-01 -3.72658685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35576923100007 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:274.33, Y:-42.37, Z:-3.73 [[ 9.71549800e-01 2.36560119e-01 1.14147397e-02 2.74325480e+02] [-2.36546903e-01 9.71616819e-01 -2.51372078e-03 -4.23651420e+01] [-1.16853992e-02 -2.57916410e-04 9.99931690e-01 -3.72719914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:274.36, Y:-42.37, Z:-3.73 [[ 9.70482221e-01 2.40978230e-01 9.68256570e-03 2.74357837e+02] [-2.40968929e-01 9.70530486e-01 -2.13338104e-03 -4.23709128e+01] [-9.91132358e-03 -2.62789117e-04 9.99950847e-01 -3.72889071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41576923100007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:274.39, Y:-42.38, Z:-3.73 [[ 9.69879260e-01 2.43428207e-01 8.77096905e-03 2.74389805e+02] [-2.43420661e-01 9.69918884e-01 -1.93412739e-03 -4.23765421e+01] [-8.97794967e-03 -2.59165044e-04 9.99959664e-01 -3.73001491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.42, Y:-42.38, Z:-3.73 [[ 9.69303146e-01 2.45736621e-01 8.05759513e-03 2.74420760e+02] [-2.45730322e-01 9.69336602e-01 -1.77811159e-03 -4.23821448e+01] [-8.24746902e-03 -2.56466282e-04 9.99965956e-01 -3.73070787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.4757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.45, Y:-42.39, Z:-3.73 [[ 9.68440938e-01 2.49083540e-01 8.91852663e-03 2.74449323e+02] [-2.49075944e-01 9.68481952e-01 -1.97030613e-03 -4.23884020e+01] [-9.12820290e-03 -3.13265321e-04 9.99958288e-01 -3.72937510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:274.48, Y:-42.39, Z:-3.73 [[ 9.68227257e-01 2.49873618e-01 9.95763607e-03 2.74479706e+02] [-2.49864193e-01 9.68278393e-01 -2.19964979e-03 -4.23945876e+01] [-1.01913983e-02 -3.58295819e-04 9.99948002e-01 -3.72877322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5357692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:274.51, Y:-42.40, Z:-3.73 [[ 9.68175096e-01 2.50017428e-01 1.13255977e-02 2.74509203e+02] [-2.50005241e-01 9.68241250e-01 -2.50216291e-03 -4.23963591e+01] [-1.15914952e-02 -4.08926970e-04 9.99932733e-01 -3.73184523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:274.54, Y:-42.40, Z:-3.73 [[ 9.68296734e-01 2.49543177e-01 1.13858756e-02 2.74539094e+02] [-2.49530826e-01 9.68363588e-01 -2.51564830e-03 -4.24016049e+01] [-1.16534302e-02 -4.05232911e-04 9.99932014e-01 -3.73254511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5957692310001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:274.57, Y:-42.41, Z:-3.73 [[ 9.68495002e-01 2.48772561e-01 1.13861149e-02 2.74568373e+02] [-2.48760156e-01 9.68561849e-01 -2.51571028e-03 -4.24077567e+01] [-1.16539962e-02 -3.95958896e-04 9.99932011e-01 -3.73321294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:274.60, Y:-42.41, Z:-3.73 [[ 9.68706990e-01 2.47961485e-01 1.10394201e-02 2.74596018e+02] [-2.47949773e-01 9.68769819e-01 -2.43900822e-03 -4.24134095e+01] [-1.12994371e-02 -3.74537382e-04 9.99936089e-01 -3.73319219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.655769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:274.63, Y:-42.42, Z:-3.73 [[ 9.69262153e-01 2.45864374e-01 9.03260913e-03 2.74625204e+02] [-2.45856444e-01 9.69304198e-01 -1.99534905e-03 -4.24169261e+01] [-9.24593119e-03 -2.86708843e-04 9.99957214e-01 -3.73298054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:274.65, Y:-42.42, Z:-3.73 [[ 9.69576842e-01 2.44642466e-01 8.41492151e-03 2.74654666e+02] [-2.44635540e-01 9.69613324e-01 -1.85871788e-03 -4.24213199e+01] [-8.61394134e-03 -2.56419053e-04 9.99962866e-01 -3.73406038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.715769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:274.68, Y:-42.43, Z:-3.73 [[ 9.70086197e-01 2.42645606e-01 7.47526217e-03 2.74683145e+02] [-2.42640081e-01 9.70114975e-01 -1.65107106e-03 -4.24256954e+01] [-7.65248891e-03 -2.12116967e-04 9.99970697e-01 -3.73493308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:274.71, Y:-42.43, Z:-3.74 [[ 9.70410979e-01 2.41356805e-01 7.03031578e-03 2.74712229e+02] [-2.41351887e-01 9.70436426e-01 -1.55250727e-03 -4.24312561e+01] [-7.19718271e-03 -1.90209877e-04 9.99974082e-01 -3.73596781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.775769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:274.74, Y:-42.44, Z:-3.74 [[ 9.70849233e-01 2.39592005e-01 6.88753540e-03 2.74740764e+02] [-2.39587240e-01 9.70873648e-01 -1.52094609e-03 -4.24367316e+01] [-7.05133315e-03 -1.73556260e-04 9.99975124e-01 -3.73627360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:274.77, Y:-42.44, Z:-3.74 [[ 9.70867399e-01 2.39518382e-01 6.88756900e-03 2.74769431e+02] [-2.39513617e-01 9.70891814e-01 -1.52079398e-03 -4.24429503e+01] [-7.05134247e-03 -1.73177271e-04 9.99975124e-01 -3.73663843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.83576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:274.80, Y:-42.45, Z:-3.74 [[ 9.72042153e-01 2.34696158e-01 7.19487338e-03 2.74797384e+02] [-2.34690832e-01 9.72068769e-01 -1.58775529e-03 -4.24487395e+01] [-7.36655178e-03 -1.45205747e-04 9.99972856e-01 -3.73708482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:274.83, Y:-42.46, Z:-3.74 [[ 9.72739919e-01 2.31789882e-01 7.10636193e-03 2.74826397e+02] [-2.31784610e-01 9.72765869e-01 -1.56805702e-03 -4.24552531e+01] [-7.27628609e-03 -1.21833677e-04 9.99973520e-01 -3.73735883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.85, Y:-42.46, Z:-3.74 [[ 9.73398202e-01 2.29002482e-01 7.33512401e-03 2.74854575e+02] [-2.28996787e-01 9.73425833e-01 -1.61841014e-03 -4.24610421e+01] [-7.51081914e-03 -1.04362309e-04 9.99971788e-01 -3.73814331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:274.88, Y:-42.47, Z:-3.74 [[ 9.74270113e-01 2.25203895e-01 8.99735111e-03 2.74884140e+02] [-2.25195168e-01 9.74311653e-01 -1.98471663e-03 -4.24666254e+01] [-9.21318995e-03 -9.25098989e-05 9.99957553e-01 -3.73795212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.91, Y:-42.47, Z:-3.74 [[ 9.74662937e-01 2.23433481e-01 1.04708388e-02 2.74913067e+02] [-2.23421563e-01 9.74719176e-01 -2.30946493e-03 -4.24738954e+01] [-1.07221392e-02 -8.84612991e-05 9.99942512e-01 -3.73732242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:274.94, Y:-42.48, Z:-3.74 [[ 9.75423834e-01 2.20031373e-01 1.15991209e-02 2.74941780e+02] [-2.20016511e-01 9.75492794e-01 -2.55797669e-03 -4.24839847e+01] [-1.18776940e-02 -5.68866859e-05 9.99929456e-01 -3.73725441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.97, Y:-42.49, Z:-3.74 [[ 9.75692868e-01 2.18920909e-01 9.85200669e-03 2.74971643e+02] [-2.18910126e-01 9.75742606e-01 -2.17319108e-03 -4.24917905e+01] [-1.00887797e-02 -3.63369822e-05 9.99949106e-01 -3.73799708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:275.00, Y:-42.50, Z:-3.74 [[ 9.75757720e-01 2.18720001e-01 7.64416361e-03 2.75001130e+02] [-2.18713501e-01 9.75787662e-01 -1.68639521e-03 -4.24980253e+01] [-7.82792890e-03 -2.63686374e-05 9.99969361e-01 -3.73936389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:275.03, Y:-42.50, Z:-3.74 [[ 9.75587948e-01 2.19502303e-01 6.84800929e-03 2.75029798e+02] [-2.19497104e-01 9.75611981e-01 -1.51093655e-03 -4.25026719e+01] [-7.01265396e-03 -2.90667201e-05 9.99975411e-01 -3.73966204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:275.06, Y:-42.51, Z:-3.74 [[ 9.75466947e-01 2.19979434e-01 8.56065208e-03 2.75059051e+02] [-2.19971332e-01 9.75504509e-01 -1.88837082e-03 -4.25089196e+01] [-8.76635745e-03 -4.10547213e-05 9.99961574e-01 -3.73898847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:275.09, Y:-42.52, Z:-3.74 [[ 9.75093635e-01 2.21536208e-01 1.06823251e-02 2.75086980e+02] [-2.21523690e-01 9.75152144e-01 -2.35608737e-03 -4.25165793e+01] [-1.09388509e-02 -6.89822661e-05 9.99940167e-01 -3.73825048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.12, Y:-42.52, Z:-3.74 [[ 9.74894714e-01 2.22437491e-01 1.00925321e-02 2.75115621e+02] [-2.22426369e-01 9.74946951e-01 -2.22565745e-03 -4.25237002e+01] [-1.03347531e-02 -7.50635851e-05 9.99946592e-01 -3.73913745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.14, Y:-42.53, Z:-3.74 [[ 9.74696065e-01 2.23336229e-01 9.40798140e-03 2.75144792e+02] [-2.23326608e-01 9.74741465e-01 -2.07450285e-03 -4.25309538e+01] [-9.63366121e-03 -7.90428107e-05 9.99953592e-01 -3.74070303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.17, Y:-42.54, Z:-3.74 [[ 9.74537532e-01 2.24060818e-01 8.56433886e-03 2.75173721e+02] [-2.24052874e-01 9.74575161e-01 -1.88830796e-03 -4.25390071e+01] [-8.76968775e-03 -7.86377562e-05 9.99961542e-01 -3.74108442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:275.20, Y:-42.55, Z:-3.74 [[ 9.74536796e-01 2.24054736e-01 8.80384674e-03 2.75202912e+02] [-2.24046344e-01 9.74576559e-01 -1.94091110e-03 -4.25459596e+01] [-9.01489298e-03 -8.09803931e-05 9.99959362e-01 -3.74095019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.23, Y:-42.55, Z:-3.74 [[ 9.74567220e-01 2.23896508e-01 9.43857162e-03 2.75231324e+02] [-2.23886857e-01 9.74612921e-01 -2.08061837e-03 -4.25525126e+01] [-9.66479705e-03 -8.54696754e-05 9.99953291e-01 -3.74098842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.26, Y:-42.56, Z:-3.74 [[ 9.74499791e-01 2.24177418e-01 9.72845138e-03 2.75260349e+02] [-2.24167181e-01 9.74548345e-01 -2.14427572e-03 -4.25592453e+01] [-9.96154439e-03 -9.12032820e-05 9.99950378e-01 -3.74137409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3457692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:275.29, Y:-42.57, Z:-3.74 [[ 9.74447034e-01 2.24410833e-01 9.63101375e-03 2.75288596e+02] [-2.24400813e-01 9.74494623e-01 -2.12261726e-03 -4.25659064e+01] [-9.86170942e-03 -9.28292207e-05 9.99951368e-01 -3.74224754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37576923100005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:275.32, Y:-42.57, Z:-3.74 [[ 9.74676619e-01 2.23399471e-01 9.90778529e-03 2.75317316e+02] [-2.23388818e-01 9.74726972e-01 -2.18325423e-03 -4.25730024e+01] [-1.01451234e-02 -8.53215939e-05 9.99948533e-01 -3.74326800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.405769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:275.35, Y:-42.58, Z:-3.74 [[ 9.74884617e-01 2.22490665e-01 9.89378118e-03 2.75346420e+02] [-2.22479998e-01 9.74934817e-01 -2.17995286e-03 -4.25794904e+01] [-1.01308109e-02 -7.59659147e-05 9.99948679e-01 -3.74393697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.38, Y:-42.58, Z:-3.74 [[ 9.75501827e-01 2.19790678e-01 9.39375945e-03 2.75375332e+02] [-2.19780939e-01 9.75547055e-01 -2.06958931e-03 -4.25847265e+01] [-9.61893080e-03 -4.56811125e-05 9.99953736e-01 -3.74420183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.465769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:275.41, Y:-42.59, Z:-3.74 [[ 9.75723212e-01 2.18825736e-01 8.91690529e-03 2.75406736e+02] [-2.18816928e-01 9.75763955e-01 -1.96373121e-03 -4.25899424e+01] [-9.13050970e-03 -3.51116925e-05 9.99958315e-01 -3.74406403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.44, Y:-42.59, Z:-3.74 [[ 9.75860073e-01 2.18231918e-01 8.48214915e-03 2.75438189e+02] [-2.18223909e-01 9.75896936e-01 -1.86986225e-03 -4.25949033e+01] [-8.68576699e-03 -2.62838255e-05 9.99962278e-01 -3.74443998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.47, Y:-42.60, Z:-3.75 [[ 9.76019363e-01 2.17549316e-01 7.64837146e-03 2.75470370e+02] [-2.17542787e-01 9.76049330e-01 -1.68554325e-03 -4.25996125e+01] [-7.83187662e-03 -1.87251953e-05 9.99969330e-01 -3.74546797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.50, Y:-42.61, Z:-3.75 [[ 9.76023414e-01 2.17540548e-01 7.37604262e-03 2.75501149e+02] [-2.17534466e-01 9.76051284e-01 -1.62679568e-03 -4.26053495e+01] [-7.55328990e-03 -1.67528214e-05 9.99971473e-01 -3.74638943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.53, Y:-42.61, Z:-3.75 [[ 9.76065736e-01 2.17354435e-01 7.26141334e-03 2.75530746e+02] [-2.17348521e-01 9.76092746e-01 -1.60348975e-03 -4.26095929e+01] [-7.43633850e-03 -1.31460484e-05 9.99972350e-01 -3.74641640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.56, Y:-42.61, Z:-3.75 [[ 9.75926266e-01 2.17902753e-01 9.29052633e-03 2.75561903e+02] [-2.17893098e-01 9.75970486e-01 -2.05137829e-03 -4.26116939e+01] [-9.51428047e-03 -2.23476079e-05 9.99954738e-01 -3.74535972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.59, Y:-42.62, Z:-3.75 [[ 9.75823982e-01 2.18350391e-01 9.52170871e-03 2.75591119e+02] [-2.18340270e-01 9.75870435e-01 -2.10245594e-03 -4.26158334e+01] [-9.75102610e-03 -2.73455268e-05 9.99952457e-01 -3.74501140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.62, Y:-42.62, Z:-3.75 [[ 9.75732504e-01 2.18753325e-01 9.64694120e-03 2.75622007e+02] [-2.18742958e-01 9.75780191e-01 -2.12989666e-03 -4.26203185e+01] [-9.87921610e-03 -3.19910491e-05 9.99951199e-01 -3.74536350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.65, Y:-42.62, Z:-3.75 [[ 9.75870657e-01 2.18132368e-01 9.73301926e-03 2.75653905e+02] [-2.18121782e-01 9.75919192e-01 -2.14914538e-03 -4.26231483e+01] [-9.96743847e-03 -2.56955944e-05 9.99950324e-01 -3.74633118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:275.68, Y:-42.63, Z:-3.75 [[ 9.75898156e-01 2.18014533e-01 9.61522643e-03 2.75684051e+02] [-2.18004194e-01 9.75945523e-01 -2.12328983e-03 -4.26286304e+01] [-9.84684522e-03 -2.40450542e-05 9.99951518e-01 -3.74637843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.71, Y:-42.63, Z:-3.75 [[ 9.76089906e-01 2.17157878e-01 9.53680914e-03 2.75713188e+02] [-2.17147660e-01 9.76136494e-01 -2.10664573e-03 -4.26320535e+01] [-9.76670216e-03 -1.46201550e-05 9.99952305e-01 -3.74577529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.74, Y:-42.64, Z:-3.75 [[ 9.76241085e-01 2.16444073e-01 1.02619095e-02 2.75742942e+02] [-2.16432201e-01 9.76295019e-01 -2.26699774e-03 -4.26372361e+01] [-1.05093294e-02 -7.87132645e-06 9.99944775e-01 -3.74617676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82576923100004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.77, Y:-42.64, Z:-3.75 [[ 9.76209219e-01 2.16574269e-01 1.05426540e-02 2.75773634e+02] [-2.16561746e-01 9.76266145e-01 -2.32897640e-03 -4.26425908e+01] [-1.07968325e-02 -9.56732209e-06 9.99941712e-01 -3.74649428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.80, Y:-42.65, Z:-3.75 [[ 9.75908197e-01 2.17960180e-01 9.82606678e-03 2.75803545e+02] [-2.17949369e-01 9.75957663e-01 -2.17099944e-03 -4.26454507e+01] [-1.00630166e-02 -2.28889023e-05 9.99949366e-01 -3.74668865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.83, Y:-42.65, Z:-3.75 [[ 9.75751000e-01 2.18650101e-01 1.01053937e-02 2.75832093e+02] [-2.18638704e-01 9.75803327e-01 -2.23262988e-03 -4.26500284e+01] [-1.03490416e-02 -3.09393535e-05 9.99946447e-01 -3.74682683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.86, Y:-42.66, Z:-3.75 [[ 9.75610971e-01 2.19243284e-01 1.07524567e-02 2.75861704e+02] [-2.19230422e-01 9.75670221e-01 -2.37513805e-03 -4.26550324e+01] [-1.10115848e-02 -4.00548604e-05 9.99939370e-01 -3.74735529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.89, Y:-42.66, Z:-3.75 [[ 9.75436034e-01 2.19962201e-01 1.18816462e-02 2.75890436e+02] [-2.19946553e-01 9.75508394e-01 -2.62424795e-03 -4.26573033e+01] [-1.21678809e-02 -5.35410987e-05 9.99925967e-01 -3.74871125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.9757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.92, Y:-42.66, Z:-3.75 [[ 9.75480406e-01 2.19773383e-01 1.17319356e-02 2.75919197e+02] [-2.19758120e-01 9.75550951e-01 -2.59059997e-03 -4.26616727e+01] [-1.20144459e-02 -5.11086002e-05 9.99927823e-01 -3.75061917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.95, Y:-42.67, Z:-3.75 [[ 9.76136442e-01 2.16976542e-01 8.87850772e-03 2.75947325e+02] [-2.16967687e-01 9.76176818e-01 -1.96029732e-03 -4.26671250e+01] [-9.09233195e-03 -1.28316314e-05 9.99958664e-01 -3.75294789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.98, Y:-42.67, Z:-3.75 [[ 9.76654916e-01 2.14708365e-01 6.74477696e-03 2.75975055e+02] [-2.14703202e-01 9.76678206e-01 -1.48911173e-03 -4.26748031e+01] [-6.90720141e-03 6.22308501e-06 9.99976145e-01 -3.75365457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.00, Y:-42.68, Z:-3.75 [[ 9.77276940e-01 2.11903287e-01 5.17478671e-03 2.76003175e+02] [-2.11900209e-01 9.77290641e-01 -1.14237954e-03 -4.26821917e+01] [-5.29934460e-03 1.98827996e-05 9.99985958e-01 -3.75471855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0957692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:276.03, Y:-42.69, Z:-3.76 [[ 9.78606223e-01 2.05671063e-01 5.41049661e-03 2.76032056e+02] [-2.05667605e-01 9.78621178e-01 -1.19395512e-03 -4.26895642e+01] [-5.54038858e-03 5.56480364e-05 9.99984650e-01 -3.75535843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.06, Y:-42.70, Z:-3.76 [[ 9.79102154e-01 2.03265466e-01 6.49013322e-03 2.76060599e+02] [-2.03260438e-01 9.79123661e-01 -1.43198151e-03 -4.26972337e+01] [-6.64571538e-03 8.28688553e-05 9.99977914e-01 -3.75625579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.155769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:276.09, Y:-42.71, Z:-3.76 [[ 9.79563575e-01 2.01021278e-01 6.75642500e-03 2.76088365e+02] [-2.01015777e-01 9.79586870e-01 -1.49062083e-03 -4.27061924e+01] [-6.91815172e-03 1.02009845e-04 9.99976064e-01 -3.75664652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.12, Y:-42.72, Z:-3.76 [[ 9.80195108e-01 1.97948538e-01 5.82457811e-03 2.76115893e+02] [-1.97944398e-01 9.80212408e-01 -1.28464579e-03 -4.27212454e+01] [-5.96361749e-03 1.06260905e-04 9.99982212e-01 -3.75715781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.14, Y:-42.73, Z:-3.76 [[ 9.80243918e-01 1.97744656e-01 4.34887101e-03 2.76143900e+02] [-1.97742346e-01 9.80253561e-01 -9.59064102e-04 -4.27309335e+01] [-4.45264610e-03 8.01607961e-05 9.99990084e-01 -3.75711816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.17, Y:-42.74, Z:-3.76 [[ 9.79701364e-01 2.00458007e-01 1.35073873e-03 2.76172324e+02] [-2.00457786e-01 9.79702295e-01 -2.98191966e-04 -4.27403537e+01] [-1.38309680e-03 2.13729812e-05 9.99999043e-01 -3.75716382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.20, Y:-42.75, Z:-3.76 [[ 9.79169643e-01 2.03039504e-01 1.33018559e-03 2.76200455e+02] [-2.03039292e-01 9.79170547e-01 -2.93665918e-04 -4.27481314e+01] [-1.36210433e-03 1.74688124e-05 9.99999072e-01 -3.75721784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.23, Y:-42.76, Z:-3.76 [[ 9.78471723e-01 2.06367712e-01 2.33556541e-03 2.76228940e+02] [-2.06367070e-01 9.78474510e-01 -5.15271331e-04 -4.27559567e+01] [-2.39162658e-03 2.21946386e-05 9.99997140e-01 -3.75667367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.26, Y:-42.76, Z:-3.76 [[ 9.77681006e-01 2.10054079e-01 4.13931068e-03 2.76256770e+02] [-2.10052097e-01 9.77689768e-01 -9.12980723e-04 -4.27630826e+01] [-4.23873702e-03 2.31330261e-05 9.99991016e-01 -3.75614343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.28, Y:-42.77, Z:-3.76 [[ 9.76265106e-01 2.16485022e-01 6.37791620e-03 2.76284108e+02] [-2.16480453e-01 9.76285939e-01 -1.40642076e-03 -4.27672114e+01] [-6.53113893e-03 -7.65467906e-06 9.99978672e-01 -3.75702712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.31, Y:-42.77, Z:-3.76 [[ 9.75836194e-01 2.18420558e-01 6.01516643e-03 2.76312509e+02] [-2.18416534e-01 9.75854733e-01 -1.32592700e-03 -4.27724958e+01] [-6.15953834e-03 -1.99242459e-05 9.99981030e-01 -3.75737958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:276.34, Y:-42.78, Z:-3.76 [[ 9.75728828e-01 2.18925399e-01 4.99229024e-03 2.76339294e+02] [-2.18922634e-01 9.75741600e-01 -1.10051212e-03 -4.27796012e+01] [-5.11211532e-03 -1.91239317e-05 9.99986933e-01 -3.75724145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.37, Y:-42.79, Z:-3.76 [[ 9.75939506e-01 2.17970766e-01 5.55207598e-03 2.76367268e+02] [-2.17967333e-01 9.75955299e-01 -1.22343970e-03 -4.27868842e+01] [-5.68525206e-03 -1.61680523e-05 9.99983839e-01 -3.75656373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.39, Y:-42.79, Z:-3.76 [[ 9.76165157e-01 2.16922763e-01 6.78978678e-03 2.76394730e+02] [-2.16917607e-01 9.76188770e-01 -1.49566985e-03 -4.27937925e+01] [-6.95255845e-03 -1.28035022e-05 9.99975831e-01 -3.75608943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.42, Y:-42.80, Z:-3.76 [[ 9.76475629e-01 2.15385980e-01 1.02090853e-02 2.76422162e+02] [-2.15374245e-01 9.76528996e-01 -2.24831125e-03 -4.28025823e+01] [-1.04537225e-02 -3.35288593e-06 9.99945358e-01 -3.75618725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.45, Y:-42.81, Z:-3.76 [[ 9.76647135e-01 2.14571710e-01 1.09249579e-02 2.76450844e+02] [-2.14558225e-01 9.76708238e-01 -2.40554398e-03 -4.28117144e+01] [-1.11866581e-02 5.32804970e-06 9.99937427e-01 -3.75660406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.48, Y:-42.83, Z:-3.76 [[ 9.76713779e-01 2.14323297e-01 9.78357862e-03 2.76479148e+02] [-2.14312473e-01 9.76762778e-01 -2.15394892e-03 -4.28259919e+01] [-1.00178769e-02 7.04865914e-06 9.99949820e-01 -3.75635945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.51, Y:-42.84, Z:-3.76 [[ 9.76568077e-01 2.15012973e-01 9.17672319e-03 2.76508100e+02] [-2.15003479e-01 9.76611193e-01 -2.02044075e-03 -4.28357944e+01] [-9.39651155e-03 7.05217527e-08 9.99955852e-01 -3.75658640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.54, Y:-42.85, Z:-3.76 [[ 9.75849087e-01 2.18296398e-01 8.07727094e-03 2.76537530e+02] [-2.18289156e-01 9.75882514e-01 -1.77839984e-03 -4.28482674e+01] [-8.27068576e-03 -2.77307923e-05 9.99965797e-01 -3.75666591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.57, Y:-42.86, Z:-3.76 [[ 9.75480941e-01 2.19930842e-01 8.20728356e-03 2.76566431e+02] [-2.19923420e-01 9.75515465e-01 -1.80726951e-03 -4.28579039e+01] [-8.40380634e-03 -4.20169060e-05 9.99964687e-01 -3.75696535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.60, Y:-42.87, Z:-3.76 [[ 9.75195844e-01 2.21195259e-01 8.10693378e-03 2.76595865e+02] [-2.21188060e-01 9.75229540e-01 -1.78531215e-03 -4.28671612e+01] [-8.30102388e-03 -5.21279638e-05 9.99965545e-01 -3.75779374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.63, Y:-42.87, Z:-3.76 [[ 9.75193489e-01 2.21205641e-01 8.10694325e-03 2.76626135e+02] [-2.21198443e-01 9.75227185e-01 -1.78526913e-03 -4.28738347e+01] [-8.30102304e-03 -5.22603915e-05 9.99965545e-01 -3.75817933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.66, Y:-42.88, Z:-3.76 [[ 9.74692962e-01 2.23397607e-01 8.19383645e-03 2.76655311e+02] [-2.23390330e-01 9.74727400e-01 -1.80449742e-03 -4.28844983e+01] [-8.38987730e-03 -7.15928942e-05 9.99964802e-01 -3.75917206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.68, Y:-42.89, Z:-3.76 [[ 9.74380536e-01 2.24745342e-01 8.49127940e-03 2.76684100e+02] [-2.24737577e-01 9.74417531e-01 -1.87014207e-03 -4.28937388e+01] [-8.69435722e-03 -8.60795256e-05 9.99962200e-01 -3.75891797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.71, Y:-42.91, Z:-3.76 [[ 9.73746276e-01 2.27463854e-01 8.85354118e-03 2.76712346e+02] [-2.27455525e-01 9.73786518e-01 -1.94992757e-03 -4.29059083e+01] [-9.06499707e-03 -1.15052143e-04 9.99958905e-01 -3.75848048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.74, Y:-42.92, Z:-3.76 [[ 9.73314713e-01 2.29329928e-01 8.13964077e-03 2.76744592e+02] [-2.29322960e-01 9.73348740e-01 -1.79189595e-03 -4.29150816e+01] [-8.33364446e-03 -1.22527828e-04 9.99965267e-01 -3.75923226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.78, Y:-42.92, Z:-3.76 [[ 9.72765885e-01 2.31678942e-01 7.16936793e-03 2.76776102e+02] [-2.31673591e-01 9.72792297e-01 -1.57950425e-03 -4.29228060e+01] [-7.34024377e-03 -1.24465363e-04 9.99973052e-01 -3.76058995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.81, Y:-42.93, Z:-3.76 [[ 9.72220960e-01 2.33990067e-01 5.92066864e-03 2.76806904e+02] [-2.33986450e-01 9.72238981e-01 -1.30612962e-03 -4.29298567e+01] [-6.06192620e-03 -1.15509645e-04 9.99981620e-01 -3.76185869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.84, Y:-42.94, Z:-3.76 [[ 9.71100470e-01 2.38637908e-01 3.97817569e-03 2.76837458e+02] [-2.38636314e-01 9.71108614e-01 -8.77601876e-04 -4.29365421e+01] [-4.07266975e-03 -9.70975879e-05 9.99991702e-01 -3.76076798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.87, Y:-42.94, Z:-3.76 [[ 9.70655894e-01 2.40431782e-01 4.43780820e-03 2.76867874e+02] [-2.40429816e-01 9.70666031e-01 -9.79133763e-04 -4.29419866e+01] [-4.54304455e-03 -1.16579454e-04 9.99989674e-01 -3.76069869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.90, Y:-42.94, Z:-3.76 [[ 9.70105597e-01 2.42559726e-01 7.74019727e-03 2.76897260e+02] [-2.42553811e-01 9.70136450e-01 -1.70829087e-03 -4.29446534e+01] [-7.92341007e-03 -2.20191804e-04 9.99968585e-01 -3.76066752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.93, Y:-42.95, Z:-3.76 [[ 9.70030646e-01 2.42825061e-01 8.74840731e-03 2.76929435e+02] [-2.42817521e-01 9.70070062e-01 -1.93008195e-03 -4.29499485e+01] [-8.95524030e-03 -2.52027936e-04 9.99959869e-01 -3.76138859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.96, Y:-42.95, Z:-3.76 [[ 9.70432001e-01 2.41262915e-01 7.34422593e-03 2.76962351e+02] [-2.41257551e-01 9.70459771e-01 -1.62102375e-03 -4.29530567e+01] [-7.51836873e-03 -1.98756642e-04 9.99971717e-01 -3.76306516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.99, Y:-42.96, Z:-3.76 [[ 9.70870079e-01 2.39537631e-01 5.74577649e-03 2.76993671e+02] [-2.39534313e-01 9.70887070e-01 -1.26892600e-03 -4.29573329e+01] [-5.88245563e-03 -1.44348341e-04 9.99982688e-01 -3.76402867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.02, Y:-42.96, Z:-3.76 [[ 9.71461943e-01 2.37146912e-01 4.79945113e-03 2.77024712e+02] [-2.37144559e-01 9.71473793e-01 -1.06167560e-03 -4.29608589e+01] [-4.91431408e-03 -1.06786285e-04 9.99987919e-01 -3.76484956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.05, Y:-42.96, Z:-3.77 [[ 9.71951240e-01 2.35139563e-01 4.49146851e-03 2.77054739e+02] [-2.35137480e-01 9.71961613e-01 -9.93726174e-04 -4.29649124e+01] [-4.59919932e-03 -9.02592020e-05 9.99989420e-01 -3.76543774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.09, Y:-42.97, Z:-3.77 [[ 9.72803447e-01 2.31587791e-01 4.53310466e-03 2.77087418e+02] [-2.31585636e-01 9.72814006e-01 -1.00174940e-03 -4.29665140e+01] [-4.64186064e-03 -7.52966544e-05 9.99989224e-01 -3.76503104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.12, Y:-42.97, Z:-3.76 [[ 9.73121314e-01 2.30229913e-01 5.39398989e-03 2.77118006e+02] [-2.30226828e-01 9.73136260e-01 -1.19444048e-03 -4.29700076e+01] [-5.52408308e-03 -7.95056882e-05 9.99984739e-01 -3.76418183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.15, Y:-42.97, Z:-3.76 [[ 9.73211668e-01 2.29809831e-01 6.81844351e-03 2.77146297e+02] [-2.29804889e-01 9.73235548e-01 -1.51024899e-03 -4.29728353e+01] [-6.98302168e-03 -9.71197174e-05 9.99975614e-01 -3.76373730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.18, Y:-42.97, Z:-3.76 [[ 9.72937250e-01 2.30914252e-01 8.46849795e-03 2.77176237e+02] [-2.30906675e-01 9.72974096e-01 -1.87528580e-03 -4.29736157e+01] [-8.67265935e-03 -1.30897289e-04 9.99962383e-01 -3.76291934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.21, Y:-42.98, Z:-3.76 [[ 9.72878118e-01 2.31155752e-01 8.67100199e-03 2.77207006e+02] [-2.31147820e-01 9.72916749e-01 -1.91982573e-03 -4.29777333e+01] [-8.87994182e-03 -1.36526765e-04 9.99960563e-01 -3.76409850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.24, Y:-42.98, Z:-3.76 [[ 9.72904115e-01 2.31005906e-01 9.68787072e-03 2.77236475e+02] [-2.30995996e-01 9.72952336e-01 -2.14503548e-03 -4.29780124e+01] [-9.92135231e-03 -1.50945495e-04 9.99950771e-01 -3.76481448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.26, Y:-42.98, Z:-3.77 [[ 9.72848330e-01 2.31227212e-01 1.00051722e-02 2.77264795e+02] [-2.31216656e-01 9.72899764e-01 -2.21502493e-03 -4.29815240e+01] [-1.02462037e-02 -1.58479147e-04 9.99947494e-01 -3.76501201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.29, Y:-42.99, Z:-3.77 [[ 9.72891442e-01 2.31040031e-01 1.01363595e-02 2.77293922e+02] [-2.31029191e-01 9.72944232e-01 -2.24366913e-03 -4.29855359e+01] [-1.03804899e-02 -1.58948445e-04 9.99946109e-01 -3.76523232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.32, Y:-42.99, Z:-3.77 [[ 9.73174085e-01 2.29846207e-01 1.01450440e-02 2.77323354e+02] [-2.29835285e-01 9.73226952e-01 -2.24539429e-03 -4.29876384e+01] [-1.03895256e-02 -1.46529554e-04 9.99946017e-01 -3.76561624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.35, Y:-42.99, Z:-3.77 [[ 9.73246193e-01 2.29565424e-01 9.56887687e-03 2.77351936e+02] [-2.29555698e-01 9.73293223e-01 -2.11744432e-03 -4.29908393e+01] [-9.79941501e-03 -1.35795586e-04 9.99951975e-01 -3.76692402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.38, Y:-42.99, Z:-3.77 [[ 9.72993975e-01 2.30725153e-01 6.97341798e-03 2.77380320e+02] [-2.30720018e-01 9.73018958e-01 -1.54299343e-03 -4.29899947e+01] [-7.14127529e-03 -1.07583811e-04 9.99974495e-01 -3.76865540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.41, Y:-42.99, Z:-3.77 [[ 9.72778781e-01 2.31628418e-01 7.05116488e-03 2.77408672e+02] [-2.31623195e-01 9.72804329e-01 -1.55982191e-03 -4.29932880e+01] [-7.22070280e-03 -1.15851677e-04 9.99973924e-01 -3.76899060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.44, Y:-43.00, Z:-3.77 [[ 9.72584302e-01 2.32425347e-01 7.63108197e-03 2.77436285e+02] [-2.32419259e-01 9.72614230e-01 -1.68749515e-03 -4.29961485e+01] [-7.81431556e-03 -1.32379122e-04 9.99969459e-01 -3.76915468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.46, Y:-43.00, Z:-3.77 [[ 9.72508305e-01 2.32741906e-01 7.66826526e-03 2.77464177e+02] [-2.32735772e-01 9.72538527e-01 -1.69516740e-03 -4.29990328e+01] [-7.85221989e-03 -1.36115260e-04 9.99969162e-01 -3.76858396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.49, Y:-43.00, Z:-3.77 [[ 9.73042450e-01 2.30553983e-01 5.76647401e-03 2.77493946e+02] [-2.30550478e-01 9.73059532e-01 -1.27442062e-03 -4.29995225e+01] [-5.90494526e-03 -8.93979750e-05 9.99982562e-01 -3.76900729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.52, Y:-43.00, Z:-3.77 [[ 9.73954485e-01 2.26658042e-01 6.22834366e-03 2.77521326e+02] [-2.26653875e-01 9.73974397e-01 -1.37624346e-03 -4.30030021e+01] [-6.37818391e-03 -7.12797374e-05 9.99979657e-01 -3.76952968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.55, Y:-43.01, Z:-3.77 [[ 9.74426445e-01 2.24575132e-01 7.68850625e-03 2.77548123e+02] [-2.24568723e-01 9.74456774e-01 -1.69816409e-03 -4.30085157e+01] [-7.87348243e-03 -7.18620286e-05 9.99969001e-01 -3.76872647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.58, Y:-43.01, Z:-3.77 [[ 9.74888173e-01 2.22516781e-01 8.90691343e-03 2.77575686e+02] [-2.22508099e-01 9.74928858e-01 -1.96667822e-03 -4.30131131e+01] [-9.12122584e-03 -6.45690424e-05 9.99958399e-01 -3.76822185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.60, Y:-43.02, Z:-3.77 [[ 9.75704910e-01 2.18952988e-01 7.71470915e-03 2.77604122e+02] [-2.18946367e-01 9.75735409e-01 -1.70301098e-03 -4.30164055e+01] [-7.90039423e-03 -2.74713598e-05 9.99968791e-01 -3.76878659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.63, Y:-43.02, Z:-3.77 [[ 9.76127155e-01 2.17083212e-01 7.11739757e-03 2.77631827e+02] [-2.17077530e-01 9.76153102e-01 -1.57072437e-03 -4.30214088e+01] [-7.28864761e-03 -1.18003760e-05 9.99973437e-01 -3.76956962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.66, Y:-43.03, Z:-3.77 [[ 9.76580189e-01 2.15029604e-01 7.30779347e-03 2.77659054e+02] [-2.15023560e-01 9.76607531e-01 -1.61221246e-03 -4.30267738e+01] [-7.48351954e-03 3.10698027e-06 9.99971998e-01 -3.76998732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.69, Y:-43.03, Z:-3.77 [[ 9.77560888e-01 2.10460748e-01 8.99906064e-03 2.77686294e+02] [-2.10451397e-01 9.77602307e-01 -1.98447309e-03 -4.30319925e+01] [-9.21515613e-03 4.60784021e-05 9.99957538e-01 -3.76998138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.71, Y:-43.04, Z:-3.77 [[ 9.77992436e-01 2.08415699e-01 9.67946040e-03 2.77713616e+02] [-2.08404786e-01 9.78040332e-01 -2.13391125e-03 -4.30377040e+01] [-9.91164328e-03 6.97031908e-05 9.99950876e-01 -3.76976667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.74, Y:-43.05, Z:-3.77 [[ 9.78770199e-01 2.04695931e-01 1.04150480e-02 2.77741565e+02] [-2.04683093e-01 9.78825604e-01 -2.29536710e-03 -4.30450634e+01] [-1.06643679e-02 1.14852683e-04 9.99943127e-01 -3.77120180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.77, Y:-43.05, Z:-3.77 [[ 9.79228057e-01 2.02513221e-01 1.00402727e-02 2.77770635e+02] [-2.02501181e-01 9.79279520e-01 -2.21229494e-03 -4.30531926e+01] [-1.02802524e-02 1.33174201e-04 9.99947148e-01 -3.77183151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.80, Y:-43.06, Z:-3.77 [[ 9.79739099e-01 2.00052538e-01 9.50153264e-03 2.77798118e+02] [-2.00041642e-01 9.79785160e-01 -2.09336127e-03 -4.30608014e+01] [-9.72824291e-03 1.50245695e-04 9.99952668e-01 -3.77262389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.82, Y:-43.07, Z:-3.77 [[ 9.80538818e-01 1.96137927e-01 8.57556329e-03 2.77824327e+02] [-1.96128901e-01 9.80576302e-01 -1.88930764e-03 -4.30709939e+01] [-8.77955902e-03 1.70623670e-04 9.99961444e-01 -3.77381099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.85, Y:-43.08, Z:-3.77 [[ 9.80840607e-01 1.94657715e-01 7.75091618e-03 2.77851871e+02] [-1.94650300e-01 9.80871218e-01 -1.70713023e-03 -4.30793777e+01] [-7.93495666e-03 1.65704496e-04 9.99968504e-01 -3.77476297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.88, Y:-43.09, Z:-3.78 [[ 9.81126190e-01 1.93267563e-01 6.24880072e-03 2.77879244e+02] [-1.93262717e-01 9.81146079e-01 -1.37600077e-03 -4.30908822e+01] [-6.39692264e-03 1.42370191e-04 9.99979529e-01 -3.77607355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.91, Y:-43.10, Z:-3.78 [[ 9.81172467e-01 1.93042782e-01 5.92239327e-03 2.77907818e+02] [-1.93038426e-01 9.81190331e-01 -1.30399888e-03 -4.31007821e+01] [-6.06272259e-03 1.36198327e-04 9.99981612e-01 -3.77621062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.94, Y:-43.11, Z:-3.78 [[ 9.81150444e-01 1.93154117e-01 5.94086667e-03 2.77935857e+02] [-1.93149738e-01 9.81168420e-01 -1.30768355e-03 -4.31111584e+01] [-6.08157522e-03 1.35557461e-04 9.99981498e-01 -3.77556253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.96, Y:-43.13, Z:-3.77 [[ 9.81108397e-01 1.93294717e-01 7.96655843e-03 2.77964784e+02] [-1.93286846e-01 9.81140724e-01 -1.75368424e-03 -4.31263748e+01] [-8.15529280e-03 1.80723380e-04 9.99966729e-01 -3.77416559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.99, Y:-43.14, Z:-3.77 [[ 9.81079166e-01 1.93382101e-01 9.32918050e-03 2.77993008e+02] [-1.93371308e-01 9.81123498e-01 -2.05395119e-03 -4.31370211e+01] [-9.55027560e-03 2.11092879e-04 9.99954373e-01 -3.77455463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.02, Y:-43.15, Z:-3.78 [[ 9.80826341e-01 1.94639691e-01 9.75087367e-03 2.78021438e+02] [-1.94627962e-01 9.80874787e-01 -2.14688893e-03 -4.31526416e+01] [-9.98225593e-03 2.07932542e-04 9.99950154e-01 -3.77540985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.05, Y:-43.16, Z:-3.78 [[ 9.80572174e-01 1.95998970e-01 7.91293803e-03 2.78051613e+02] [-1.95991294e-01 9.80604089e-01 -1.74175103e-03 -4.31637270e+01] [-8.10084079e-03 1.57045638e-04 9.99967175e-01 -3.77616272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.08, Y:-43.17, Z:-3.78 [[ 9.80246589e-01 1.97675179e-01 6.41470938e-03 2.78082480e+02] [-1.97670166e-01 9.80267571e-01 -1.41265076e-03 -4.31733840e+01] [-6.56737758e-03 1.16749426e-04 9.99978428e-01 -3.77695425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.11, Y:-43.18, Z:-3.78 [[ 9.79161469e-01 2.03010649e-01 5.43086488e-03 2.78113716e+02] [-2.03007136e-01 9.79176527e-01 -1.19634883e-03 -4.31841202e+01] [-5.56064697e-03 6.89143484e-05 9.99984537e-01 -3.77608025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.14, Y:-43.19, Z:-3.78 [[ 9.78575997e-01 2.05800013e-01 5.94753915e-03 2.78144385e+02] [-2.05795839e-01 9.78594069e-01 -1.31208550e-03 -4.31932725e+01] [-6.09025374e-03 5.99965656e-05 9.99981452e-01 -3.77618551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.17, Y:-43.20, Z:-3.78 [[ 9.77660010e-01 2.10114114e-01 5.74135993e-03 2.78173576e+02] [-2.10110291e-01 9.77676868e-01 -1.26793813e-03 -4.32045118e+01] [-5.87960649e-03 3.32936064e-05 9.99982714e-01 -3.77660699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.20, Y:-43.21, Z:-3.78 [[ 9.77241425e-01 2.12061758e-01 5.38598817e-03 2.78204623e+02] [-2.12058428e-01 9.77256267e-01 -1.18857155e-03 -4.32124470e+01] [-5.51554126e-03 1.93771767e-05 9.99984789e-01 -3.77730620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.24, Y:-43.22, Z:-3.78 [[ 9.76858252e-01 2.13825487e-01 5.15903913e-03 2.78235204e+02] [-2.13822449e-01 9.76871875e-01 -1.13980157e-03 -4.32202230e+01] [-5.28343886e-03 1.03061808e-05 9.99986042e-01 -3.77780644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.26, Y:-43.23, Z:-3.78 [[ 9.76218220e-01 2.16699756e-01 6.26123637e-03 2.78264870e+02] [-2.16695333e-01 9.76238299e-01 -1.38442021e-03 -4.32273261e+01] [-6.41246226e-03 -5.28447153e-06 9.99979440e-01 -3.77797727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.30, Y:-43.23, Z:-3.78 [[ 9.75853685e-01 2.18283517e-01 7.86712960e-03 2.78295682e+02] [-2.18276580e-01 9.75885396e-01 -1.74024467e-03 -4.32340418e+01] [-8.05728361e-03 -1.89859702e-05 9.99967539e-01 -3.77723110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.33, Y:-43.24, Z:-3.78 [[ 9.75540470e-01 2.19606200e-01 9.69064057e-03 2.78326548e+02] [-2.19595738e-01 9.75588600e-01 -2.14390799e-03 -4.32393423e+01] [-9.92489395e-03 -3.65543581e-05 9.99950746e-01 -3.77676047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.36, Y:-43.24, Z:-3.78 [[ 9.75049707e-01 2.21753321e-01 1.01751113e-02 2.78358201e+02] [-2.21741901e-01 9.75102795e-01 -2.25134815e-03 -4.32406592e+01] [-1.04210234e-02 -6.10721559e-05 9.99945698e-01 -3.77644561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.39, Y:-43.24, Z:-3.78 [[ 9.74720154e-01 2.23235410e-01 9.30445674e-03 2.78388178e+02] [-2.23225926e-01 9.74764560e-01 -2.05894373e-03 -4.32449805e+01] [-9.52928382e-03 -7.01020147e-05 9.99954593e-01 -3.77763827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.42, Y:-43.25, Z:-3.78 [[ 9.74321946e-01 2.25024919e-01 7.78017265e-03 2.78417740e+02] [-2.25018344e-01 9.74353006e-01 -1.72170656e-03 -4.32484981e+01] [-7.96806149e-03 -7.31850751e-05 9.99968252e-01 -3.77915952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.45, Y:-43.25, Z:-3.78 [[ 9.74489314e-01 2.24300367e-01 7.74091106e-03 2.78447310e+02] [-2.24293834e-01 9.74520057e-01 -1.71317891e-03 -4.32538304e+01] [-7.92793974e-03 -6.67640809e-05 9.99968571e-01 -3.77910068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.48, Y:-43.26, Z:-3.78 [[ 9.74491884e-01 2.24289201e-01 7.74089989e-03 2.78476771e+02] [-2.24282668e-01 9.74522627e-01 -1.71322938e-03 -4.32603099e+01] [-7.92794094e-03 -6.66215541e-05 9.99968571e-01 -3.77947592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.51, Y:-43.26, Z:-3.78 [[ 9.74889950e-01 2.22545555e-01 7.94110744e-03 2.78505554e+02] [-2.22538622e-01 9.74922291e-01 -1.75744019e-03 -4.32649374e+01] [-8.13307316e-03 -5.38923305e-05 9.99966925e-01 -3.77985421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.54, Y:-43.27, Z:-3.78 [[ 9.75852298e-01 2.18257582e-01 8.71322296e-03 2.78535977e+02] [-2.18249066e-01 9.75891196e-01 -1.92815703e-03 -4.32693536e+01] [-8.92399247e-03 -2.00563034e-05 9.99960180e-01 -3.77963297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.57, Y:-43.28, Z:-3.78 [[ 9.76273694e-01 2.16349348e-01 9.09031446e-03 2.78565490e+02] [-2.16339996e-01 9.76316014e-01 -2.01160395e-03 -4.32757601e+01] [-9.31022878e-03 -2.72256929e-06 9.99956659e-01 -3.77977984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.59, Y:-43.28, Z:-3.78 [[ 9.76874738e-01 2.13625704e-01 8.93333716e-03 2.78594192e+02] [-2.13616558e-01 9.76915584e-01 -1.97690434e-03 -4.32809444e+01] [-9.14943387e-03 2.28791747e-05 9.99958143e-01 -3.78053438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.62, Y:-43.29, Z:-3.78 [[ 9.77147648e-01 2.12379998e-01 8.78697702e-03 2.78623056e+02] [-2.12371100e-01 9.77187155e-01 -1.94432977e-03 -4.32865469e+01] [-8.99945783e-03 3.37972864e-05 9.99959503e-01 -3.78101060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.65, Y:-43.29, Z:-3.78 [[ 9.77415306e-01 2.11154193e-01 8.55723176e-03 2.78652689e+02] [-2.11145707e-01 9.77452763e-01 -1.89364913e-03 -4.32933862e+01] [-8.76414178e-03 4.40588984e-05 9.99961593e-01 -3.78158813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.68, Y:-43.30, Z:-3.78 [[ 9.78258852e-01 2.07266752e-01 7.07894782e-03 2.78681902e+02] [-2.07260842e-01 9.78284462e-01 -1.56645702e-03 -4.33027701e+01] [-7.24989912e-03 6.52117557e-05 9.99973717e-01 -3.78276109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.71, Y:-43.31, Z:-3.78 [[ 9.78773480e-01 2.04849858e-01 6.24587475e-03 2.78711925e+02] [-2.04845208e-01 9.78793405e-01 -1.38209669e-03 -4.33117634e+01] [-6.39654333e-03 7.33220703e-05 9.99979539e-01 -3.78399466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.74, Y:-43.32, Z:-3.78 [[ 9.79848504e-01 1.99650233e-01 6.05748356e-03 2.78742576e+02] [-1.99645765e-01 9.79867223e-01 -1.33960726e-03 -4.33234751e+01] [-6.20298249e-03 1.03261233e-04 9.99980756e-01 -3.78410547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.77, Y:-43.33, Z:-3.78 [[ 9.80248364e-01 1.97622279e-01 7.65373426e-03 2.78773965e+02] [-1.97615071e-01 9.80278232e-01 -1.69442928e-03 -4.33326182e+01] [-7.83764606e-03 1.48468287e-04 9.99969274e-01 -3.78353118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.80, Y:-43.34, Z:-3.78 [[ 9.80479612e-01 1.96391557e-01 9.49136638e-03 2.78804439e+02] [-1.96380388e-01 9.80525531e-01 -2.10381901e-03 -4.33416547e+01] [-9.71969935e-03 1.98833429e-04 9.99952743e-01 -3.78240378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.83, Y:-43.35, Z:-3.78 [[ 9.80325173e-01 1.97037747e-01 1.17762870e-02 2.78833816e+02] [-1.97020567e-01 9.80395873e-01 -2.61308745e-03 -4.33521010e+01] [-1.20603000e-02 2.41504662e-04 9.99927243e-01 -3.78190888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.86, Y:-43.36, Z:-3.78 [[ 9.79776762e-01 1.99777570e-01 1.12436663e-02 2.78864864e+02] [-1.99762070e-01 9.79841254e-01 -2.49660720e-03 -4.33612753e+01] [-1.15157742e-02 2.00059674e-04 9.99933671e-01 -3.78237278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.90, Y:-43.37, Z:-3.78 [[ 9.78372204e-01 2.06667320e-01 8.74348420e-03 2.78895712e+02] [-2.06658212e-01 9.78411268e-01 -1.94241139e-03 -4.33700046e+01] [-8.95615642e-03 9.34885014e-05 9.99959888e-01 -3.78437747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.93, Y:-43.38, Z:-3.78 [[ 9.77881778e-01 2.09021899e-01 7.55468286e-03 2.78925240e+02] [-2.09015158e-01 9.77910958e-01 -1.67996390e-03 -4.33760226e+01] [-7.73895640e-03 6.37628530e-05 9.99970052e-01 -3.78461862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.96, Y:-43.38, Z:-3.78 [[ 9.77721960e-01 2.09785788e-01 7.04927717e-03 2.78955956e+02] [-2.09779938e-01 9.77747370e-01 -1.56758806e-03 -4.33820612e+01] [-7.22126991e-03 5.38683425e-05 9.99973925e-01 -3.78479359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.99, Y:-43.39, Z:-3.78 [[ 9.77876880e-01 2.09044790e-01 7.55538624e-03 2.78986414e+02] [-2.09038046e-01 9.77906065e-01 -1.68032982e-03 -4.33893096e+01] [-7.73972223e-03 6.37925047e-05 9.99970046e-01 -3.78451787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.02, Y:-43.40, Z:-3.79 [[ 9.78208907e-01 2.07451334e-01 8.44261577e-03 2.79015426e+02] [-2.07442853e-01 9.78245336e-01 -1.87776471e-03 -4.33976302e+01] [-8.64849429e-03 8.54858627e-05 9.99962597e-01 -3.78513762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.05, Y:-43.41, Z:-3.79 [[ 9.79159761e-01 2.02890339e-01 9.03732066e-03 2.79046801e+02] [-2.02880425e-01 9.79201456e-01 -2.01013750e-03 -4.34083670e+01] [-9.25719503e-03 1.34750292e-04 9.99957142e-01 -3.78609227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.08, Y:-43.42, Z:-3.79 [[ 9.79583383e-01 2.00840714e-01 8.91086515e-03 2.79078237e+02] [-2.00830977e-01 9.79623899e-01 -1.98363977e-03 -4.34180213e+01] [-9.12769209e-03 1.53562800e-04 9.99958330e-01 -3.78639934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.11, Y:-43.43, Z:-3.79 [[ 9.79836781e-01 1.99618300e-01 8.50981923e-03 2.79108760e+02] [-1.99609358e-01 9.79873721e-01 -1.89603139e-03 -4.34281514e+01] [-8.71703080e-03 1.59161735e-04 9.99961993e-01 -3.78684516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.14, Y:-43.44, Z:-3.79 [[ 9.79882368e-01 1.99441887e-01 7.31287077e-03 2.79139473e+02] [-1.99435272e-01 9.79909646e-01 -1.63035172e-03 -4.34407440e+01] [-7.49111303e-03 1.39108537e-04 9.99971932e-01 -3.78698093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.17, Y:-43.45, Z:-3.79 [[ 9.79376162e-01 2.01910936e-01 7.36939795e-03 2.79170019e+02] [-2.01904274e-01 9.79403879e-01 -1.64481789e-03 -4.34492010e+01] [-7.54972366e-03 1.22982491e-04 9.99971493e-01 -3.78725655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.20, Y:-43.46, Z:-3.79 [[ 9.77806085e-01 2.09416943e-01 6.30911350e-03 2.79202228e+02] [-2.09412215e-01 9.77826437e-01 -1.40832066e-03 -4.34586092e+01] [-6.46414418e-03 5.58590774e-05 9.99979106e-01 -3.78671541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.23, Y:-43.47, Z:-3.79 [[ 9.76983884e-01 2.13239249e-01 5.61363638e-03 2.79233857e+02] [-2.13235564e-01 9.77000011e-01 -1.25392317e-03 -4.34675360e+01] [-5.75190845e-03 2.80358067e-05 9.99983457e-01 -3.78744422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.26, Y:-43.48, Z:-3.79 [[ 9.76231781e-01 2.16679296e-01 4.64679620e-03 2.79264809e+02] [-2.16676807e-01 9.76242840e-01 -1.03856574e-03 -4.34763542e+01] [-4.76143721e-03 7.02792401e-06 9.99988664e-01 -3.78791609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.30, Y:-43.48, Z:-3.79 [[ 9.74986575e-01 2.22218625e-01 4.47910637e-03 2.79297040e+02] [-2.22216368e-01 9.74996863e-01 -1.00175290e-03 -4.34841853e+01] [-4.58972281e-03 -1.86351148e-05 9.99989467e-01 -3.78866202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.33, Y:-43.49, Z:-3.79 [[ 9.74359240e-01 2.24949684e-01 4.65961286e-03 2.79328299e+02] [-2.24947267e-01 9.74370381e-01 -1.04321778e-03 -4.34906017e+01] [-4.77486027e-03 -3.16982929e-05 9.99988600e-01 -3.78865832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.36, Y:-43.50, Z:-3.79 [[ 9.73337917e-01 2.29320607e-01 5.03580638e-03 2.79360473e+02] [-2.29317837e-01 9.73350942e-01 -1.12861202e-03 -4.34959866e+01] [-5.16042087e-03 -5.62793556e-05 9.99986683e-01 -3.78748571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:279.39, Y:-43.50, Z:-3.79 [[ 9.72831703e-01 2.31449406e-01 5.44522137e-03 2.79391787e+02] [-2.31446194e-01 9.72846939e-01 -1.22144565e-03 -4.35024106e+01] [-5.58006982e-03 -7.20147162e-05 9.99984429e-01 -3.78782203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.42, Y:-43.51, Z:-3.79 [[ 9.72392929e-01 2.33269911e-01 6.09432531e-03 2.79423510e+02] [-2.33265916e-01 9.72412022e-01 -1.36830827e-03 -4.35092100e+01] [-6.24538035e-03 -9.10650892e-05 9.99980493e-01 -3.78855029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.46, Y:-43.51, Z:-3.79 [[ 9.72044217e-01 2.34646616e-01 8.42655311e-03 2.79456182e+02] [-2.34639011e-01 9.72080731e-01 -1.89398522e-03 -4.35143192e+01] [-8.63570712e-03 -1.36160710e-04 9.99962702e-01 -3.78912710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.49, Y:-43.52, Z:-3.79 [[ 9.72094563e-01 2.34386449e-01 9.75469066e-03 2.79488304e+02] [-2.34376222e-01 9.72143492e-01 -2.19485106e-03 -4.35199032e+01] [-9.99740239e-03 -1.52664755e-04 9.99950013e-01 -3.78887059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.52, Y:-43.53, Z:-3.79 [[ 9.72246541e-01 2.33704795e-01 1.08964233e-02 2.79520883e+02] [-2.33691964e-01 9.72307587e-01 -2.45421971e-03 -4.35257136e+01] [-1.11682379e-02 -1.60299930e-04 9.99937620e-01 -3.78892415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.55, Y:-43.53, Z:-3.79 [[ 9.73006930e-01 2.30493867e-01 1.14057544e-02 2.79552173e+02] [-2.30479558e-01 9.73073770e-01 -2.57140193e-03 -4.35301660e+01] [-1.16913328e-02 -1.26801344e-04 9.99931646e-01 -3.78915770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.58, Y:-43.54, Z:-3.79 [[ 9.73597539e-01 2.28003711e-01 1.10517195e-02 2.79583969e+02] [-2.27990100e-01 9.73660259e-01 -2.49299791e-03 -4.35366305e+01] [-1.13290329e-02 -9.25060054e-05 9.99935820e-01 -3.79004324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:279.62, Y:-43.54, Z:-3.79 [[ 9.75000636e-01 2.22019548e-01 9.00450267e-03 2.79615832e+02] [-2.22010257e-01 9.75042214e-01 -2.03118774e-03 -4.35430484e+01] [-9.23073361e-03 -1.86826204e-05 9.99957396e-01 -3.79133811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.65, Y:-43.55, Z:-3.79 [[ 9.75581119e-01 2.19493119e-01 8.01562951e-03 2.79647941e+02] [-2.19485662e-01 9.75614048e-01 -1.80929776e-03 -4.35507206e+01] [-8.21728917e-03 5.80099118e-06 9.99966237e-01 -3.79140050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.68, Y:-43.56, Z:-3.79 [[ 9.76416670e-01 2.15699564e-01 9.17526494e-03 2.79678911e+02] [-2.15689605e-01 9.76459777e-01 -2.07326880e-03 -4.35590285e+01] [-9.40648033e-03 4.53649485e-05 9.99955757e-01 -3.79056988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.71, Y:-43.57, Z:-3.79 [[ 9.76592588e-01 2.14854204e-01 1.02268308e-02 2.79709825e+02] [-2.14841761e-01 9.76646132e-01 -2.31316479e-03 -4.35667015e+01] [-1.04849880e-02 6.18692431e-05 9.99945029e-01 -3.79021788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.74, Y:-43.57, Z:-3.79 [[ 9.76675674e-01 2.14479732e-01 1.01524995e-02 2.79740661e+02] [-2.14467436e-01 9.76728437e-01 -2.29749612e-03 -4.35741169e+01] [-1.04090013e-02 6.65280312e-05 9.99945823e-01 -3.79013866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.77, Y:-43.58, Z:-3.79 [[ 9.76697695e-01 2.14435483e-01 8.89028594e-03 2.79772403e+02] [-2.14426043e-01 9.76738153e-01 -2.01292188e-03 -4.35817297e+01] [-9.11512334e-03 5.97073256e-05 9.99958455e-01 -3.79154674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.80, Y:-43.59, Z:-3.79 [[ 9.76682328e-01 2.14620484e-01 5.44776572e-03 2.79803743e+02] [-2.14616938e-01 9.76697521e-01 -1.23411729e-03 -4.35895673e+01] [-5.58568612e-03 3.61577458e-05 9.99984399e-01 -3.79410267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.84, Y:-43.60, Z:-3.79 [[ 9.76655181e-01 2.14732967e-01 5.86610790e-03 2.79835880e+02] [-2.14728856e-01 9.76672796e-01 -1.32927105e-03 -4.35980178e+01] [-6.01470632e-03 3.86168139e-05 9.99981911e-01 -3.79480474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.965769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.87, Y:-43.61, Z:-3.79 [[ 9.76588271e-01 2.15017963e-01 6.52870377e-03 2.79867624e+02] [-2.15012867e-01 9.76610093e-01 -1.48090212e-03 -4.36055323e+01] [-6.69441855e-03 4.24763269e-05 9.99977591e-01 -3.79400403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.90, Y:-43.61, Z:-3.79 [[ 9.76421440e-01 2.15749821e-01 7.29282585e-03 2.79898446e+02] [-2.15743470e-01 9.76448674e-01 -1.65602701e-03 -4.36124574e+01] [-7.47835766e-03 4.36007272e-05 9.99972036e-01 -3.79319254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.93, Y:-43.62, Z:-3.79 [[ 9.76073886e-01 2.17314097e-01 7.37241045e-03 2.79929735e+02] [-2.17307640e-01 9.76101727e-01 -1.67552703e-03 -4.36187809e+01] [-7.56033821e-03 3.33570603e-05 9.99971420e-01 -3.79280027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.96, Y:-43.62, Z:-3.79 [[ 9.74864557e-01 2.22644030e-01 8.29047622e-03 2.79958795e+02] [-2.22636035e-01 9.74899808e-01 -1.88675855e-03 -4.36211481e+01] [-8.50245921e-03 -6.42471894e-06 9.99963853e-01 -3.79238113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.99, Y:-43.62, Z:-3.79 [[ 9.73595607e-01 2.28124944e-01 8.40259977e-03 2.79986566e+02] [-2.28116937e-01 9.73631864e-01 -1.91209629e-03 -4.36224078e+01] [-8.61723574e-03 -5.51667677e-05 9.99962869e-01 -3.79237969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.02, Y:-43.63, Z:-3.79 [[ 9.73097648e-01 2.30257483e-01 7.90309229e-03 2.80017229e+02] [-2.30250477e-01 9.73129738e-01 -1.79762502e-03 -4.36271856e+01] [-8.10465074e-03 -7.04260871e-05 9.99967154e-01 -3.79339487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.05, Y:-43.63, Z:-3.79 [[ 9.72572346e-01 2.32476961e-01 7.58249655e-03 2.80049282e+02] [-2.32470583e-01 9.72601900e-01 -1.72419578e-03 -4.36329953e+01] [-7.77558634e-03 -8.58022557e-05 9.99969766e-01 -3.79441476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.08, Y:-43.64, Z:-3.80 [[ 9.72108297e-01 2.34416566e-01 7.37109612e-03 2.80078758e+02] [-2.34410580e-01 9.72136237e-01 -1.67811953e-03 -4.36383773e+01] [-7.55908867e-03 -9.65490011e-05 9.99971425e-01 -3.79517712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.11, Y:-43.64, Z:-3.80 [[ 9.71626453e-01 2.36396245e-01 7.67145566e-03 2.80108269e+02] [-2.36389821e-01 9.71656730e-01 -1.74671051e-03 -4.36426094e+01] [-7.86693733e-03 -1.16303891e-04 9.99969048e-01 -3.79532661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.14, Y:-43.65, Z:-3.80 [[ 9.71662985e-01 2.36250683e-01 7.52714817e-03 2.80137438e+02] [-2.36244494e-01 9.71692133e-01 -1.71381979e-03 -4.36461772e+01] [-7.71896176e-03 -1.12992061e-04 9.99970202e-01 -3.79584628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.17, Y:-43.65, Z:-3.80 [[ 9.71794828e-01 2.35722058e-01 7.06565981e-03 2.80165543e+02] [-2.35716591e-01 9.71820509e-01 -1.60865407e-03 -4.36513422e+01] [-7.24574835e-03 -1.02211539e-04 9.99973744e-01 -3.79608760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.19, Y:-43.66, Z:-3.80 [[ 9.71961906e-01 2.35049098e-01 6.47876356e-03 2.80194664e+02] [-2.35044489e-01 9.71983494e-01 -1.47476918e-03 -4.36567210e+01] [-6.64389441e-03 -8.93782083e-05 9.99977925e-01 -3.79622117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.22, Y:-43.66, Z:-3.80 [[ 9.72148917e-01 2.34257153e-01 7.07602614e-03 2.80223431e+02] [-2.34251634e-01 9.72174664e-01 -1.61058889e-03 -4.36609433e+01] [-7.25642530e-03 -9.18384448e-05 9.99973668e-01 -3.79710360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.25, Y:-43.67, Z:-3.80 [[ 9.72199655e-01 2.34017550e-01 7.97601971e-03 2.80251498e+02] [-2.34010533e-01 9.72232367e-01 -1.81514636e-03 -4.36658714e+01] [-8.17932063e-03 -1.01787954e-04 9.99966544e-01 -3.79709028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.28, Y:-43.67, Z:-3.80 [[ 9.72222142e-01 2.33896609e-01 8.74545708e-03 2.80279377e+02] [-2.33888172e-01 9.72261469e-01 -1.98974032e-03 -4.36709532e+01] [-8.96826446e-03 -1.10989380e-04 9.99959778e-01 -3.79714325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.31, Y:-43.68, Z:-3.80 [[ 9.72465928e-01 2.32883732e-01 8.67095240e-03 2.80309434e+02] [-2.32875402e-01 9.72504579e-01 -1.97236389e-03 -4.36765369e+01] [-8.89187238e-03 -1.01194844e-04 9.99960461e-01 -3.79743732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.34, Y:-43.68, Z:-3.80 [[ 9.72635016e-01 2.32208556e-01 7.76604614e-03 2.80338628e+02] [-2.32201852e-01 9.72666016e-01 -1.76652671e-03 -4.36837696e+01] [-7.96397178e-03 -8.51045610e-05 9.99968283e-01 -3.79863265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.37, Y:-43.69, Z:-3.80 [[ 9.73123392e-01 2.30178548e-01 6.97855762e-03 2.80367768e+02] [-2.30173082e-01 9.73148412e-01 -1.58746185e-03 -4.36901633e+01] [-7.15657193e-03 -6.14798568e-05 9.99974390e-01 -3.79906934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.40, Y:-43.70, Z:-3.80 [[ 9.73262331e-01 2.29589394e-01 7.01040713e-03 2.80396561e+02] [-2.29583863e-01 9.73287577e-01 -1.59461985e-03 -4.36954796e+01] [-7.18924997e-03 -5.74929237e-05 9.99974155e-01 -3.79856257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.43, Y:-43.70, Z:-3.80 [[ 9.73265045e-01 2.29577885e-01 7.01042581e-03 2.80425984e+02] [-2.29572355e-01 9.73290291e-01 -1.59453772e-03 -4.37021310e+01] [-7.18924998e-03 -5.74921307e-05 9.99974155e-01 -3.79893779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.46, Y:-43.71, Z:-3.80 [[ 9.73057082e-01 2.30456501e-01 7.05103480e-03 2.80456002e+02] [-2.30450930e-01 9.73082626e-01 -1.60374883e-03 -4.37055118e+01] [-7.23083380e-03 -6.43783737e-05 9.99973855e-01 -3.79902501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.48, Y:-43.71, Z:-3.80 [[ 9.72702227e-01 2.31987060e-01 5.69055548e-03 2.80483744e+02] [-2.31968987e-01 9.72716287e-01 -3.66244699e-03 -4.37099043e+01] [-6.38493631e-03 2.24243795e-03 9.99977102e-01 -3.79851997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.51, Y:-43.72, Z:-3.80 [[ 9.72336468e-01 2.33469568e-01 7.33176782e-03 2.80511431e+02] [-2.33480728e-01 9.72361183e-01 6.93072812e-04 -4.37166473e+01] [-6.96731502e-03 -2.38572646e-03 9.99972882e-01 -3.79863922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.54, Y:-43.72, Z:-3.80 [[ 9.71493409e-01 2.36954909e-01 7.27510904e-03 2.80539309e+02] [-2.36949165e-01 9.71520642e-01 -1.65397025e-03 -4.37192715e+01] [-7.45983498e-03 -1.17009815e-04 9.99972168e-01 -3.80010406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.57, Y:-43.72, Z:-3.80 [[ 9.71120545e-01 2.38449705e-01 8.16246322e-03 2.80567464e+02] [-2.38442534e-01 9.71154837e-01 -1.85503323e-03 -4.37241576e+01] [-8.36934777e-03 -1.44817527e-04 9.99964966e-01 -3.80048241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.60, Y:-43.73, Z:-3.80 [[ 9.70767659e-01 2.39835383e-01 9.44150002e-03 2.80595661e+02] [-2.39825858e-01 9.70813554e-01 -2.14520542e-03 -4.37284730e+01] [-9.68043235e-03 -1.81819801e-04 9.99953127e-01 -3.79913627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.62, Y:-43.73, Z:-3.80 [[ 9.70762582e-01 2.39877318e-01 8.88153456e-03 2.80623962e+02] [-2.39868895e-01 9.70803195e-01 -2.01757775e-03 -4.37331316e+01] [-9.10619327e-03 -1.71814890e-04 9.99958523e-01 -3.79934322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.65, Y:-43.74, Z:-3.80 [[ 9.70658750e-01 2.40320893e-01 8.21338936e-03 2.80652337e+02] [-2.40313708e-01 9.70693485e-01 -1.86544496e-03 -4.37368540e+01] [-8.42098894e-03 -1.63079583e-04 9.99964530e-01 -3.80003428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.68, Y:-43.74, Z:-3.80 [[ 9.70242283e-01 2.41956518e-01 9.32494421e-03 2.80681107e+02] [-2.41947338e-01 9.70287072e-01 -2.11737744e-03 -4.37386797e+01] [-9.56018609e-03 -2.01776308e-04 9.99954280e-01 -3.80186911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.71, Y:-43.74, Z:-3.80 [[ 9.70346409e-01 2.41498317e-01 1.03155138e-02 2.80710060e+02] [-2.41487062e-01 9.70401213e-01 -2.34173974e-03 -4.37433708e+01] [-1.05757133e-02 -2.18764369e-04 9.99944052e-01 -3.80271418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.74, Y:-43.75, Z:-3.80 [[ 9.71153839e-01 2.38280179e-01 9.09820022e-03 2.80737823e+02] [-2.38271286e-01 9.71196442e-01 -2.06505790e-03 -4.37483838e+01] [-9.32820205e-03 -1.62350963e-04 9.99956478e-01 -3.80460907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.77, Y:-43.75, Z:-3.81 [[ 9.71751032e-01 2.35887191e-01 7.56069350e-03 2.80766209e+02] [-2.35880980e-01 9.71780438e-01 -1.71568736e-03 -4.37548873e+01] [-7.75204271e-03 -1.16202828e-04 9.99969946e-01 -3.80558336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.79, Y:-43.76, Z:-3.81 [[ 9.72392458e-01 2.33257291e-01 6.62905275e-03 2.80794390e+02] [-2.33252457e-01 9.72415050e-01 -1.50403689e-03 -4.37615107e+01] [-6.79701823e-03 -8.37287123e-05 9.99976896e-01 -3.80541954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.82, Y:-43.77, Z:-3.80 [[ 9.73411367e-01 2.28977353e-01 6.29936752e-03 2.80821757e+02] [-2.28972900e-01 9.73431749e-01 -1.42903630e-03 -4.37669080e+01] [-6.45922129e-03 -5.13442657e-05 9.99979138e-01 -3.80415324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.85, Y:-43.77, Z:-3.80 [[ 9.73751523e-01 2.27525824e-01 6.32228282e-03 2.80850612e+02] [-2.27521310e-01 9.73772046e-01 -1.43382301e-03 -4.37715888e+01] [-6.48269404e-03 -4.22667322e-05 9.99978986e-01 -3.80443131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.88, Y:-43.78, Z:-3.81 [[ 9.73891447e-01 2.26913632e-01 6.75666258e-03 2.80877873e+02] [-2.26908464e-01 9.73914884e-01 -1.53201670e-03 -4.37753211e+01] [-6.92804973e-03 -4.11259675e-05 9.99976000e-01 -3.80563396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.91, Y:-43.78, Z:-3.81 [[ 9.73497544e-01 2.28579648e-01 7.34003999e-03 2.80906389e+02] [-2.28573600e-01 9.73525213e-01 -1.66379737e-03 -4.37770473e+01] [-7.52602421e-03 -5.80367140e-05 9.99971677e-01 -3.80614758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.93, Y:-43.78, Z:-3.81 [[ 9.73140237e-01 2.30105473e-01 7.03921621e-03 2.80934278e+02] [-2.30099954e-01 9.73165693e-01 -1.59514535e-03 -4.37801154e+01] [-7.21737540e-03 -6.74232060e-05 9.99973952e-01 -3.80622441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.96, Y:-43.78, Z:-3.81 [[ 9.73048903e-01 2.30522387e-01 5.93804443e-03 2.80963268e+02] [-2.30518470e-01 9.73067020e-01 -1.34519721e-03 -4.37813568e+01] [-6.08821327e-03 -5.98862467e-05 9.99981465e-01 -3.80712805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.99, Y:-43.79, Z:-3.81 [[ 9.73567177e-01 2.28309656e-01 6.45389195e-03 2.80991339e+02] [-2.28304983e-01 9.73588567e-01 -1.46169088e-03 -4.37864390e+01] [-6.61715356e-03 -5.04014256e-05 9.99978105e-01 -3.80818057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.02, Y:-43.79, Z:-3.81 [[ 9.74357233e-01 2.24882496e-01 7.47299738e-03 2.81018899e+02] [-2.24876133e-01 9.74385890e-01 -1.69208766e-03 -4.37927735e+01] [-7.66210410e-03 -3.18009049e-05 9.99970645e-01 -3.80808046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.05, Y:-43.80, Z:-3.81 [[ 9.76375941e-01 2.15870963e-01 9.47357811e-03 2.81045014e+02] [-2.15860318e-01 9.76421899e-01 -2.14427715e-03 -4.38021548e+01] [-9.71309631e-03 4.86510339e-05 9.99952826e-01 -3.80765714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.07, Y:-43.81, Z:-3.81 [[ 9.77479094e-01 2.10806892e-01 9.75065687e-03 2.81072411e+02] [-2.10795370e-01 9.77527720e-01 -2.20635519e-03 -4.38103027e+01] [-9.99665227e-03 1.01272744e-04 9.99950027e-01 -3.80817766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.10, Y:-43.82, Z:-3.81 [[ 9.79457670e-01 2.01416554e-01 9.69766757e-03 2.81101273e+02] [-2.01404702e-01 9.79505658e-01 -2.19376975e-03 -4.38229438e+01] [-9.94078179e-03 1.95548761e-04 9.99950570e-01 -3.80889198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.13, Y:-43.83, Z:-3.81 [[ 9.80223699e-01 1.97661694e-01 9.55799002e-03 2.81130140e+02] [-1.97650003e-01 9.80270270e-01 -2.16214104e-03 -4.38338589e+01] [-9.79678591e-03 2.30245136e-04 9.99951984e-01 -3.80989320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:281.16, Y:-43.85, Z:-3.81 [[ 9.81164235e-01 1.92950478e-01 9.31966714e-03 2.81158883e+02] [-1.92939149e-01 9.81208459e-01 -2.10830654e-03 -4.38508112e+01] [-9.55133499e-03 2.70466331e-04 9.99954348e-01 -3.81043953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.19, Y:-43.86, Z:-3.81 [[ 9.81391766e-01 1.91789380e-01 9.32925902e-03 2.81188361e+02] [-1.91777973e-01 9.81436067e-01 -2.11069877e-03 -4.38635221e+01] [-9.56088089e-03 2.82276013e-04 9.99954254e-01 -3.80987656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.22, Y:-43.88, Z:-3.81 [[ 9.81530083e-01 1.91074373e-01 9.44879341e-03 2.81219126e+02] [-1.91062641e-01 9.81575518e-01 -2.13751435e-03 -4.38775937e+01] [-9.68312851e-03 2.92723219e-04 9.99953075e-01 -3.80956422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.405769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:281.25, Y:-43.90, Z:-3.81 [[ 9.81668011e-01 1.90389036e-01 8.94041425e-03 2.81247285e+02] [-1.90378489e-01 9.81708681e-01 -2.02416970e-03 -4.38999008e+01] [-9.16226200e-03 2.85000091e-04 9.99957985e-01 -3.80980836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.28, Y:-43.92, Z:-3.81 [[ 9.81686097e-01 1.90309416e-01 8.64488887e-03 2.81276385e+02] [-1.90299538e-01 9.81724121e-01 -1.95877031e-03 -4.39150252e+01] [-8.85966836e-03 2.77779221e-04 9.99960714e-01 -3.81115350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.465769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.30, Y:-43.94, Z:-3.81 [[ 9.81445435e-01 1.91573637e-01 8.02492850e-03 2.81304680e+02] [-1.91565154e-01 9.81478211e-01 -1.81996194e-03 -4.39385839e+01] [-8.22494920e-03 2.48896675e-04 9.99966144e-01 -3.81241459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.34, Y:-43.95, Z:-3.81 [[ 9.80998442e-01 1.93858104e-01 7.81616005e-03 2.81335286e+02] [-1.93850127e-01 9.81029554e-01 -1.77277765e-03 -4.39533911e+01] [-8.01155132e-03 2.23928487e-04 9.99967882e-01 -3.81250869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.36, Y:-43.97, Z:-3.81 [[ 9.79506626e-01 2.01252656e-01 8.00866270e-03 2.81363864e+02] [-2.01244512e-01 9.79539351e-01 -1.81839021e-03 -4.39710356e+01] [-8.21075612e-03 1.69425838e-04 9.99966277e-01 -3.81013150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.40, Y:-43.98, Z:-3.81 [[ 9.78517522e-01 2.05999428e-01 8.22767411e-03 2.81395197e+02] [-2.05990994e-01 9.78552103e-01 -1.86888475e-03 -4.39824492e+01] [-8.43619699e-03 1.33909705e-04 9.99964406e-01 -3.81142251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:281.42, Y:-44.00, Z:-3.81 [[ 9.76580488e-01 2.14988589e-01 8.39391489e-03 2.81424740e+02] [-2.14980127e-01 9.76616559e-01 -1.90837987e-03 -4.39984234e+01] [-8.60791617e-03 5.91616567e-05 9.99962949e-01 -3.81301129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.46, Y:-44.01, Z:-3.81 [[ 9.75704994e-01 2.18935408e-01 8.18853511e-03 2.81456350e+02] [-2.18927482e-01 9.75739354e-01 -1.86310481e-03 -4.40093127e+01] [-8.39777557e-03 2.51452962e-05 9.99964738e-01 -3.81351432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.49, Y:-44.02, Z:-3.81 [[ 9.74837319e-01 2.22782407e-01 7.75889835e-03 2.81488190e+02] [-2.22775403e-01 9.74868196e-01 -1.76663423e-03 -4.40189451e+01] [-7.95747826e-03 -6.31072877e-06 9.99968339e-01 -3.81437319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:281.52, Y:-44.03, Z:-3.81 [[ 9.72991579e-01 2.30727742e-01 7.21780288e-03 2.81519140e+02] [-2.30721889e-01 9.73018348e-01 -1.64473385e-03 -4.40284750e+01] [-7.40254036e-03 -6.49929307e-05 9.99972599e-01 -3.81462560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70576923100003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:281.55, Y:-44.04, Z:-3.81 [[ 9.72087651e-01 2.34492983e-01 7.65764360e-03 2.81551312e+02] [-2.34486499e-01 9.72117807e-01 -1.74646828e-03 -4.40377276e+01] [-7.85366626e-03 -9.78937972e-05 9.99969155e-01 -3.81433121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73576923100006 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:281.58, Y:-44.05, Z:-3.81 [[ 9.70688481e-01 2.40209613e-01 7.95077571e-03 2.81582215e+02] [-2.40202802e-01 9.70721031e-01 -1.81490052e-03 -4.40474212e+01] [-8.15394175e-03 -1.48095574e-04 9.99966745e-01 -3.81460298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:281.61, Y:-44.05, Z:-3.82 [[ 9.70086950e-01 2.42636451e-01 7.67219388e-03 2.81614356e+02] [-2.42630176e-01 9.70117275e-01 -1.75244693e-03 -4.40545537e+01] [-7.86813533e-03 -1.61479855e-04 9.99969033e-01 -3.81536201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:281.65, Y:-44.06, Z:-3.82 [[ 9.69584489e-01 2.44639800e-01 7.56879432e-03 2.81646610e+02] [-2.44633743e-01 9.69614015e-01 -1.73023716e-03 -4.40607923e+01] [-7.76209392e-03 -1.73971370e-04 9.99969859e-01 -3.81602489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:281.68, Y:-44.07, Z:-3.82 [[ 9.68443333e-01 2.49117602e-01 7.61127637e-03 2.81678249e+02] [-2.49111603e-01 9.68473219e-01 -1.74147789e-03 -4.40652159e+01] [-7.80515013e-03 -2.09534606e-04 9.99969517e-01 -3.81580981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85576923100007 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:281.71, Y:-44.07, Z:-3.82 [[ 9.67823337e-01 2.51520489e-01 7.44527130e-03 2.81710576e+02] [-2.51514811e-01 9.67851948e-01 -1.70472658e-03 -4.40711687e+01] [-7.63469400e-03 -2.22721839e-04 9.99970830e-01 -3.81572868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:281.74, Y:-44.07, Z:-3.82 [[ 9.66729969e-01 2.55682933e-01 7.70742498e-03 2.81743755e+02] [-2.55676968e-01 9.66760657e-01 -1.76626022e-03 -4.40737156e+01] [-7.90283784e-03 -2.63114359e-04 9.99968737e-01 -3.81580784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:281.78, Y:-44.08, Z:-3.82 [[ 9.66169560e-01 2.57771967e-01 8.36625236e-03 2.81776598e+02] [-2.57765001e-01 9.66205735e-01 -1.91903232e-03 -4.40776076e+01] [-8.57819374e-03 -3.02416439e-04 9.99963161e-01 -3.81590888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.81, Y:-44.08, Z:-3.82 [[ 9.65244811e-01 2.61176418e-01 9.45164034e-03 2.81810613e+02] [-2.61167670e-01 9.65291012e-01 -2.17012815e-03 -4.40768985e+01] [-9.69036977e-03 -3.73757951e-04 9.99952977e-01 -3.81622809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.9757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.84, Y:-44.08, Z:-3.82 [[ 9.64866871e-01 2.62575417e-01 9.27745427e-03 2.81843251e+02] [-2.62567035e-01 9.64911399e-01 -2.13193926e-03 -4.40805434e+01] [-9.51171621e-03 -3.78916097e-04 9.99954691e-01 -3.81566296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:281.88, Y:-44.08, Z:-3.82 [[ 9.64621176e-01 2.63492549e-01 8.81267061e-03 2.81875559e+02] [-2.63485009e-01 9.64661361e-01 -2.02680613e-03 -4.40837662e+01] [-9.03529114e-03 -3.66906482e-04 9.99959114e-01 -3.81614791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.91, Y:-44.09, Z:-3.82 [[ 9.64492274e-01 2.63993752e-01 7.87097698e-03 2.81908974e+02] [-2.63987745e-01 9.64524333e-01 -1.81139312e-03 -4.40873902e+01] [-8.06994529e-03 -3.30766788e-04 9.99967383e-01 -3.81730113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06576923100005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:281.94, Y:-44.09, Z:-3.82 [[ 9.64896458e-01 2.62539608e-01 6.91224256e-03 2.81943074e+02] [-2.62534930e-01 9.64921176e-01 -1.59180811e-03 -4.40867618e+01] [-7.08768190e-03 -2.78775113e-04 9.99974843e-01 -3.81832109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.97, Y:-44.09, Z:-3.82 [[ 9.65192245e-01 2.61447828e-01 6.99736236e-03 2.81974294e+02] [-2.61442994e-01 9.65217571e-01 -1.61300958e-03 -4.40901670e+01] [-7.17569495e-03 -2.72547029e-04 9.99974217e-01 -3.81829164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:282.01, Y:-44.09, Z:-3.82 [[ 9.65666566e-01 2.59649585e-01 8.37716999e-03 2.82005386e+02] [-2.59642569e-01 9.65702852e-01 -1.93347714e-03 -4.40888048e+01] [-8.59188348e-03 -3.07975711e-04 9.99963042e-01 -3.81865422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.155769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:282.04, Y:-44.09, Z:-3.82 [[ 9.65739426e-01 2.59357656e-01 8.99823103e-03 2.82035518e+02] [-2.59349550e-01 9.65781289e-01 -2.07658217e-03 -4.40911555e+01] [-9.22890065e-03 -3.28249898e-04 9.99957359e-01 -3.81887416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:282.06, Y:-44.09, Z:-3.82 [[ 9.65693991e-01 2.59508857e-01 9.50099714e-03 2.82064045e+02] [-2.59499830e-01 9.65740665e-01 -2.19239572e-03 -4.40931971e+01] [-9.74444540e-03 -3.48323767e-04 9.99952461e-01 -3.81912732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.215769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:282.09, Y:-44.09, Z:-3.82 [[ 9.65362366e-01 2.60736633e-01 9.58696414e-03 2.82093764e+02] [-2.60727505e-01 9.65409900e-01 -2.21191589e-03 -4.40912389e+01] [-9.83207759e-03 -3.64284882e-04 9.99951598e-01 -3.81949161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24576923100005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:282.12, Y:-44.09, Z:-3.82 [[ 9.65181265e-01 2.61423080e-01 9.11583910e-03 2.82121898e+02] [-2.61414862e-01 9.65224248e-01 -2.10284690e-03 -4.40935458e+01] [-9.34856165e-03 -3.53387388e-04 9.99956239e-01 -3.81985577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.275769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:282.15, Y:-44.09, Z:-3.82 [[ 9.65092232e-01 2.61752449e-01 9.09065700e-03 2.82150922e+02] [-2.61744295e-01 9.65134980e-01 -2.09650551e-03 -4.40905544e+01] [-9.32247651e-03 -3.56106427e-04 9.99956481e-01 -3.81983999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:282.18, Y:-44.09, Z:-3.82 [[ 9.65081713e-01 2.61784913e-01 9.27072841e-03 2.82178984e+02] [-2.61776440e-01 9.65126171e-01 -2.13747098e-03 -4.40919751e+01] [-9.50698027e-03 -3.64024121e-04 9.99954741e-01 -3.82029585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.33576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:282.21, Y:-44.09, Z:-3.82 [[ 9.65056279e-01 2.61862750e-01 9.70975234e-03 2.82207243e+02] [-2.61853466e-01 9.65105048e-01 -2.23797020e-03 -4.40932016e+01] [-9.95697203e-03 -3.82765114e-04 9.99950355e-01 -3.82080773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:282.24, Y:-44.09, Z:-3.82 [[ 9.64860097e-01 2.62594832e-01 9.43125164e-03 2.82235312e+02] [-2.62586114e-01 9.64906115e-01 -2.17317206e-03 -4.40904679e+01] [-9.67093613e-03 -3.79708714e-04 9.99953163e-01 -3.82109893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:282.26, Y:-44.09, Z:-3.82 [[ 9.64706563e-01 2.63170770e-01 9.07706193e-03 2.82264211e+02] [-2.63162727e-01 9.64749194e-01 -2.09081916e-03 -4.40913837e+01] [-9.30733067e-03 -3.71717408e-04 9.99956617e-01 -3.82147436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:282.29, Y:-44.10, Z:-3.82 [[ 9.64721055e-01 2.63117636e-01 9.07720804e-03 2.82292012e+02] [-2.63109596e-01 9.64763687e-01 -2.09018460e-03 -4.40976510e+01] [-9.30732513e-03 -3.71855451e-04 9.99956617e-01 -3.82182874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:282.32, Y:-44.09, Z:-3.82 [[ 9.64242265e-01 2.64919854e-01 7.37057521e-03 2.82321790e+02] [-2.64914608e-01 9.64270383e-01 -1.69701587e-03 -4.40907903e+01] [-7.55680057e-03 -3.16238619e-04 9.99971397e-01 -3.82267039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:282.35, Y:-44.09, Z:-3.82 [[ 9.64122988e-01 2.65369142e-01 6.78835867e-03 2.82350576e+02] [-2.65364707e-01 9.64146841e-01 -1.56244073e-03 -4.40910854e+01] [-6.95959812e-03 -2.95005780e-04 9.99975738e-01 -3.82335617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:282.38, Y:-44.09, Z:-3.82 [[ 9.64732673e-01 2.63161110e-01 6.09092896e-03 2.82378714e+02] [-2.63157496e-01 9.64751868e-01 -1.40164303e-03 -4.40890091e+01] [-6.24509303e-03 -2.50662791e-04 9.99980468e-01 -3.82460083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54576923100007 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:282.41, Y:-44.09, Z:-3.83 [[ 9.65483925e-01 2.60394993e-01 5.93622159e-03 2.82405218e+02] [-2.60391512e-01 9.65502147e-01 -1.36557547e-03 -4.40922506e+01] [-6.08702371e-03 -2.27300548e-04 9.99981448e-01 -3.82537428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:282.43, Y:-44.09, Z:-3.83 [[ 9.67682517e-01 2.52083194e-01 6.67910099e-03 2.82433912e+02] [-2.52078593e-01 9.67705546e-01 -1.53573630e-03 -4.40941314e+01] [-6.85053638e-03 -1.97553209e-04 9.99976515e-01 -3.82595625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.46, Y:-44.10, Z:-3.83 [[ 9.68838345e-01 2.47593011e-01 7.06832480e-03 2.82462219e+02] [-2.47587743e-01 9.68864113e-01 -1.62463279e-03 -4.40976709e+01] [-7.25049396e-03 -1.76024042e-04 9.99973699e-01 -3.82618448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:282.49, Y:-44.10, Z:-3.83 [[ 9.69856387e-01 2.43581724e-01 6.82144925e-03 2.82489536e+02] [-2.43576720e-01 9.69880366e-01 -1.56763110e-03 -4.41009279e+01] [-6.99783598e-03 -1.41169202e-04 9.99975505e-01 -3.82653254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.52, Y:-44.10, Z:-3.83 [[ 9.71257731e-01 2.37952835e-01 6.07192959e-03 2.82517483e+02] [-2.37948763e-01 9.71276706e-01 -1.39492878e-03 -4.41026321e+01] [-6.22945103e-03 -8.99727728e-05 9.99980593e-01 -3.82820783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.54, Y:-44.11, Z:-3.83 [[ 9.71721184e-01 2.36064895e-01 5.59518976e-03 2.82543787e+02] [-2.36061408e-01 9.71737290e-01 -1.28513618e-03 -4.41070649e+01] [-5.74043007e-03 -7.20143222e-05 9.99983521e-01 -3.82928544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7257692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:282.57, Y:-44.11, Z:-3.83 [[ 9.72031863e-01 2.34780450e-01 5.67434737e-03 2.82570883e+02] [-2.34776845e-01 9.72048423e-01 -1.30277256e-03 -4.41105244e+01] [-5.82160593e-03 -6.58689360e-05 9.99983052e-01 -3.82921357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:282.60, Y:-44.12, Z:-3.83 [[ 9.72112291e-01 2.34447210e-01 5.67442846e-03 2.82598022e+02] [-2.34443602e-01 9.72128850e-01 -1.30231436e-03 -4.41150969e+01] [-5.82159959e-03 -6.43376541e-05 9.99983052e-01 -3.82889601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7857692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:282.63, Y:-44.12, Z:-3.83 [[ 9.72264934e-01 2.33805923e-01 5.97400168e-03 2.82625092e+02] [-2.33801915e-01 9.72283285e-01 -1.37045972e-03 -4.41206746e+01] [-6.12884358e-03 -6.42831096e-05 9.99981216e-01 -3.82967528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81576923100005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:282.65, Y:-44.13, Z:-3.83 [[ 9.72654132e-01 2.32193856e-01 5.47282988e-03 2.82652699e+02] [-2.32190469e-01 9.72669528e-01 -1.25517374e-03 -4.41262276e+01] [-5.61469849e-03 -4.98890097e-05 9.99984236e-01 -3.83011404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8457692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:282.68, Y:-44.13, Z:-3.83 [[ 9.72640126e-01 2.32245591e-01 5.75942176e-03 2.82679888e+02] [-2.32241843e-01 9.72657176e-01 -1.32044140e-03 -4.41318853e+01] [-5.90860960e-03 -5.32644394e-05 9.99982543e-01 -3.83090287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87576923100005 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:282.71, Y:-44.14, Z:-3.83 [[ 9.72610508e-01 2.32325321e-01 7.33106277e-03 2.82707006e+02] [-2.32319254e-01 9.72638135e-01 -1.68026862e-03 -4.41365603e+01] [-7.52084016e-03 -6.89001185e-05 9.99971716e-01 -3.83071539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.905769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:282.73, Y:-44.14, Z:-3.83 [[ 9.72619952e-01 2.32252157e-01 8.32848048e-03 2.82734101e+02] [-2.32244338e-01 9.72655607e-01 -1.90742853e-03 -4.41422876e+01] [-8.54374763e-03 -7.90393915e-05 9.99963498e-01 -3.83086935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:282.76, Y:-44.15, Z:-3.83 [[ 9.72740139e-01 2.31737779e-01 8.61530835e-03 2.82761186e+02] [-2.31729398e-01 9.72778287e-01 -1.97245009e-03 -4.41488425e+01] [-8.83787610e-03 -7.77388441e-05 9.99960942e-01 -3.83119407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.79, Y:-44.16, Z:-3.83 [[ 9.73257699e-01 2.29562721e-01 8.39101237e-03 2.82787087e+02] [-2.29554694e-01 9.73293868e-01 -1.92054325e-03 -4.41561480e+01] [-8.60780602e-03 -5.70127745e-05 9.99962951e-01 -3.83237393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99576923100005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:282.81, Y:-44.16, Z:-3.83 [[ 9.73549273e-01 2.28364677e-01 7.16850756e-03 2.82814141e+02] [-2.28358791e-01 9.73575663e-01 -1.64020625e-03 -4.41636716e+01] [-7.35364967e-03 -4.01701120e-05 9.99972961e-01 -3.83249443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:282.84, Y:-44.17, Z:-3.83 [[ 9.73956549e-01 2.26674250e-01 5.23685437e-03 2.82840027e+02] [-2.26671083e-01 9.73970628e-01 -1.19839358e-03 -4.41708290e+01] [-5.37218731e-03 -1.98601745e-05 9.99985569e-01 -3.83303133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.87, Y:-44.18, Z:-3.83 [[ 9.74101318e-01 2.26046693e-01 5.43268186e-03 2.82866954e+02] [-2.26043280e-01 9.74116468e-01 -1.24221904e-03 -4.41765396e+01] [-5.57286437e-03 -1.79740281e-05 9.99984471e-01 -3.83305917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.89, Y:-44.18, Z:-3.83 [[ 9.74027156e-01 2.26326603e-01 6.88250555e-03 2.82894520e+02] [-2.26321138e-01 9.74051471e-01 -1.57297419e-03 -4.41824267e+01] [-7.05992056e-03 -2.55369143e-05 9.99975078e-01 -3.83197744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:-44.19, Z:-3.83 [[ 9.73956783e-01 2.26609733e-01 7.49760802e-03 2.82921576e+02] [-2.26603261e-01 9.73985641e-01 -1.71291037e-03 -4.41882630e+01] [-7.69072472e-03 -3.06817525e-05 9.99970425e-01 -3.83213503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:282.95, Y:-44.19, Z:-3.83 [[ 9.73805390e-01 2.27272494e-01 7.09056804e-03 2.82948902e+02] [-2.27266726e-01 9.73831203e-01 -1.61943431e-03 -4.41921416e+01] [-7.27306928e-03 -3.44363232e-05 9.99973550e-01 -3.83294750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:282.98, Y:-44.20, Z:-3.83 [[ 9.73647229e-01 2.27957147e-01 6.82735667e-03 2.82976635e+02] [-2.27951820e-01 9.73671165e-01 -1.55884420e-03 -4.41957009e+01] [-7.00295000e-03 -3.85440437e-05 9.99975478e-01 -3.83315623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.00, Y:-44.20, Z:-3.83 [[ 9.73489866e-01 2.28630254e-01 6.75932662e-03 2.83003480e+02] [-2.28625053e-01 9.73513331e-01 -1.54287822e-03 -4.41988146e+01] [-6.93304321e-03 -4.33750942e-05 9.99975965e-01 -3.83306059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.03, Y:-44.20, Z:-3.83 [[ 9.73295929e-01 2.29376424e-01 9.02724958e-03 2.83032227e+02] [-2.29367188e-01 9.73337789e-01 -2.05938317e-03 -4.41992940e+01] [-9.25893709e-03 -6.61656031e-05 9.99957133e-01 -3.83239245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.06, Y:-44.20, Z:-3.83 [[ 9.73305247e-01 2.29286443e-01 1.02285179e-02 2.83058936e+02] [-2.29274590e-01 9.73358989e-01 -2.33254981e-03 -4.42026090e+01] [-1.04908419e-02 -7.48562837e-05 9.99944967e-01 -3.83184701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.09, Y:-44.20, Z:-3.83 [[ 9.73530840e-01 2.28306216e-01 1.06758922e-02 2.83085740e+02] [-2.28293256e-01 9.73589373e-01 -2.43358084e-03 -4.42046296e+01] [-1.09495368e-02 -6.80681888e-05 9.99940050e-01 -3.83248344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.11, Y:-44.21, Z:-3.83 [[ 9.74021246e-01 2.26232988e-01 1.00622167e-02 2.83113498e+02] [-2.26221373e-01 9.74073218e-01 -2.29285291e-03 -4.42096709e+01] [-1.03200548e-02 -4.30010355e-05 9.99946746e-01 -3.83331437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.14, Y:-44.21, Z:-3.83 [[ 9.74783289e-01 2.22941131e-01 9.73606701e-03 2.83141444e+02] [-2.22930099e-01 9.74831910e-01 -2.21783644e-03 -4.42146812e+01] [-9.98547576e-03 -8.55248538e-06 9.99950144e-01 -3.83314293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.17, Y:-44.22, Z:-3.83 [[ 9.76263489e-01 2.16328566e-01 1.05618241e-02 2.83169025e+02] [-2.16315205e-01 9.76320617e-01 -2.40505464e-03 -4.42210809e+01] [-1.08320086e-02 6.32838921e-05 9.99941330e-01 -3.83328469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.19, Y:-44.23, Z:-3.83 [[ 9.76914272e-01 2.13335820e-01 1.12398324e-02 2.83194875e+02] [-2.13320502e-01 9.76978924e-01 -2.55853221e-03 -4.42271930e+01] [-1.15269059e-02 1.01779940e-04 9.99933558e-01 -3.83414094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.22, Y:-44.23, Z:-3.83 [[ 9.77846229e-01 2.08992674e-01 1.17819505e-02 2.83220866e+02] [-2.08975540e-01 9.77917193e-01 -2.68083447e-03 -4.42335109e+01] [-1.20820467e-02 1.59304414e-04 9.99926997e-01 -3.83443939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.25, Y:-44.24, Z:-3.83 [[ 9.77971889e-01 2.08414068e-01 1.16000017e-02 2.83247310e+02] [-2.08397430e-01 9.78040669e-01 -2.63844147e-03 -4.42387169e+01] [-1.18951618e-02 1.62911043e-04 9.99929237e-01 -3.83498700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.27, Y:-44.24, Z:-3.83 [[ 9.77923143e-01 2.08687052e-01 1.07722476e-02 2.83274675e+02] [-2.08672731e-01 9.77982460e-01 -2.44930080e-03 -4.42440941e+01] [-1.10462066e-02 1.47353605e-04 9.99938978e-01 -3.83429151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.30, Y:-44.25, Z:-3.84 [[ 9.77472869e-01 2.10868664e-01 9.01096877e-03 2.83300807e+02] [-2.10858740e-01 9.77514397e-01 -2.04834687e-03 -4.42506577e+01] [-9.24028387e-03 1.02161969e-04 9.99957302e-01 -3.83520045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56576923100005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:283.33, Y:-44.26, Z:-3.84 [[ 9.77058567e-01 2.12771357e-01 9.21443640e-03 2.83327982e+02] [-2.12761072e-01 9.77102012e-01 -2.09374172e-03 -4.42585467e+01] [-9.44893261e-03 8.52349133e-05 9.99955354e-01 -3.83652275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5957692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.35, Y:-44.27, Z:-3.84 [[ 9.76880523e-01 2.13555897e-01 9.91580818e-03 2.83354174e+02] [-2.13544036e-01 9.76930843e-01 -2.25231279e-03 -4.42654753e+01] [-1.01680535e-02 8.27787950e-05 9.99948301e-01 -3.83677568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.38, Y:-44.27, Z:-3.84 [[ 9.76842542e-01 2.13723694e-01 1.00414554e-02 2.83379955e+02] [-2.13711548e-01 9.76894148e-01 -2.27995012e-03 -4.42719050e+01] [-1.02967184e-02 8.11772898e-05 9.99946984e-01 -3.83716498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.655769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.41, Y:-44.28, Z:-3.84 [[ 9.76883619e-01 2.13612970e-01 8.23977113e-03 2.83405801e+02] [-2.13604793e-01 9.76918366e-01 -1.87032886e-03 -4.42779763e+01] [-8.44911025e-03 6.70390187e-05 9.99964303e-01 -3.83791404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.43, Y:-44.28, Z:-3.84 [[ 9.76880812e-01 2.13669601e-01 7.01290501e-03 2.83432814e+02] [-2.13663682e-01 9.76905982e-01 -1.59134656e-03 -4.42835023e+01] [-7.19097124e-03 5.61528107e-05 9.99974143e-01 -3.83908687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:-44.29, Z:-3.84 [[ 9.76852618e-01 2.13837278e-01 5.70791893e-03 2.83459696e+02] [-2.13833362e-01 9.76869293e-01 -1.29496176e-03 -4.42886820e+01] [-5.85280183e-03 4.44432893e-05 9.99982871e-01 -3.84059770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.49, Y:-44.30, Z:-3.84 [[ 9.76863264e-01 2.13803756e-01 5.11055730e-03 2.83487004e+02] [-2.13800617e-01 9.76876631e-01 -1.15915216e-03 -4.42956158e+01] [-5.24021509e-03 3.96928572e-05 9.99986269e-01 -3.84166318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.775769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.51, Y:-44.30, Z:-3.84 [[ 9.76925200e-01 2.13533438e-01 4.54136394e-03 2.83512702e+02] [-2.13530956e-01 9.76935755e-01 -1.03024608e-03 -4.43028590e+01] [-4.65661280e-03 3.67515704e-05 9.99989157e-01 -3.84206263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.54, Y:-44.31, Z:-3.84 [[ 9.76839699e-01 2.13903743e-01 5.42132806e-03 2.83538954e+02] [-2.13900219e-01 9.76854742e-01 -1.22846853e-03 -4.43126803e+01] [-5.55862404e-03 4.03935716e-05 9.99984550e-01 -3.84066546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.83576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.57, Y:-44.32, Z:-3.84 [[ 9.76793101e-01 2.14075849e-01 6.83878882e-03 2.83565550e+02] [-2.14070251e-01 9.76817039e-01 -1.54889999e-03 -4.43207861e+01] [-7.01182753e-03 4.89735803e-05 9.99975416e-01 -3.84077691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.59, Y:-44.33, Z:-3.84 [[ 9.76764294e-01 2.14138450e-01 8.73146832e-03 2.83590545e+02] [-2.14129335e-01 9.76803317e-01 -1.97668954e-03 -4.43308915e+01] [-8.95221245e-03 6.10962651e-05 9.99959926e-01 -3.84099856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:-44.34, Z:-3.84 [[ 9.76715035e-01 2.14351042e-01 9.02058093e-03 2.83616447e+02] [-2.14341331e-01 9.76756688e-01 -2.04129641e-03 -4.43379525e+01] [-9.24846677e-03 6.02815731e-05 9.99957230e-01 -3.84135465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:-44.34, Z:-3.84 [[ 9.76282751e-01 2.16348167e-01 8.09078507e-03 2.83643976e+02] [-2.16340428e-01 9.76316275e-01 -1.83026980e-03 -4.43449393e+01] [-8.29514066e-03 3.64969256e-05 9.99965594e-01 -3.84070699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:-44.35, Z:-3.84 [[ 9.75912308e-01 2.18027106e-01 7.70376186e-03 2.83669927e+02] [-2.18020146e-01 9.75942714e-01 -1.74223882e-03 -4.43519797e+01] [-7.89828554e-03 2.06970241e-05 9.99968808e-01 -3.84061031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:-44.36, Z:-3.84 [[ 9.75611228e-01 2.19356477e-01 8.09121682e-03 2.83695699e+02] [-2.19348851e-01 9.75644780e-01 -1.82910614e-03 -4.43592961e+01] [-8.29537972e-03 9.69737144e-06 9.99965593e-01 -3.84069489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:-44.37, Z:-3.84 [[ 9.75430916e-01 2.20082062e-01 9.92035074e-03 2.83722386e+02] [-2.20070647e-01 9.75481361e-01 -2.24148303e-03 -4.43683323e+01] [-1.01704275e-02 3.23384524e-06 9.99948280e-01 -3.84097855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:-44.37, Z:-3.84 [[ 9.75628826e-01 2.19162716e-01 1.07748313e-02 2.83749080e+02] [-2.19149204e-01 9.75688323e-01 -2.43363216e-03 -4.43749022e+01] [-1.10462385e-02 1.30259831e-05 9.99938988e-01 -3.84178841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.78, Y:-44.38, Z:-3.84 [[ 9.76521691e-01 2.15152086e-01 1.07223051e-02 2.83776065e+02] [-2.15138471e-01 9.76580553e-01 -2.42111144e-03 -4.43833716e+01] [-1.09921018e-02 5.74875069e-05 9.99939583e-01 -3.84223376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.80, Y:-44.39, Z:-3.84 [[ 9.77157218e-01 2.12267729e-01 1.03045171e-02 2.83802370e+02] [-2.12255002e-01 9.77211545e-01 -2.32604797e-03 -4.43924619e+01] [-1.05634380e-02 8.57292673e-05 9.99944202e-01 -3.84259987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.83, Y:-44.40, Z:-3.84 [[ 9.77859261e-01 2.09030386e-01 9.87736948e-03 2.83828930e+02] [-2.09018534e-01 9.77909139e-01 -2.22889578e-03 -4.44022600e+01] [-1.01250768e-02 1.14993090e-04 9.99948733e-01 -3.84293331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.85, Y:-44.42, Z:-3.84 [[ 9.79242208e-01 2.02423862e-01 1.04536279e-02 2.83854786e+02] [-2.02410217e-01 9.79297985e-01 -2.35823876e-03 -4.44157734e+01] [-1.07145805e-02 1.93365842e-04 9.99942579e-01 -3.84283957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.88, Y:-44.43, Z:-3.84 [[ 9.80463215e-01 1.96446094e-01 1.00406996e-02 2.83881233e+02] [-1.96433199e-01 9.80514595e-01 -2.26447058e-03 -4.44302630e+01] [-1.02898989e-02 2.47903354e-04 9.99947027e-01 -3.84373063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.91, Y:-44.44, Z:-3.84 [[ 9.81018028e-01 1.93694754e-01 9.27210380e-03 2.83907692e+02] [-1.93683638e-01 9.81061811e-01 -2.09068677e-03 -4.44425262e+01] [-9.50146201e-03 2.55146615e-04 9.99954828e-01 -3.84470100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.94, Y:-44.46, Z:-3.84 [[ 9.81435123e-01 1.91602098e-01 8.58691639e-03 2.83935311e+02] [-1.91592487e-01 9.81472654e-01 -1.93586907e-03 -4.44562021e+01] [-8.79874019e-03 2.54741225e-04 9.99961258e-01 -3.84471362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2857692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.96, Y:-44.47, Z:-3.84 [[ 9.81929286e-01 1.89079422e-01 7.99060500e-03 2.83961789e+02] [-1.89071020e-01 9.81961764e-01 -1.80092932e-03 -4.44749726e+01] [-8.18698725e-03 2.57593399e-04 9.99966453e-01 -3.84482080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.99, Y:-44.49, Z:-3.85 [[ 9.81800826e-01 1.89746127e-01 7.97151495e-03 2.83991338e+02] [-1.89737783e-01 9.81833155e-01 -1.79720155e-03 -4.44868934e+01] [-8.16770971e-03 2.51996388e-04 9.99966612e-01 -3.84503380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.02, Y:-44.49, Z:-3.85 [[ 9.81794061e-01 1.89781128e-01 7.97148355e-03 2.84022378e+02] [-1.89772784e-01 9.81826390e-01 -1.79734083e-03 -4.44939443e+01] [-8.16771429e-03 2.51847925e-04 9.99966612e-01 -3.84542973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.05, Y:-44.51, Z:-3.84 [[ 9.80675395e-01 1.95498029e-01 7.50265659e-03 2.84050807e+02] [-1.95490802e-01 9.80704076e-01 -1.69194601e-03 -4.45093763e+01] [-7.68865801e-03 1.92549468e-04 9.99970423e-01 -3.84407681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.405769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:284.08, Y:-44.52, Z:-3.84 [[ 9.79672740e-01 2.00466157e-01 7.39200708e-03 2.84079281e+02] [-2.00459281e-01 9.79700616e-01 -1.66729152e-03 -4.45189630e+01] [-7.57618941e-03 1.51603630e-04 9.99971289e-01 -3.84356704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.11, Y:-44.53, Z:-3.84 [[ 9.78527104e-01 2.06001467e-01 6.93553497e-03 2.84108632e+02] [-2.05995553e-01 9.78551677e-01 -1.56433274e-03 -4.45272301e+01] [-7.10903422e-03 1.02052621e-04 9.99974725e-01 -3.84328717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.465769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:284.14, Y:-44.53, Z:-3.84 [[ 9.76088515e-01 2.17295941e-01 5.80384928e-03 2.84136855e+02] [-2.17291997e-01 9.76105770e-01 -1.30931775e-03 -4.45340481e+01] [-5.94968020e-03 1.68800220e-05 9.99982300e-01 -3.84462616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:284.16, Y:-44.54, Z:-3.85 [[ 9.75014236e-01 2.22066629e-01 5.80093556e-03 2.84164509e+02] [-2.22062775e-01 9.75031493e-01 -1.30843344e-03 -4.45400693e+01] [-5.94665426e-03 -1.24306123e-05 9.99982318e-01 -3.84551265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.19, Y:-44.54, Z:-3.85 [[ 9.73446589e-01 2.28770418e-01 8.11382935e-03 2.84193272e+02] [-2.28763114e-01 9.73480400e-01 -1.82968869e-03 -4.45437584e+01] [-8.31723249e-03 -7.50406483e-05 9.99965408e-01 -3.84599519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.22, Y:-44.55, Z:-3.85 [[ 9.72902255e-01 2.31006448e-01 9.86017976e-03 2.84222157e+02] [-2.30995782e-01 9.72952212e-01 -2.22288860e-03 -4.45484295e+01] [-1.01069853e-02 -1.15006598e-04 9.99948917e-01 -3.84587952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.25, Y:-44.55, Z:-3.85 [[ 9.72163462e-01 2.34041559e-01 1.10793014e-02 2.84249640e+02] [-2.34028295e-01 9.72226579e-01 -2.49712465e-03 -4.45522403e+01] [-1.13560222e-02 -1.65256666e-04 9.99935505e-01 -3.84535479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.28, Y:-44.56, Z:-3.85 [[ 9.71965131e-01 2.34926052e-01 9.67129187e-03 2.84278936e+02] [-2.34915995e-01 9.72013234e-01 -2.17919439e-03 -4.45576683e+01] [-9.91257322e-03 -1.53840193e-04 9.99950857e-01 -3.84582742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.31, Y:-44.56, Z:-3.85 [[ 9.71708669e-01 2.36044319e-01 8.08338518e-03 2.84306098e+02] [-2.36037332e-01 9.71742281e-01 -1.82139605e-03 -4.45617476e+01] [-8.28489734e-03 -1.38114343e-04 9.99965670e-01 -3.84712056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.33, Y:-44.56, Z:-3.85 [[ 9.71093969e-01 2.38577674e-01 7.56282732e-03 2.84334341e+02] [-2.38571638e-01 9.71123407e-01 -1.70367588e-03 -4.45635334e+01] [-7.75089766e-03 -1.49846729e-04 9.99969950e-01 -3.84781894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:284.36, Y:-44.57, Z:-3.85 [[ 9.70790894e-01 2.39781275e-01 8.36542685e-03 2.84362556e+02] [-2.39773940e-01 9.70826920e-01 -1.88385091e-03 -4.45677741e+01] [-8.57309375e-03 -1.76986045e-04 9.99963235e-01 -3.84757510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:284.39, Y:-44.57, Z:-3.85 [[ 9.70582409e-01 2.40625892e-01 8.30470580e-03 2.84390227e+02] [-2.40618697e-01 9.70617920e-01 -1.86982767e-03 -4.45708667e+01] [-8.51062522e-03 -1.83445644e-04 9.99963767e-01 -3.84842779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:284.42, Y:-44.58, Z:-3.85 [[ 9.70800988e-01 2.39760763e-01 7.76000255e-03 2.84417271e+02] [-2.39754457e-01 9.70831988e-01 -1.74677094e-03 -4.45754300e+01] [-7.95246584e-03 -1.64728241e-04 9.99968365e-01 -3.84944834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:284.45, Y:-44.58, Z:-3.85 [[ 9.71219205e-01 2.38066997e-01 7.57368637e-03 2.84445217e+02] [-2.38060942e-01 9.71248724e-01 -1.70435360e-03 -4.45804298e+01] [-7.76168356e-03 -1.47697969e-04 9.99969867e-01 -3.85017628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:284.47, Y:-44.59, Z:-3.85 [[ 9.71893784e-01 2.35321544e-01 6.80032647e-03 2.84472580e+02] [-2.35316597e-01 9.71917568e-01 -1.53011212e-03 -4.45858531e+01] [-6.96942511e-03 -1.13123220e-04 9.99975707e-01 -3.85090361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:284.50, Y:-44.59, Z:-3.85 [[ 9.72291171e-01 2.33680642e-01 6.57542048e-03 2.84501089e+02] [-2.33675982e-01 9.72313400e-01 -1.47907072e-03 -4.45914769e+01] [-6.73899964e-03 -9.84304323e-05 9.99977288e-01 -3.85211533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:284.53, Y:-44.60, Z:-3.85 [[ 9.72433787e-01 2.33082205e-01 6.72422867e-03 2.84528384e+02] [-2.33077319e-01 9.72457031e-01 -1.51226494e-03 -4.45971899e+01] [-6.89150549e-03 -9.66876602e-05 9.99976249e-01 -3.85247149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:284.56, Y:-44.60, Z:-3.85 [[ 9.72667718e-01 2.32083401e-01 7.40307091e-03 2.84556116e+02] [-2.32077455e-01 9.72695885e-01 -1.66435199e-03 -4.46031980e+01] [-7.58720509e-03 -9.92244011e-05 9.99971212e-01 -3.85332093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:284.58, Y:-44.61, Z:-3.85 [[ 9.73294021e-01 2.29403308e-01 8.53644839e-03 2.84583449e+02] [-2.29395302e-01 9.73331451e-01 -1.91868365e-03 -4.46100622e+01] [-8.74894608e-03 -9.07778336e-05 9.99961723e-01 -3.85237695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.9757692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:284.61, Y:-44.62, Z:-3.85 [[ 9.73618042e-01 2.27998467e-01 9.19824910e-03 2.84610780e+02] [-2.27989115e-01 9.73661487e-01 -2.06679560e-03 -4.46168189e+01] [-9.42720713e-03 -8.48311879e-05 9.99955559e-01 -3.85198536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:284.64, Y:-44.62, Z:-3.85 [[ 9.74003432e-01 2.26266058e-01 1.09993258e-02 2.84638823e+02] [-2.26252583e-01 9.74065534e-01 -2.47070459e-03 -4.46249761e+01] [-1.12731008e-02 -8.21511197e-05 9.99936453e-01 -3.85226445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0357692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:284.67, Y:-44.63, Z:-3.85 [[ 9.73977116e-01 2.26371914e-01 1.11505360e-02 2.84665546e+02] [-2.26358079e-01 9.74040938e-01 -2.50416371e-03 -4.46327529e+01] [-1.14279509e-02 -8.50157604e-05 9.99934695e-01 -3.85284096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.69, Y:-44.64, Z:-3.85 [[ 9.73798235e-01 2.27228038e-01 9.18778172e-03 2.84693019e+02] [-2.27218687e-01 9.73841575e-01 -2.06294191e-03 -4.46414041e+01] [-9.41620206e-03 -7.87465157e-05 9.99955663e-01 -3.85284575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0957692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:284.72, Y:-44.65, Z:-3.85 [[ 9.73740721e-01 2.27536769e-01 7.48510345e-03 2.84720008e+02] [-2.27530574e-01 9.73769487e-01 -1.68044512e-03 -4.46478301e+01] [-7.67112840e-03 -6.67720342e-05 9.99970574e-01 -3.85330071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:284.75, Y:-44.65, Z:-3.85 [[ 9.73648673e-01 2.27951617e-01 6.80606853e-03 2.84748106e+02] [-2.27946507e-01 9.73672458e-01 -1.52760712e-03 -4.46547982e+01] [-6.97510199e-03 -6.40669083e-05 9.99975672e-01 -3.85362986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.155769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.78, Y:-44.66, Z:-3.85 [[ 9.73455316e-01 2.28721985e-01 8.42617521e-03 2.84775151e+02] [-2.28714187e-01 9.73491780e-01 -1.89074220e-03 -4.46633359e+01] [-8.63526662e-03 -8.66327622e-05 9.99962712e-01 -3.85356093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:284.80, Y:-44.67, Z:-3.85 [[ 9.73464042e-01 2.28653568e-01 9.23607727e-03 2.84802091e+02] [-2.28644201e-01 9.73507851e-01 -2.07185514e-03 -4.46707879e+01] [-9.46513081e-03 -9.48990339e-05 9.99955200e-01 -3.85373391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.215769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:284.83, Y:-44.68, Z:-3.85 [[ 9.73966813e-01 2.26510333e-01 9.03970133e-03 2.84829210e+02] [-2.26501274e-01 9.74008760e-01 -2.02715154e-03 -4.46794152e+01] [-9.26391905e-03 -7.31255453e-05 9.99957086e-01 -3.85497464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:284.86, Y:-44.69, Z:-3.86 [[ 9.74371099e-01 2.24773892e-01 8.81242160e-03 2.84857311e+02] [-2.24765215e-01 9.74410947e-01 -1.97578711e-03 -4.46873872e+01] [-9.03102544e-03 -5.55759825e-05 9.99959218e-01 -3.85511106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.275769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:284.88, Y:-44.70, Z:-3.86 [[ 9.75143375e-01 2.21414458e-01 8.42822206e-03 2.84884847e+02] [-2.21406399e-01 9.75179797e-01 -1.88922860e-03 -4.46975442e+01] [-8.63733441e-03 -2.37935440e-05 9.99962697e-01 -3.85587405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:284.91, Y:-44.71, Z:-3.86 [[ 9.75197289e-01 2.21198941e-01 7.82795366e-03 2.84912943e+02] [-2.21191984e-01 9.75228706e-01 -1.75447582e-03 -4.47055308e+01] [-8.02213331e-03 -2.05205339e-05 9.99967822e-01 -3.85582227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.33576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.94, Y:-44.71, Z:-3.86 [[ 9.74512846e-01 2.24233303e-01 6.64373428e-03 2.84941579e+02] [-2.24228365e-01 9.74535492e-01 -1.48871226e-03 -4.47137652e+01] [-6.80837372e-03 -3.89444493e-05 9.99976822e-01 -3.85573801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.97, Y:-44.72, Z:-3.86 [[ 9.73920225e-01 2.26800521e-01 6.39684249e-03 2.84970286e+02] [-2.26795999e-01 9.73941231e-01 -1.43325050e-03 -4.47204781e+01] [-6.55521061e-03 -5.49066333e-05 9.99978513e-01 -3.85590403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.00, Y:-44.73, Z:-3.86 [[ 9.73374903e-01 2.29120180e-01 6.72618080e-03 2.84998765e+02] [-2.29115236e-01 9.73398139e-01 -1.50692331e-03 -4.47261501e+01] [-6.89251842e-03 -7.42691668e-05 9.99976244e-01 -3.85552391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:285.03, Y:-44.73, Z:-3.85 [[ 9.72231162e-01 2.33865940e-01 8.56095965e-03 2.85026272e+02] [-2.33858119e-01 9.72268843e-01 -1.91762519e-03 -4.47293884e+01] [-8.77202155e-03 -1.37674953e-04 9.99961516e-01 -3.85495020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45576923100003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:285.06, Y:-44.73, Z:-3.85 [[ 9.71742378e-01 2.35879029e-01 8.82237223e-03 2.85055375e+02] [-2.35870811e-01 9.71782413e-01 -1.97550586e-03 -4.47348994e+01] [-9.03940658e-03 -1.61257327e-04 9.99959131e-01 -3.85255974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:285.08, Y:-44.74, Z:-3.86 [[ 9.71197685e-01 2.38142896e-01 7.93834108e-03 2.85083233e+02] [-2.38136319e-01 9.71230114e-01 -1.77754191e-03 -4.47384171e+01] [-8.13326489e-03 -1.64062736e-04 9.99966911e-01 -3.85749191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:285.11, Y:-44.74, Z:-3.86 [[ 9.70975135e-01 2.39066565e-01 7.38004223e-03 2.85111312e+02] [-2.39060910e-01 9.71003168e-01 -1.65206684e-03 -4.47427455e+01] [-7.56099833e-03 -1.60163793e-04 9.99971402e-01 -3.85892600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:285.14, Y:-44.75, Z:-3.86 [[ 9.70577103e-01 2.40740173e-01 4.92503680e-03 2.85138465e+02] [-2.40737676e-01 9.70589592e-01 -1.10254043e-03 -4.47468911e+01] [-5.04561523e-03 -1.15541417e-04 9.99987264e-01 -3.85977609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.17, Y:-44.75, Z:-3.86 [[ 9.70597927e-01 2.40671152e-01 4.13031864e-03 2.85166254e+02] [-2.40669397e-01 9.70606711e-01 -9.24407159e-04 -4.47527200e+01] [-4.23139313e-03 -9.68136228e-05 9.99991043e-01 -3.86035359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-44.76, Z:-3.86 [[ 9.70691236e-01 2.40298942e-01 3.86557994e-03 2.85194244e+02] [-2.40297402e-01 9.70698929e-01 -8.65009622e-04 -4.47588313e+01] [-3.96017520e-03 -8.92315560e-05 9.99992154e-01 -3.86064281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.22, Y:-44.76, Z:-3.86 [[ 9.71131438e-01 2.38510639e-01 4.05033067e-03 2.85221491e+02] [-2.38508933e-01 9.71139881e-01 -9.06221663e-04 -4.47642359e+01] [-4.14958115e-03 -8.59797009e-05 9.99991387e-01 -3.86133961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.25, Y:-44.77, Z:-3.86 [[ 9.71393195e-01 2.37429762e-01 4.72962860e-03 2.85248668e+02] [-2.37427425e-01 9.71404704e-01 -1.05778928e-03 -4.47705212e+01] [-4.84553413e-03 -9.54142332e-05 9.99988256e-01 -3.86099122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.28, Y:-44.78, Z:-3.86 [[ 9.71772850e-01 2.35829138e-01 6.49194728e-03 2.85276073e+02] [-2.35824704e-01 9.71794527e-01 -1.45123370e-03 -4.47788051e+01] [-6.65108202e-03 -1.20692038e-04 9.99977874e-01 -3.85978256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:285.30, Y:-44.79, Z:-3.86 [[ 9.72008052e-01 2.34859844e-01 6.41881290e-03 2.85303336e+02] [-2.34855491e-01 9.72029239e-01 -1.43449667e-03 -4.47860164e+01] [-6.57617948e-03 -1.13151144e-04 9.99978370e-01 -3.86013826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:285.33, Y:-44.79, Z:-3.86 [[ 9.72386469e-01 2.33293900e-01 6.20570437e-03 2.85330839e+02] [-2.33289800e-01 9.72406266e-01 -1.38665146e-03 -4.47930367e+01] [-6.35796314e-03 -9.93664169e-05 9.99979783e-01 -3.86130821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7857692310001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:285.36, Y:-44.80, Z:-3.86 [[ 9.72790991e-01 2.31587723e-01 6.69443727e-03 2.85357444e+02] [-2.31582912e-01 9.72814020e-01 -1.49569612e-03 -4.48008734e+01] [-6.85882729e-03 -9.53175669e-05 9.99976473e-01 -3.86191427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.39, Y:-44.81, Z:-3.86 [[ 9.72631396e-01 2.32218759e-01 7.91302961e-03 2.85386501e+02] [-2.32212065e-01 9.72663577e-01 -1.76720832e-03 -4.48080673e+01] [-8.10709461e-03 -1.18658651e-04 9.99967130e-01 -3.86100571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.41, Y:-44.81, Z:-3.86 [[ 9.72449952e-01 2.32947105e-01 8.75999291e-03 2.85414534e+02] [-2.32938933e-01 9.72489397e-01 -1.95612277e-03 -4.48139132e+01] [-8.97467336e-03 -1.38311907e-04 9.99959717e-01 -3.86076756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.44, Y:-44.82, Z:-3.86 [[ 9.72355944e-01 2.33322187e-01 9.20185463e-03 2.85443557e+02] [-2.33313189e-01 9.72399473e-01 -2.05451465e-03 -4.48198202e+01] [-9.42724244e-03 -1.49194524e-04 9.99955551e-01 -3.86098919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.905769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:285.47, Y:-44.83, Z:-3.86 [[ 9.72709874e-01 2.31862915e-01 8.66549604e-03 2.85470678e+02] [-2.31854878e-01 9.72748463e-01 -1.93460778e-03 -4.48277745e+01] [-8.87791175e-03 -1.27325446e-04 9.99960582e-01 -3.86208800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:285.50, Y:-44.84, Z:-3.86 [[ 9.73959186e-01 2.26608444e-01 7.21920033e-03 2.85499454e+02] [-2.26602725e-01 9.73985939e-01 -1.61134495e-03 -4.48373879e+01] [-7.39654398e-03 -6.65062450e-05 9.99972643e-01 -3.86288310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.965769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:285.53, Y:-44.84, Z:-3.86 [[ 9.74624737e-01 2.23714426e-01 7.64708505e-03 2.85528546e+02] [-2.23707919e-01 9.74654736e-01 -1.70684998e-03 -4.48448271e+01] [-7.83511462e-03 -4.71752776e-05 9.99969304e-01 -3.86343070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:285.56, Y:-44.85, Z:-3.86 [[ 9.75200069e-01 2.21156760e-01 8.63210628e-03 2.85558166e+02] [-2.21148369e-01 9.75238272e-01 -1.92670937e-03 -4.48524356e+01] [-8.84446521e-03 -3.00491171e-05 9.99960887e-01 -3.86326590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.59, Y:-44.86, Z:-3.86 [[ 9.75831762e-01 2.18272856e-01 1.04562322e-02 2.85586867e+02] [-2.18260378e-01 9.75887781e-01 -2.33383871e-03 -4.48624991e+01] [-1.07135229e-02 -4.74725405e-06 9.99942609e-01 -3.86328434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-44.87, Z:-3.86 [[ 9.75827526e-01 2.18303835e-01 1.02017321e-02 2.85615613e+02] [-2.18291958e-01 9.75880851e-01 -2.27715494e-03 -4.48712895e+01] [-1.04527866e-02 -4.84559147e-06 9.99945368e-01 -3.86431835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:-44.88, Z:-3.86 [[ 9.75642099e-01 2.19204712e-01 8.47279386e-03 2.85645458e+02] [-2.19196553e-01 9.75678889e-01 -1.89126683e-03 -4.48819547e+01] [-8.68130070e-03 -1.20076726e-05 9.99962317e-01 -3.86460989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.67, Y:-44.89, Z:-3.86 [[ 9.75521919e-01 2.19778164e-01 7.38540478e-03 2.85674758e+02] [-2.19771982e-01 9.75549875e-01 -1.64853325e-03 -4.48897201e+01] [-7.56714232e-03 -1.49247255e-05 9.99971369e-01 -3.86463727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.70, Y:-44.90, Z:-3.86 [[ 9.74806854e-01 2.22957936e-01 6.43082503e-03 2.85703822e+02] [-2.22953313e-01 9.74828066e-01 -1.43604859e-03 -4.48979885e+01] [-6.58912715e-03 -3.39037446e-05 9.99978291e-01 -3.86472123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.73, Y:-44.91, Z:-3.87 [[ 9.74360766e-01 2.24901975e-01 6.34025418e-03 2.85732063e+02] [-2.24897522e-01 9.74381393e-01 -1.41596118e-03 -4.49057352e+01] [-6.49627817e-03 -4.62504304e-05 9.99978898e-01 -3.86502347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.76, Y:-44.91, Z:-3.87 [[ 9.73940828e-01 2.26701167e-01 6.77086604e-03 2.85762549e+02] [-2.26696136e-01 9.73964361e-01 -1.51168937e-03 -4.49146730e+01] [-6.93728396e-03 -6.26331689e-05 9.99975935e-01 -3.86582220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.79, Y:-44.92, Z:-3.87 [[ 9.73932873e-01 2.26735338e-01 6.77084463e-03 2.85793602e+02] [-2.26730307e-01 9.73956407e-01 -1.51178528e-03 -4.49216602e+01] [-6.93728265e-03 -6.27782988e-05 9.99975935e-01 -3.86621813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:-44.93, Z:-3.87 [[ 9.73467670e-01 2.28697661e-01 7.62072611e-03 2.85823665e+02] [-2.28691344e-01 9.73497495e-01 -1.70193832e-03 -4.49324645e+01] [-7.80798709e-03 -8.60121662e-05 9.99969514e-01 -3.86688437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.85, Y:-44.94, Z:-3.87 [[ 9.73414699e-01 2.28915293e-01 7.84931205e-03 2.85854209e+02] [-2.28908597e-01 9.73446342e-01 -1.75318995e-03 -4.49397233e+01] [-8.04221609e-03 -9.01941408e-05 9.99967657e-01 -3.86678495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:285.88, Y:-44.95, Z:-3.87 [[ 9.73184683e-01 2.29904987e-01 7.43436071e-03 2.85883479e+02] [-2.29899008e-01 9.73213074e-01 -1.66073179e-03 -4.49459184e+01] [-7.61702757e-03 -9.29534066e-05 9.99970986e-01 -3.86661271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:285.91, Y:-44.95, Z:-3.87 [[ 9.72981324e-01 2.30770316e-01 7.23906182e-03 2.85914455e+02] [-2.30764671e-01 9.73008249e-01 -1.61713010e-03 -4.49524793e+01] [-7.41685249e-03 -9.70823350e-05 9.99972490e-01 -3.86714012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:285.94, Y:-44.96, Z:-3.87 [[ 9.72464642e-01 2.32931133e-01 7.45697730e-03 2.85944697e+02] [-2.32925203e-01 9.72493226e-01 -1.66611078e-03 -4.49585752e+01] [-7.63994898e-03 -1.16684130e-04 9.99970808e-01 -3.86696304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41576923100007 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:285.97, Y:-44.96, Z:-3.87 [[ 9.72059566e-01 2.34615277e-01 7.47478758e-03 2.85973411e+02] [-2.34609368e-01 9.72088296e-01 -1.67014577e-03 -4.49639826e+01] [-7.65799523e-03 -1.30174021e-04 9.99970669e-01 -3.86782737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:286.00, Y:-44.97, Z:-3.87 [[ 9.71015932e-01 2.38916194e-01 6.86383970e-03 2.86003355e+02] [-2.38911319e-01 9.71040179e-01 -1.53362887e-03 -4.49675906e+01] [-7.03147291e-03 -1.50670935e-04 9.99975268e-01 -3.86819943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.4757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.03, Y:-44.97, Z:-3.87 [[ 9.70645431e-01 2.40422131e-01 6.68180695e-03 2.86031616e+02] [-2.40417547e-01 9.70668416e-01 -1.49286969e-03 -4.49722254e+01] [-6.84473788e-03 -1.57376498e-04 9.99976562e-01 -3.86839030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.06, Y:-44.98, Z:-3.87 [[ 9.70560370e-01 2.40765102e-01 6.68839580e-03 2.86060915e+02] [-2.40760520e-01 9.70583402e-01 -1.49404038e-03 -4.49772048e+01] [-6.85135873e-03 -1.60245265e-04 9.99976516e-01 -3.86853309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5357692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:286.09, Y:-44.98, Z:-3.87 [[ 9.70931681e-01 2.39241251e-01 7.43599255e-03 2.86089178e+02] [-2.39235544e-01 9.70960141e-01 -1.66088525e-03 -4.49806718e+01] [-7.61740464e-03 -1.66347610e-04 9.99970973e-01 -3.86871872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56576923100005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:286.12, Y:-44.99, Z:-3.87 [[ 9.71320731e-01 2.37638309e-01 8.00445780e-03 2.86117115e+02] [-2.37631644e-01 9.71353698e-01 -1.78750203e-03 -4.49853742e+01] [-8.19993865e-03 -1.65874687e-04 9.99966366e-01 -3.86974343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5957692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:286.15, Y:-44.99, Z:-3.87 [[ 9.72184022e-01 2.34062319e-01 8.54740522e-03 2.86145855e+02] [-2.34054582e-01 9.72221585e-01 -1.90859537e-03 -4.49904918e+01] [-8.75670211e-03 -1.45053440e-04 9.99961649e-01 -3.87133333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.17, Y:-45.00, Z:-3.87 [[ 9.72570347e-01 2.32465036e-01 8.18086308e-03 2.86174486e+02] [-2.32457896e-01 9.72604746e-01 -1.82630416e-03 -4.49972938e+01] [-8.38129811e-03 -1.25496945e-04 9.99964868e-01 -3.87188664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.20, Y:-45.00, Z:-3.87 [[ 9.73289659e-01 2.29421867e-01 8.53504193e-03 2.86204654e+02] [-2.29413982e-01 9.73327076e-01 -1.90499022e-03 -4.50039461e+01] [-8.74443382e-03 -1.03950668e-04 9.99961761e-01 -3.87003853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.23, Y:-45.01, Z:-3.87 [[ 9.73532896e-01 2.28334668e-01 9.84784281e-03 2.86234223e+02] [-2.28324111e-01 9.73582697e-01 -2.19832647e-03 -4.50094036e+01] [-1.00896435e-02 -1.08356823e-04 9.99949092e-01 -3.86924811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.26, Y:-45.01, Z:-3.87 [[ 9.73692706e-01 2.27616860e-01 1.06338851e-02 2.86263575e+02] [-2.27604505e-01 9.73750766e-01 -2.37399356e-03 -4.50145748e+01] [-1.08951148e-02 -1.08779955e-04 9.99940641e-01 -3.86918169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.29, Y:-45.02, Z:-3.87 [[ 9.73971165e-01 2.26446205e-01 1.01136917e-02 2.86291535e+02] [-2.26434969e-01 9.74023669e-01 -2.25764633e-03 -4.50208874e+01] [-1.03622106e-02 -9.12110410e-05 9.99946307e-01 -3.87142963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.32, Y:-45.03, Z:-3.87 [[ 9.74236895e-01 2.25308697e-01 9.92283946e-03 2.86320327e+02] [-2.25297825e-01 9.74287424e-01 -2.21480345e-03 -4.50285676e+01] [-1.01667122e-02 -7.78509088e-05 9.99948315e-01 -3.87233099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.35, Y:-45.04, Z:-3.87 [[ 9.75168531e-01 2.21233758e-01 1.00975265e-02 2.86350968e+02] [-2.21222284e-01 9.75220807e-01 -2.25346588e-03 -4.50367920e+01] [-1.03458607e-02 -3.62888646e-05 9.99946479e-01 -3.87233084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.38, Y:-45.04, Z:-3.87 [[ 9.75602074e-01 2.19305957e-01 1.02708905e-02 2.86380429e+02] [-2.19293976e-01 9.75656137e-01 -2.29243217e-03 -4.50433587e+01] [-1.05236014e-02 -1.58428345e-05 9.99944625e-01 -3.87192629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.41, Y:-45.05, Z:-3.87 [[ 9.75864221e-01 2.18143178e-01 1.01279861e-02 2.86411789e+02] [-2.18131467e-01 9.75916776e-01 -2.26033417e-03 -4.50494047e+01] [-1.03771480e-02 -3.45321880e-06 9.99946156e-01 -3.87167148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.44, Y:-45.05, Z:-3.87 [[ 9.75651928e-01 2.19135348e-01 9.11125123e-03 2.86442510e+02] [-2.19125896e-01 9.75694470e-01 -2.03523239e-03 -4.50549139e+01] [-9.33578880e-03 -1.08326928e-05 9.99956421e-01 -3.87215485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.47, Y:-45.06, Z:-3.87 [[ 9.75171106e-01 2.21300413e-01 8.21231485e-03 2.86473657e+02] [-2.21292810e-01 9.75205684e-01 -1.83460310e-03 -4.50608668e+01] [-8.41469455e-03 -2.82742968e-05 9.99964595e-01 -3.87349769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.50, Y:-45.06, Z:-3.87 [[ 9.73949305e-01 2.26640812e-01 7.52956556e-03 2.86503326e+02] [-2.26634577e-01 9.73978407e-01 -1.68241790e-03 -4.50639653e+01] [-7.71493883e-03 -6.78701606e-05 9.99970237e-01 -3.87416377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.53, Y:-45.07, Z:-3.87 [[ 9.73394577e-01 2.29007323e-01 7.65797348e-03 2.86532900e+02] [-2.29000947e-01 9.73424696e-01 -1.71106570e-03 -4.50682751e+01] [-7.84630708e-03 -8.81411091e-05 9.99969213e-01 -3.87421448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:-45.07, Z:-3.87 [[ 9.72666202e-01 2.32034357e-01 8.97308725e-03 2.86561650e+02] [-2.32025735e-01 9.72707582e-01 -2.00464739e-03 -4.50710916e+01] [-9.19333707e-03 -1.32134406e-04 9.99957732e-01 -3.87392226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.59, Y:-45.08, Z:-3.87 [[ 9.72618359e-01 2.32210926e-01 9.57153304e-03 2.86591017e+02] [-2.32201127e-01 9.72665444e-01 -2.13804312e-03 -4.50769260e+01] [-9.80637640e-03 -1.43020773e-04 9.99951906e-01 -3.87383786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.62, Y:-45.08, Z:-3.87 [[ 9.72831522e-01 2.31302484e-01 9.89901870e-03 2.86620262e+02] [-2.31291959e-01 9.72881874e-01 -2.21094286e-03 -4.50804394e+01] [-1.01419724e-02 -1.38688512e-04 9.99948559e-01 -3.87414361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.65, Y:-45.08, Z:-3.88 [[ 9.72912705e-01 2.30977812e-01 9.49312044e-03 2.86649171e+02] [-2.30968118e-01 9.72959009e-01 -2.12009758e-03 -4.50837628e+01] [-9.72611256e-03 -1.29938291e-04 9.99952692e-01 -3.87587065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.68, Y:-45.09, Z:-3.88 [[ 9.73047647e-01 2.30424447e-01 9.10221100e-03 2.86678183e+02] [-2.30415514e-01 9.73090212e-01 -2.03251862e-03 -4.50878607e+01] [-9.32561441e-03 -1.19553164e-04 9.99956508e-01 -3.87660300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.71, Y:-45.09, Z:-3.88 [[ 9.73573386e-01 2.28207920e-01 8.71821330e-03 2.86705217e+02] [-2.28199639e-01 9.73612416e-01 -1.94641136e-03 -4.50925654e+01] [-8.93234720e-03 -9.45188273e-05 9.99960101e-01 -3.87829802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.73, Y:-45.10, Z:-3.88 [[ 9.74145531e-01 2.25775095e-01 8.12969059e-03 2.86734402e+02] [-2.25767814e-01 9.74179451e-01 -1.81443254e-03 -4.51000360e+01] [-8.32943119e-03 -6.79011242e-05 9.99965307e-01 -3.87874954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.76, Y:-45.11, Z:-3.88 [[ 9.76029849e-01 2.17508105e-01 7.48056111e-03 2.86763167e+02] [-2.17501700e-01 9.76058515e-01 -1.66915309e-03 -4.51106635e+01] [-7.66451970e-03 2.10848212e-06 9.99970627e-01 -3.88032168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.79, Y:-45.12, Z:-3.88 [[ 9.77152349e-01 2.12392982e-01 7.90623710e-03 2.86792035e+02] [-2.12385658e-01 9.77184332e-01 -1.76440712e-03 -4.51202552e+01] [-8.10059871e-03 4.49231990e-05 9.99967189e-01 -3.88135980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.82, Y:-45.14, Z:-3.88 [[ 9.79045365e-01 2.03458839e-01 8.64145121e-03 2.86821023e+02] [-2.03449740e-01 9.79083492e-01 -1.92856682e-03 -4.51351668e+01] [-8.85308619e-03 1.30053397e-04 9.99960802e-01 -3.88149695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.85, Y:-45.15, Z:-3.88 [[ 9.79731583e-01 2.00095346e-01 9.37435665e-03 2.86852117e+02] [-2.00084486e-01 9.79776415e-01 -2.09187217e-03 -4.51467545e+01] [-9.60334743e-03 1.73809900e-04 9.99953872e-01 -3.88165014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.88, Y:-45.16, Z:-3.88 [[ 9.80267728e-01 1.97426229e-01 9.90282522e-03 2.86882463e+02] [-1.97413952e-01 9.80317723e-01 -2.21200538e-03 -4.51582388e+01] [-1.01446230e-02 2.13401624e-04 9.99948519e-01 -3.88168234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.91, Y:-45.18, Z:-3.88 [[ 9.80888774e-01 1.94321772e-01 9.81127398e-03 2.86912431e+02] [-1.94309547e-01 9.80937811e-01 -2.19339946e-03 -4.51750258e+01] [-1.00504749e-02 2.45056709e-04 9.99949463e-01 -3.88214936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.94, Y:-45.19, Z:-3.88 [[ 9.80970382e-01 1.93939623e-01 9.19419436e-03 2.86941276e+02] [-1.93928855e-01 9.81013439e-01 -2.05713903e-03 -4.51940510e+01] [-9.41858899e-03 2.34972882e-04 9.99955616e-01 -3.88255080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.97, Y:-45.21, Z:-3.88 [[ 9.80996358e-01 1.93843538e-01 8.41600624e-03 2.86971942e+02] [-1.93834500e-01 9.81032434e-01 -1.88434004e-03 -4.52090561e+01] [-8.62164222e-03 2.17218352e-04 9.99962809e-01 -3.88298499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.00, Y:-45.22, Z:-3.88 [[ 9.81084967e-01 1.93415802e-01 7.91297527e-03 2.87002315e+02] [-1.93407787e-01 9.81116855e-01 -1.77311540e-03 -4.52238077e+01] [-8.10650195e-03 2.09145822e-04 9.99967120e-01 -3.88361586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:-45.24, Z:-3.88 [[ 9.80968186e-01 1.94004734e-01 7.97377816e-03 2.87031475e+02] [-1.93996603e-01 9.81000571e-01 -1.78831239e-03 -4.52437709e+01] [-8.16922200e-03 2.07391691e-04 9.99966610e-01 -3.88339463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:-45.26, Z:-3.88 [[ 9.80652888e-01 1.95588492e-01 8.06570312e-03 2.87062088e+02] [-1.95580212e-01 9.80686037e-01 -1.81050662e-03 -4.52565727e+01] [-8.26403669e-03 1.97986621e-04 9.99965833e-01 -3.88305102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-45.27, Z:-3.88 [[ 9.79411384e-01 2.01732807e-01 7.56409445e-03 2.87091683e+02] [-2.01725694e-01 9.79440583e-01 -1.69963448e-03 -4.52730216e+01] [-7.75145311e-03 1.38769157e-04 9.99969947e-01 -3.88293994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-45.28, Z:-3.88 [[ 9.78386550e-01 2.06639220e-01 7.74543612e-03 2.87122791e+02] [-2.06631911e-01 9.78417202e-01 -1.74106117e-03 -4.52834398e+01] [-7.93803946e-03 1.02976564e-04 9.99968488e-01 -3.88348038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-45.29, Z:-3.88 [[ 9.75866668e-01 2.18206114e-01 8.38685084e-03 2.87153709e+02] [-2.18197953e-01 9.75902706e-01 -1.88720384e-03 -4.52925339e+01] [-8.59654985e-03 1.16656405e-05 9.99963049e-01 -3.88348564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-45.30, Z:-3.88 [[ 9.74554241e-01 2.23986552e-01 8.60556920e-03 2.87186188e+02] [-2.23978171e-01 9.74592234e-01 -1.93805617e-03 -4.52999903e+01] [-8.82101943e-03 -3.87187862e-05 9.99961093e-01 -3.88379611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-45.31, Z:-3.88 [[ 9.72154800e-01 2.34195774e-01 8.20879608e-03 2.87217192e+02] [-2.34188498e-01 9.72189449e-01 -1.85029409e-03 -4.53062523e+01] [-8.41383599e-03 -1.23633345e-04 9.99964595e-01 -3.88301051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-45.31, Z:-3.88 [[ 9.71174942e-01 2.38237577e-01 7.87963495e-03 2.87248682e+02] [-2.38230993e-01 9.71206896e-01 -1.77751085e-03 -4.53120578e+01] [-8.07622568e-03 -1.50899260e-04 9.99967375e-01 -3.88342804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-45.32, Z:-3.88 [[ 9.70341731e-01 2.41596848e-01 8.23940400e-03 2.87280129e+02] [-2.41589755e-01 9.70376694e-01 -1.86052617e-03 -4.53171823e+01] [-8.44482288e-03 -1.85209414e-04 9.99964325e-01 -3.88455770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:-45.32, Z:-3.89 [[ 9.69193453e-01 2.46114994e-01 9.56354656e-03 2.87312898e+02] [-2.46105645e-01 9.69240601e-01 -2.16071415e-03 -4.53204842e+01] [-9.80116176e-03 -2.59492789e-04 9.99951934e-01 -3.88579710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:-45.32, Z:-3.89 [[ 9.68571207e-01 2.48594007e-01 8.41644289e-03 2.87346060e+02] [-2.48586849e-01 9.68607742e-01 -1.90290792e-03 -4.53237531e+01] [-8.62528325e-03 -2.49115195e-04 9.99962771e-01 -3.88635220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-45.33, Z:-3.89 [[ 9.68430373e-01 2.49177006e-01 7.30974338e-03 2.87379092e+02] [-2.49171615e-01 9.68457935e-01 -1.65381843e-03 -4.53290523e+01] [-7.49127250e-03 -2.19772561e-04 9.99971916e-01 -3.88717607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.41, Y:-45.33, Z:-3.89 [[ 9.68358953e-01 2.49493136e-01 5.84057095e-03 2.87410456e+02] [-2.49489695e-01 9.68376551e-01 -1.32218943e-03 -4.53343053e+01] [-5.98574914e-03 -1.76808296e-04 9.99982070e-01 -3.88784111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:-45.34, Z:-3.89 [[ 9.68264854e-01 2.49891082e-01 4.19764028e-03 2.87442289e+02] [-2.49889308e-01 9.68273944e-01 -9.50431451e-04 -4.53383707e+01] [-4.30197005e-03 -1.28676055e-04 9.99990738e-01 -3.88902968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.47, Y:-45.34, Z:-3.89 [[ 9.68214579e-01 2.50065305e-01 5.27945475e-03 2.87474692e+02] [-2.50062493e-01 9.68228959e-01 -1.19686124e-03 -4.53448247e+01] [-5.41101445e-03 -1.61375118e-04 9.99985347e-01 -3.88962349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-45.35, Z:-3.89 [[ 9.68393645e-01 2.49253938e-01 9.28559566e-03 2.87507030e+02] [-2.49245167e-01 9.68438124e-01 -2.10865684e-03 -4.53501432e+01] [-9.51811587e-03 -2.72379958e-04 9.99954665e-01 -3.88896204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.54, Y:-45.36, Z:-3.89 [[ 9.68554937e-01 2.48598617e-01 1.00030797e-02 2.87539538e+02] [-2.48588381e-01 9.68606549e-01 -2.27380469e-03 -4.53558117e+01] [-1.02543132e-02 -2.84344631e-04 9.99947383e-01 -3.88892711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.57, Y:-45.36, Z:-3.89 [[ 9.68782297e-01 2.47808678e-01 7.19171967e-03 2.87571159e+02] [-2.47803359e-01 9.68808970e-01 -1.63557877e-03 -4.53589397e+01] [-7.37271314e-03 -1.97612537e-04 9.99972802e-01 -3.88955858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.60, Y:-45.36, Z:-3.89 [[ 9.68859280e-01 2.47542207e-01 5.87810255e-03 2.87602375e+02] [-2.47538645e-01 9.68877098e-01 -1.33752699e-03 -4.53641207e+01] [-6.02625332e-03 -1.59182108e-04 9.99981829e-01 -3.89007520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-45.37, Z:-3.89 [[ 9.69037124e-01 2.46852802e-01 5.54488693e-03 2.87634708e+02] [-2.46849616e-01 9.69052977e-01 -1.26252308e-03 -4.53698046e+01] [-5.68494655e-03 -1.45321475e-04 9.99983830e-01 -3.89052313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:-45.37, Z:-3.89 [[ 9.69624193e-01 2.44465419e-01 8.09841442e-03 2.87666466e+02] [-2.44458517e-01 9.69657993e-01 -1.84668710e-03 -4.53746914e+01] [-8.30414341e-03 -1.89133892e-04 9.99965502e-01 -3.89001688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.70, Y:-45.38, Z:-3.89 [[ 9.69921225e-01 2.43240194e-01 9.32877786e-03 2.87699022e+02] [-2.43230960e-01 9.69966065e-01 -2.12927163e-03 -4.53812942e+01] [-9.56652240e-03 -2.03821846e-04 9.99954219e-01 -3.88980608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.73, Y:-45.39, Z:-3.89 [[ 9.69901578e-01 2.43318539e-01 9.32831869e-03 2.87731641e+02] [-2.43309288e-01 9.69946415e-01 -2.13128119e-03 -4.53888895e+01] [-9.56654949e-03 -2.02533593e-04 9.99954219e-01 -3.89022303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:-45.40, Z:-3.89 [[ 9.70596783e-01 2.40543729e-01 8.97775272e-03 2.87764145e+02] [-2.40535038e-01 9.70638288e-01 -2.05157030e-03 -4.53959195e+01] [-9.20764290e-03 -1.68216563e-04 9.99957595e-01 -3.89075445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-45.40, Z:-3.89 [[ 9.70953089e-01 2.39161762e-01 7.19383779e-03 2.87795254e+02] [-2.39156135e-01 9.70979730e-01 -1.64519535e-03 -4.54037304e+01] [-7.37853850e-03 -1.23042934e-04 9.99972771e-01 -3.89174688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.83, Y:-45.41, Z:-3.89 [[ 9.71709746e-01 2.36129060e-01 4.82038540e-03 2.87826821e+02] [-2.36126499e-01 9.71721700e-01 -1.10192295e-03 -4.54135691e+01] [-4.94426912e-03 -6.74714605e-05 9.99987775e-01 -3.89266896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.86, Y:-45.42, Z:-3.89 [[ 9.72119826e-01 2.34421749e-01 5.43025641e-03 2.87859114e+02] [-2.34418464e-01 9.72134990e-01 -1.24272046e-03 -4.54222267e+01] [-5.57026297e-03 -6.48791688e-05 9.99984484e-01 -3.89294063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.89, Y:-45.43, Z:-3.89 [[ 9.72709431e-01 2.31881626e-01 8.20204413e-03 2.87890093e+02] [-2.31874017e-01 9.72744009e-01 -1.87997430e-03 -4.54318052e+01] [-8.41442079e-03 -7.31721869e-05 9.99964595e-01 -3.89249259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.92, Y:-45.44, Z:-3.89 [[ 9.72775128e-01 2.31586457e-01 8.73295209e-03 2.87920793e+02] [-2.31577802e-01 9.72814323e-01 -2.00346145e-03 -4.54404180e+01] [-8.95951542e-03 -7.34403782e-05 9.99959860e-01 -3.89279583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.95, Y:-45.45, Z:-3.89 [[ 9.72937281e-01 2.30944302e-01 7.60110489e-03 2.87952623e+02] [-2.30937718e-01 9.72966971e-01 -1.74478881e-03 -4.54507443e+01] [-7.79857303e-03 -5.78117305e-05 9.99969589e-01 -3.89374941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-45.46, Z:-3.89 [[ 9.73064733e-01 2.30412046e-01 7.43744206e-03 2.87983407e+02] [-2.30405715e-01 9.73093154e-01 -1.70874302e-03 -4.54586848e+01] [-7.63103893e-03 -5.09115846e-05 9.99970882e-01 -3.89429050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:-45.47, Z:-3.89 [[ 9.73450221e-01 2.28755259e-01 8.10549823e-03 2.88014826e+02] [-2.28747669e-01 9.73483965e-01 -1.86396718e-03 -4.54677608e+01] [-8.31696484e-03 -3.96345634e-05 9.99965413e-01 -3.89426111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-45.48, Z:-3.89 [[ 9.73652775e-01 2.27894917e-01 8.01127603e-03 2.88046199e+02] [-2.27887461e-01 9.73685733e-01 -1.84380199e-03 -4.54781565e+01] [-8.22065827e-03 -3.04464289e-05 9.99966209e-01 -3.89451849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.08, Y:-45.49, Z:-3.90 [[ 9.73919093e-01 2.26776525e-01 7.34907876e-03 2.88077480e+02] [-2.26770209e-01 9.73946820e-01 -1.69259811e-03 -4.54892981e+01] [-7.54145340e-03 -1.80985132e-05 9.99971563e-01 -3.89515752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-45.50, Z:-3.90 [[ 9.74503906e-01 2.24304116e-01 5.45896612e-03 2.88107579e+02] [-2.24300589e-01 9.74519196e-01 -1.25783244e-03 -4.55025296e+01] [-5.60200427e-03 1.31331341e-06 9.99984309e-01 -3.89668867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-45.51, Z:-3.90 [[ 9.74279040e-01 2.25301804e-01 4.41012027e-03 2.88139360e+02] [-2.25299511e-01 9.74289021e-01 -1.01645469e-03 -4.55136171e+01] [-4.52574084e-03 -3.28744084e-06 9.99989759e-01 -3.89759241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-45.52, Z:-3.90 [[ 9.73789725e-01 2.27388955e-01 5.27593689e-03 2.88170797e+02] [-2.27385695e-01 9.73804017e-01 -1.21752895e-03 -4.55231987e+01] [-5.41458117e-03 -1.40553921e-05 9.99985341e-01 -3.89741331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-45.53, Z:-3.90 [[ 9.73174497e-01 2.29979583e-01 6.38673946e-03 2.88202252e+02] [-2.29974851e-01 9.73195453e-01 -1.47562416e-03 -4.55326557e+01] [-6.55490923e-03 -3.27496583e-05 9.99978516e-01 -3.89607834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.23, Y:-45.54, Z:-3.90 [[ 9.71941769e-01 2.35106555e-01 7.35562845e-03 2.88232497e+02] [-2.35100411e-01 9.71969599e-01 -1.70135285e-03 -4.55422764e+01] [-7.54944644e-03 -7.56953747e-05 9.99971500e-01 -3.89597930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-45.55, Z:-3.90 [[ 9.71558243e-01 2.36719741e-01 6.19237495e-03 2.88264707e+02] [-2.36715415e-01 9.71577974e-01 -1.43302163e-03 -4.55504430e+01] [-6.35559962e-03 -7.35666277e-05 9.99979800e-01 -3.89763606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-45.56, Z:-3.90 [[ 9.71659762e-01 2.36356478e-01 3.59482595e-03 2.88296297e+02] [-2.36355019e-01 9.71666411e-01 -8.31628452e-04 -4.55602667e+01] [-3.68953240e-03 -4.15952523e-05 9.99993193e-01 -3.90012171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-45.57, Z:-3.90 [[ 9.72054972e-01 2.34718404e-01 4.04992804e-03 2.88328266e+02] [-2.34716533e-01 9.72063408e-01 -9.37983090e-04 -4.55703042e+01] [-4.15694875e-03 -3.88139427e-05 9.99991359e-01 -3.89968504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-45.58, Z:-3.90 [[ 9.72729745e-01 2.31780743e-01 8.63306004e-03 2.88360077e+02] [-2.31772088e-01 9.72768053e-01 -2.00374033e-03 -4.55799164e+01] [-8.86239343e-03 -5.18045259e-05 9.99960727e-01 -3.89621876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-45.59, Z:-3.90 [[ 9.72580734e-01 2.32287421e-01 1.13696794e-02 2.88391133e+02] [-2.32272409e-01 9.72647186e-01 -2.64182456e-03 -4.55873486e+01] [-1.16723493e-02 -7.14751448e-05 9.99931873e-01 -3.89595089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-45.60, Z:-3.90 [[ 9.72203066e-01 2.33835721e-01 1.19186037e-02 2.88421865e+02] [-2.33819313e-01 9.72276117e-01 -2.77161346e-03 -4.55952307e+01] [-1.22362760e-02 -9.22286251e-05 9.99925130e-01 -3.89571207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-45.60, Z:-3.90 [[ 9.71147580e-01 2.38394503e-01 6.35913236e-03 2.88453847e+02] [-2.38389932e-01 9.71168397e-01 -1.47846040e-03 -4.56048268e+01] [-6.52824521e-03 -8.01498936e-05 9.99978688e-01 -3.89789861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-45.61, Z:-3.90 [[ 9.70094039e-01 2.42727152e-01 1.04189607e-03 2.88485045e+02] [-2.42727033e-01 9.70094598e-01 -2.40661534e-04 -4.56099853e+01] [-1.06915284e-03 -1.94320223e-05 9.99999428e-01 -3.90024491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-45.62, Z:-3.90 [[ 9.69684039e-01 2.44348952e-01 2.54046018e-03 2.88517312e+02] [-2.44348244e-01 9.69687366e-01 -5.90223765e-04 -4.56162731e+01] [-2.60767269e-03 -4.84264174e-05 9.99996599e-01 -3.90052016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-45.62, Z:-3.90 [[ 9.69330757e-01 2.45687939e-01 5.94302379e-03 2.88549217e+02] [-2.45684064e-01 9.69348969e-01 -1.38485849e-03 -4.56235194e+01] [-6.10110701e-03 -1.17720310e-04 9.99981381e-01 -3.89933196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-45.63, Z:-3.90 [[ 9.69273349e-01 2.45729070e-01 1.12427214e-02 2.88579773e+02] [-2.45715158e-01 9.69338525e-01 -2.62389411e-03 -4.56314142e+01] [-1.15427700e-02 -2.19236442e-04 9.99933356e-01 -3.89703201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-45.64, Z:-3.90 [[ 9.69324596e-01 2.45504512e-01 1.17201267e-02 2.88611787e+02] [-2.45489352e-01 9.69395422e-01 -2.73741357e-03 -4.56375034e+01] [-1.20334846e-02 -2.23724008e-04 9.99927570e-01 -3.89731337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-45.64, Z:-3.90 [[ 9.69161209e-01 2.46264040e-01 8.97627767e-03 2.88645276e+02] [-2.46255169e-01 9.69202761e-01 -2.09770689e-03 -4.56390722e+01] [-9.21642287e-03 -1.77438628e-04 9.99957512e-01 -3.90013932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-45.64, Z:-3.90 [[ 9.68750564e-01 2.47935886e-01 7.08105487e-03 2.88677726e+02] [-2.47930404e-01 9.68776431e-01 -1.65570011e-03 -4.56440177e+01] [-7.27046654e-03 -1.51648375e-04 9.99973558e-01 -3.90075493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-45.65, Z:-3.90 [[ 9.68293801e-01 2.49743176e-01 5.95484568e-03 2.88709235e+02] [-2.49739328e-01 9.68312102e-01 -1.39325435e-03 -4.56492671e+01] [-6.11410491e-03 -1.38079611e-04 9.99981299e-01 -3.90107542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-45.65, Z:-3.90 [[ 9.67512545e-01 2.52773861e-01 4.98498490e-03 2.88742993e+02] [-2.52771202e-01 9.67525379e-01 -1.16681825e-03 -4.56517191e+01] [-5.11804055e-03 -1.31149326e-04 9.99986894e-01 -3.90076353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-45.65, Z:-3.90 [[ 9.66979075e-01 2.54824456e-01 3.99568037e-03 2.88775612e+02] [-2.54822763e-01 9.66987324e-01 -9.35674063e-04 -4.56529337e+01] [-4.10220490e-03 -1.13413072e-04 9.99991579e-01 -3.90177308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-45.66, Z:-3.90 [[ 9.66981189e-01 2.54818997e-01 3.82866836e-03 2.88804754e+02] [-2.54817434e-01 9.66988763e-01 -8.98897353e-04 -4.56574299e+01] [-3.93133541e-03 -1.06394615e-04 9.99992267e-01 -3.90226081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-45.66, Z:-3.90 [[ 9.67073777e-01 2.54454460e-01 4.60849697e-03 2.88832977e+02] [-2.54452191e-01 9.67084749e-01 -1.08191148e-03 -4.56624720e+01] [-4.73210434e-03 -1.26353935e-04 9.99988796e-01 -3.90241681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-45.67, Z:-3.90 [[ 9.66967003e-01 2.54801606e-01 7.13837401e-03 2.88866104e+02] [-2.54796184e-01 9.66993331e-01 -1.67423390e-03 -4.56654273e+01] [-7.32935754e-03 -1.99901517e-04 9.99973120e-01 -3.90209561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-45.67, Z:-3.90 [[ 9.66814765e-01 2.55376800e-01 7.20417573e-03 2.88897639e+02] [-2.55371282e-01 9.66841584e-01 -1.69117905e-03 -4.56697800e+01] [-7.39718456e-03 -2.04682722e-04 9.99972620e-01 -3.90278450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-45.68, Z:-3.90 [[ 9.66648813e-01 2.56032847e-01 6.10348635e-03 2.88930702e+02] [-2.56028895e-01 9.66668066e-01 -1.43350481e-03 -4.56751737e+01] [-6.26706967e-03 -1.76973141e-04 9.99980346e-01 -3.90386840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-45.68, Z:-3.90 [[ 9.66511807e-01 2.56612429e-01 2.23360231e-03 2.88961613e+02] [-2.56611903e-01 9.66514385e-01 -5.23903485e-04 -4.56789605e+01] [-2.29324890e-03 -6.68100345e-05 9.99997368e-01 -3.90432740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-45.68, Z:-3.90 [[ 9.66327488e-01 2.57303715e-01 2.44638160e-03 2.88991142e+02] [-2.57303080e-01 9.66330582e-01 -5.76168867e-04 -4.56802685e+01] [-2.51226374e-03 -7.26937050e-05 9.99996842e-01 -3.90481847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-45.68, Z:-3.90 [[ 9.66282856e-01 2.57437780e-01 4.82001964e-03 2.89020115e+02] [-2.57435319e-01 9.66294866e-01 -1.13475517e-03 -4.56846803e+01] [-4.94968909e-03 -1.44348827e-04 9.99987740e-01 -3.90462506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.05, Y:-45.69, Z:-3.90 [[ 9.66304451e-01 2.57291693e-01 7.52942095e-03 2.89049121e+02] [-2.57285688e-01 9.66333759e-01 -1.77221282e-03 -4.56894543e+01] [-7.73190929e-03 -2.24715105e-04 9.99970083e-01 -3.90419134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-45.69, Z:-3.90 [[ 9.66891628e-01 2.55019013e-01 9.26728602e-03 2.89080488e+02] [-2.55009814e-01 9.66936005e-01 -2.18100705e-03 -4.56918308e+01] [-9.51707078e-03 -2.54451429e-04 9.99954679e-01 -3.90417198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:-45.70, Z:-3.91 [[ 9.67419218e-01 2.53044563e-01 8.27678568e-03 2.89110973e+02] [-2.53037151e-01 9.67454601e-01 -1.94811850e-03 -4.56965342e+01] [-8.50037518e-03 -2.09686985e-04 9.99963849e-01 -3.90529382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.14, Y:-45.70, Z:-3.91 [[ 9.68545934e-01 2.48756886e-01 6.22776978e-03 2.89141220e+02] [-2.48752603e-01 9.68565948e-01 -1.46561247e-03 -4.57007230e+01] [-6.39658693e-03 -1.29660942e-04 9.99979533e-01 -3.90662921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-45.71, Z:-3.91 [[ 9.69174090e-01 2.46307481e-01 5.84871472e-03 2.89170637e+02] [-2.46303654e-01 9.69191732e-01 -1.37706268e-03 -4.57070895e+01] [-6.00770679e-03 -1.05946336e-04 9.99981948e-01 -3.90732978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-45.71, Z:-3.91 [[ 9.70411740e-01 2.41412488e-01 4.58977583e-03 2.89200808e+02] [-2.41410077e-01 9.70422592e-01 -1.08055737e-03 -4.57132368e+01] [-4.71488221e-03 -5.94325755e-05 9.99988883e-01 -3.90731338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-45.72, Z:-3.91 [[ 9.70957382e-01 2.39219322e-01 3.98470415e-03 2.89230578e+02] [-2.39217486e-01 9.70965558e-01 -9.38235568e-04 -4.57193368e+01] [-4.09345456e-03 -4.22241558e-05 9.99991621e-01 -3.90778276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-45.73, Z:-3.91 [[ 9.71753736e-01 2.35942651e-01 5.07364692e-03 2.89259290e+02] [-2.35939629e-01 9.71766980e-01 -1.19454082e-03 -4.57264409e+01] [-5.21224567e-03 -3.62748661e-05 9.99986415e-01 -3.90772065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.29, Y:-45.73, Z:-3.91 [[ 9.72012456e-01 2.34852871e-01 5.99291795e-03 2.89288536e+02] [-2.34848634e-01 9.72030929e-01 -1.41117032e-03 -4.57344339e+01] [-6.15671901e-03 -3.57534634e-05 9.99981047e-01 -3.90740920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-45.74, Z:-3.91 [[ 9.72157663e-01 2.34236407e-01 6.54087309e-03 2.89319466e+02] [-2.34231353e-01 9.72179667e-01 -1.53920910e-03 -4.57436732e+01] [-6.71944263e-03 -3.57236352e-05 9.99977424e-01 -3.90740527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.35, Y:-45.76, Z:-3.91 [[ 9.72414686e-01 2.33200938e-01 5.19616737e-03 2.89350633e+02] [-2.33197732e-01 9.72428569e-01 -1.22306680e-03 -4.57553280e+01] [-5.33812193e-03 -2.24063317e-05 9.99985752e-01 -3.90801812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-45.76, Z:-3.91 [[ 9.72479563e-01 2.32935535e-01 4.95340412e-03 2.89381701e+02] [-2.32932613e-01 9.72492178e-01 -1.16692214e-03 -4.57648141e+01] [-5.08896439e-03 -1.90014317e-05 9.99987051e-01 -3.90893907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-45.77, Z:-3.91 [[ 9.72288451e-01 2.33711010e-01 5.85924905e-03 2.89411882e+02] [-2.33706920e-01 9.72306106e-01 -1.38290318e-03 -4.57743246e+01] [-6.02018333e-03 -2.47662560e-05 9.99981878e-01 -3.90870583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.44, Y:-45.78, Z:-3.91 [[ 9.71910773e-01 2.35277840e-01 5.81271873e-03 2.89443094e+02] [-2.35273848e-01 9.71928154e-01 -1.37110818e-03 -4.57818728e+01] [-5.97213636e-03 -3.49858870e-05 9.99982166e-01 -3.90831409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.47, Y:-45.79, Z:-3.91 [[ 9.71090014e-01 2.38580372e-01 7.97440648e-03 2.89473204e+02] [-2.38572950e-01 9.71122753e-01 -1.88325722e-03 -4.57885980e+01] [-8.19343578e-03 -7.36653990e-05 9.99966431e-01 -3.90621428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.50, Y:-45.80, Z:-3.91 [[ 9.70819992e-01 2.39614836e-01 9.65784936e-03 2.89504685e+02] [-2.39603982e-01 9.70868024e-01 -2.28278285e-03 -4.57957778e+01] [-9.92348577e-03 -9.78879322e-05 9.99950756e-01 -3.90554970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.54, Y:-45.80, Z:-3.91 [[ 9.71027414e-01 2.38759580e-01 9.98123463e-03 2.89536359e+02] [-2.38747923e-01 9.71078707e-01 -2.36100967e-03 -4.58014425e+01] [-1.02562781e-02 -9.03939182e-05 9.99947399e-01 -3.90726693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.57, Y:-45.81, Z:-3.91 [[ 9.71302339e-01 2.37644081e-01 9.85176947e-03 2.89568288e+02] [-2.37632649e-01 9.71352297e-01 -2.33222982e-03 -4.58080395e+01] [-1.01237795e-02 -7.58017945e-05 9.99948750e-01 -3.90858585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.60, Y:-45.82, Z:-3.91 [[ 9.71885362e-01 2.35216773e-01 1.05788929e-02 2.89599184e+02] [-2.35203426e-01 9.71942934e-01 -2.50632842e-03 -4.58151834e+01] [-1.08716107e-02 -5.23279553e-05 9.99940901e-01 -3.90759046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.63, Y:-45.82, Z:-3.91 [[ 9.72192476e-01 2.33944313e-01 1.05758123e-02 2.89629356e+02] [-2.33930876e-01 9.72249997e-01 -2.50759335e-03 -4.58217752e+01] [-1.08689707e-02 -3.61456414e-05 9.99940930e-01 -3.90699603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.66, Y:-45.83, Z:-3.91 [[ 9.72468419e-01 2.32844635e-01 9.41007382e-03 2.89659920e+02] [-2.32833930e-01 9.72513946e-01 -2.23283689e-03 -4.58274045e+01] [-9.67133212e-03 -1.96211049e-05 9.99953231e-01 -3.90753169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.69, Y:-45.83, Z:-3.91 [[ 9.72460362e-01 2.32878283e-01 9.41002968e-03 2.89690876e+02] [-2.32867578e-01 9.72505889e-01 -2.23302289e-03 -4.58348043e+01] [-9.67133182e-03 -1.97645690e-05 9.99953231e-01 -3.90792761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.72, Y:-45.84, Z:-3.91 [[ 9.72520919e-01 2.32763228e-01 4.93373517e-03 2.89721732e+02] [-2.32760283e-01 9.72533434e-01 -1.17093232e-03 -4.58380173e+01] [-5.07077239e-03 -9.62141525e-06 9.99987144e-01 -3.91062623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.75, Y:-45.84, Z:-3.91 [[ 9.72358080e-01 2.33465914e-01 3.66489608e-03 2.89751446e+02] [-2.33464293e-01 9.72364986e-01 -8.70109703e-04 -4.58428201e+01] [-3.76675758e-03 -9.56417104e-06 9.99992906e-01 -3.91213175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:-45.84, Z:-3.91 [[ 9.71808563e-01 2.35748938e-01 3.24885902e-03 2.89779957e+02] [-2.35747676e-01 9.71813993e-01 -7.71608637e-04 -4.58447104e+01] [-3.33919257e-03 -1.60550836e-05 9.99994425e-01 -3.91199459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-45.85, Z:-3.91 [[ 9.71429387e-01 2.37305696e-01 3.30961187e-03 2.89809056e+02] [-2.37304396e-01 9.71435024e-01 -7.85717322e-04 -4.58482608e+01] [-3.40152808e-03 -2.21165511e-05 9.99994215e-01 -3.91282778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-45.85, Z:-3.91 [[ 9.70380196e-01 2.41554194e-01 3.72102860e-03 2.89838350e+02] [-2.41552584e-01 9.70387330e-01 -8.83136917e-04 -4.58482615e+01] [-3.82416444e-03 -4.18454978e-05 9.99992687e-01 -3.91330467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-45.85, Z:-3.91 [[ 9.69787085e-01 2.43920355e-01 3.98384028e-03 2.89866385e+02] [-2.43918529e-01 9.69795266e-01 -9.45373055e-04 -4.58523199e+01] [-4.09410518e-03 -5.49218823e-05 9.99991618e-01 -3.91393431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-45.86, Z:-3.91 [[ 9.69348472e-01 2.45653728e-01 4.21738317e-03 2.89895225e+02] [-2.45651700e-01 9.69357644e-01 -1.00040662e-03 -4.58561819e+01] [-4.33390623e-03 -6.62647201e-05 9.99990606e-01 -3.91436025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:-45.86, Z:-3.92 [[ 9.68849751e-01 2.47612919e-01 4.24284697e-03 2.89924851e+02] [-2.47610886e-01 9.68859039e-01 -1.00626171e-03 -4.58563808e+01] [-4.35988403e-03 -7.56586860e-05 9.99990493e-01 -3.91534779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-45.86, Z:-3.92 [[ 9.68784510e-01 2.47842407e-01 5.54198248e-03 2.89953718e+02] [-2.47838945e-01 9.68800357e-01 -1.31399349e-03 -4.58571321e+01] [-5.69473791e-03 -1.00542544e-04 9.99983780e-01 -3.91608813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-45.86, Z:-3.92 [[ 9.68973624e-01 2.47073350e-01 6.69898957e-03 2.89981354e+02] [-2.47068276e-01 9.68996773e-01 -1.58779290e-03 -4.58618977e+01] [-6.88360059e-03 -1.16578365e-04 9.99976301e-01 -3.91612078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.01, Y:-45.87, Z:-3.92 [[ 9.69447277e-01 2.45188822e-01 7.37684932e-03 2.90009062e+02] [-2.45182618e-01 9.69475337e-01 -1.74786397e-03 -4.58670583e+01] [-7.58023018e-03 -1.14213266e-04 9.99971263e-01 -3.91639055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:-45.87, Z:-3.92 [[ 9.71239224e-01 2.38019833e-01 6.39756387e-03 2.90036600e+02] [-2.38015014e-01 9.71260293e-01 -1.51543250e-03 -4.58705142e+01] [-6.57440275e-03 -5.08687777e-05 9.99978387e-01 -3.91706971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.06, Y:-45.88, Z:-3.92 [[ 9.72186761e-01 2.34113878e-01 6.60259334e-03 2.90064449e+02] [-2.34108657e-01 9.72209181e-01 -1.56364206e-03 -4.58754049e+01] [-6.78517217e-03 -2.55721544e-05 9.99976980e-01 -3.91747235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.09, Y:-45.88, Z:-3.92 [[ 9.73574977e-01 2.28199196e-01 8.76872380e-03 2.90092147e+02] [-2.28189755e-01 9.73614465e-01 -2.07580018e-03 -4.58803798e+01] [-9.01105227e-03 2.00141701e-05 9.99959399e-01 -3.91665796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.12, Y:-45.89, Z:-3.92 [[ 9.74089101e-01 2.25983910e-01 9.03855127e-03 2.90119708e+02] [-2.25973791e-01 9.74131034e-01 -2.13899804e-03 -4.58861805e+01] [-9.28811243e-03 4.10989904e-05 9.99956864e-01 -3.91665586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.15, Y:-45.89, Z:-3.92 [[ 9.74685579e-01 2.23434284e-01 8.07105753e-03 2.90147954e+02] [-2.23426130e-01 9.74718994e-01 -1.90969894e-03 -4.58899058e+01] [-8.29370529e-03 5.80708656e-05 9.99965605e-01 -3.91849753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.18, Y:-45.90, Z:-3.92 [[ 9.74788401e-01 2.22982691e-01 8.14204288e-03 2.90176763e+02] [-2.22974383e-01 9.74822402e-01 -1.92585578e-03 -4.58954865e+01] [-8.36647831e-03 6.18348913e-05 9.99964998e-01 -3.91880848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.20, Y:-45.90, Z:-3.92 [[ 9.74739200e-01 2.23188372e-01 8.39294568e-03 2.90204219e+02] [-2.23179555e-01 9.74775331e-01 -1.98482611e-03 -4.59018176e+01] [-8.62422652e-03 6.15539362e-05 9.99962809e-01 -3.91781330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.23, Y:-45.91, Z:-3.92 [[ 9.74493052e-01 2.24243527e-01 8.83927666e-03 2.90231136e+02] [-2.24233795e-01 9.74533138e-01 -2.08980073e-03 -4.59081808e+01] [-9.08279231e-03 5.44317400e-05 9.99958749e-01 -3.91641596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.26, Y:-45.91, Z:-3.92 [[ 9.74267745e-01 2.25190006e-01 9.58242317e-03 2.90260123e+02] [-2.25178621e-01 9.74314866e-01 -2.26488281e-03 -4.59128438e+01] [-9.84632633e-03 4.88454317e-05 9.99951523e-01 -3.91708166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.29, Y:-45.92, Z:-3.92 [[ 9.74093436e-01 2.25896930e-01 1.06092117e-02 2.90287393e+02] [-2.25883022e-01 9.74151208e-01 -2.50701014e-03 -4.59188663e+01] [-1.09013023e-02 4.56213136e-05 9.99940578e-01 -3.91785891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.31, Y:-45.93, Z:-3.92 [[ 9.73921072e-01 2.26566855e-01 1.20501200e-02 2.90313777e+02] [-2.26548976e-01 9.73995615e-01 -2.84661084e-03 -4.59262421e+01] [-1.23817117e-02 4.24319383e-05 9.99923343e-01 -3.91766567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.34, Y:-45.93, Z:-3.92 [[ 9.73600252e-01 2.27897186e-01 1.28616384e-02 2.90341908e+02] [-2.27876943e-01 9.73685202e-01 -3.03752418e-03 -4.59347849e+01] [-1.32154302e-02 2.64634535e-05 9.99912672e-01 -3.91598825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.37, Y:-45.94, Z:-3.92 [[ 9.73341644e-01 2.29100581e-01 1.09072012e-02 2.90369276e+02] [-2.29086104e-01 9.73402755e-01 -2.57551807e-03 -4.59405085e+01] [-1.12071524e-02 8.17076368e-06 9.99937198e-01 -3.91674815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.40, Y:-45.95, Z:-3.92 [[ 9.73246685e-01 2.29536475e-01 1.01929783e-02 2.90397683e+02] [-2.29523862e-01 9.73300060e-01 -2.40627878e-03 -4.59474806e+01] [-1.04731551e-02 2.37110390e-06 9.99945155e-01 -3.91774983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.42, Y:-45.95, Z:-3.92 [[ 9.73205708e-01 2.29706252e-01 1.02804147e-02 2.90424322e+02] [-2.29693436e-01 9.73260005e-01 -2.42643106e-03 -4.59547483e+01] [-1.05628828e-02 7.27952449e-08 9.99944211e-01 -3.91828890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.45, Y:-45.96, Z:-3.92 [[ 9.73276848e-01 2.29310739e-01 1.21967718e-02 2.90451028e+02] [-2.29292681e-01 9.73353268e-01 -2.87780548e-03 -4.59637725e+01] [-1.25316794e-02 4.27095150e-06 9.99921475e-01 -3.91811979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.48, Y:-45.97, Z:-3.92 [[ 9.73524746e-01 2.28228218e-01 1.27062887e-02 2.90478378e+02] [-2.28208537e-01 9.73607662e-01 -2.99723352e-03 -4.59713043e+01] [-1.30549933e-02 1.81974434e-05 9.99914780e-01 -3.91878916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.51, Y:-45.98, Z:-3.92 [[ 9.74080414e-01 2.25927975e-01 1.11308992e-02 2.90506045e+02] [-2.25912730e-01 9.74144008e-01 -2.62492506e-03 -4.59818813e+01] [-1.14361428e-02 4.22762578e-05 9.99934604e-01 -3.92035456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.53, Y:-45.99, Z:-3.92 [[ 9.74300211e-01 2.25048907e-01 9.59625985e-03 2.90532864e+02] [-2.25037535e-01 9.74347468e-01 -2.26283297e-03 -4.59911998e+01] [-9.85933957e-03 4.51599809e-05 9.99951395e-01 -3.92126717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.56, Y:-46.00, Z:-3.92 [[ 9.74801340e-01 2.22935347e-01 7.88540785e-03 2.90560240e+02] [-2.22927601e-01 9.74833231e-01 -1.85923742e-03 -4.60042239e+01] [-8.10144735e-03 5.45120790e-05 9.99967181e-01 -3.92147608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.59, Y:-46.01, Z:-3.92 [[ 9.74972443e-01 2.22174666e-01 8.19475019e-03 2.90588119e+02] [-2.22166274e-01 9.75006879e-01 -1.93196124e-03 -4.60145780e+01] [-8.41917065e-03 6.30118512e-05 9.99964556e-01 -3.92177151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-46.02, Z:-3.92 [[ 9.75070582e-01 2.21718283e-01 8.85229252e-03 2.90616102e+02] [-2.21708475e-01 9.75110762e-01 -2.08674047e-03 -4.60247847e+01] [-9.09463421e-03 7.20909743e-05 9.99958640e-01 -3.92208345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.64, Y:-46.04, Z:-3.92 [[ 9.74812299e-01 2.22849450e-01 8.89405998e-03 2.90643416e+02] [-2.22839598e-01 9.74852870e-01 -2.09632731e-03 -4.60371993e+01] [-9.13756529e-03 6.15768881e-05 9.99958250e-01 -3.92277315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-46.05, Z:-3.92 [[ 9.74054910e-01 2.26239085e-01 5.73658624e-03 2.90671283e+02] [-2.26235044e-01 9.74071802e-01 -1.35224742e-03 -4.60458281e+01] [-5.89377812e-03 1.93464011e-05 9.99982631e-01 -3.92489446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.70, Y:-46.05, Z:-3.93 [[ 9.73717245e-01 2.27716303e-01 4.47354721e-03 2.90700532e+02] [-2.27713863e-01 9.73727521e-01 -1.05417698e-03 -4.60536495e+01] [-4.59606932e-03 7.78158539e-06 9.99989438e-01 -3.92554923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.73, Y:-46.06, Z:-3.93 [[ 9.73529607e-01 2.28520400e-01 4.30479037e-03 2.90728643e+02] [-2.28518149e-01 9.73539124e-01 -1.01429938e-03 -4.60612798e+01] [-4.42266995e-03 3.72774947e-06 9.99990220e-01 -3.92594523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-46.07, Z:-3.93 [[ 9.73971951e-01 2.26603245e-01 5.44127061e-03 2.90757598e+02] [-2.26599617e-01 9.73987150e-01 -1.28229502e-03 -4.60710361e+01] [-5.59029987e-03 1.59295469e-05 9.99984374e-01 -3.92525529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-46.08, Z:-3.93 [[ 9.74501584e-01 2.24301036e-01 5.97562171e-03 2.90787292e+02] [-2.24296619e-01 9.74519904e-01 -1.40806820e-03 -4.60808231e+01] [-6.13919346e-03 3.18529465e-05 9.99981154e-01 -3.92547926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.82, Y:-46.09, Z:-3.93 [[ 9.75706979e-01 2.18915776e-01 8.47199401e-03 2.90816517e+02] [-2.18906696e-01 9.75743754e-01 -1.99605124e-03 -4.60945596e+01] [-8.70346235e-03 9.29849142e-05 9.99962120e-01 -3.92503050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.85, Y:-46.11, Z:-3.93 [[ 9.76316069e-01 2.16134587e-01 9.63192894e-03 2.90846619e+02] [-2.16122690e-01 9.76363570e-01 -2.27184760e-03 -4.61053311e+01] [-9.89528938e-03 1.36362930e-04 9.99951031e-01 -3.92541078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.88, Y:-46.12, Z:-3.93 [[ 9.77191988e-01 2.12112900e-01 1.01949504e-02 2.90876757e+02] [-2.12099353e-01 9.77245150e-01 -2.40456873e-03 -4.61200973e+01] [-1.04730059e-02 1.87382910e-04 9.99945139e-01 -3.92657093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.91, Y:-46.13, Z:-3.93 [[ 9.77445117e-01 2.10949290e-01 1.00718130e-02 2.90907049e+02] [-2.10935985e-01 9.77496986e-01 -2.37752017e-03 -4.61313078e+01] [-1.03467031e-02 1.99387673e-04 9.99946452e-01 -3.92680699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:-46.15, Z:-3.93 [[ 9.77353637e-01 2.11432706e-01 8.72236176e-03 2.90937165e+02] [-2.11422735e-01 9.77392543e-01 -2.06028000e-03 -4.61470480e+01] [-8.96078191e-03 1.69516570e-04 9.99959837e-01 -3.92510161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.97, Y:-46.16, Z:-3.93 [[ 9.77030961e-01 2.12958117e-01 7.70333445e-03 2.90968318e+02] [-2.12950380e-01 9.77061319e-01 -1.82066072e-03 -4.61589689e+01] [-7.91435460e-03 1.38413893e-04 9.99968671e-01 -3.92504940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.00, Y:-46.17, Z:-3.93 [[ 9.76719551e-01 2.14404480e-01 7.04535321e-03 2.90999881e+02] [-2.14398037e-01 9.76744954e-01 -1.66637880e-03 -4.61706824e+01] [-7.23879227e-03 1.17074855e-04 9.99973793e-01 -3.92630538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.03, Y:-46.19, Z:-3.93 [[ 9.76230891e-01 2.16600116e-01 7.59194666e-03 2.91028932e+02] [-2.16592685e-01 9.76260404e-01 -1.79756803e-03 -4.61864251e+01] [-7.80107037e-03 1.10481327e-04 9.99969565e-01 -3.92828905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.06, Y:-46.20, Z:-3.93 [[ 9.75954205e-01 2.17800066e-01 8.74763594e-03 2.91058806e+02] [-2.17790228e-01 9.75993400e-01 -2.07344070e-03 -4.61990784e+01] [-8.98923046e-03 1.18433541e-04 9.99959589e-01 -3.92858524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.09, Y:-46.22, Z:-3.93 [[ 9.75465060e-01 2.19934283e-01 9.84014169e-03 2.91088219e+02] [-2.19921925e-01 9.75514684e-01 -2.33424509e-03 -4.62174911e+01] [-1.01125832e-02 1.12911622e-04 9.99948860e-01 -3.92692198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:-46.23, Z:-3.93 [[ 9.75176373e-01 2.21207297e-01 9.91833103e-03 2.91118986e+02] [-2.21194787e-01 9.75226805e-01 -2.35481455e-03 -4.62302839e+01] [-1.01935244e-02 1.02476390e-04 9.99948039e-01 -3.92618925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.15, Y:-46.25, Z:-3.93 [[ 9.74556446e-01 2.23881651e-01 1.08045843e-02 2.91148625e+02] [-2.23866942e-01 9.74616334e-01 -2.56766834e-03 -4.62460128e+01] [-1.11051781e-02 8.35484933e-05 9.99938332e-01 -3.92693702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.18, Y:-46.26, Z:-3.93 [[ 9.74153656e-01 2.25657698e-01 1.01615697e-02 2.91179312e+02] [-2.25644764e-01 9.74206651e-01 -2.41679887e-03 -4.62567213e+01] [-1.04448381e-02 6.14284590e-05 9.99945449e-01 -3.92785891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.21, Y:-46.27, Z:-3.93 [[ 9.73165531e-01 2.30011936e-01 6.58478305e-03 2.91210265e+02] [-2.30006606e-01 9.73187808e-01 -1.56587504e-03 -4.62697555e+01] [-6.76840053e-03 9.31201232e-06 9.99977094e-01 -3.93002960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.24, Y:-46.28, Z:-3.93 [[ 9.72790225e-01 2.31622165e-01 5.50919873e-03 2.91241881e+02] [-2.31618456e-01 9.72805825e-01 -1.31081174e-03 -4.62799406e+01] [-5.66299367e-03 -8.87259647e-07 9.99983965e-01 -3.93116288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-46.29, Z:-3.93 [[ 9.72500656e-01 2.32791425e-01 7.11528359e-03 2.91271347e+02] [-2.32785253e-01 9.72526685e-01 -1.69513193e-03 -4.62923764e+01] [-7.31441534e-03 -7.81618163e-06 9.99973249e-01 -3.93007162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.30, Y:-46.30, Z:-3.93 [[ 9.72479045e-01 2.32820810e-01 8.88691779e-03 2.91302704e+02] [-2.32811163e-01 9.72519650e-01 -2.11937009e-03 -4.63024002e+01] [-9.13613564e-03 -7.93066596e-06 9.99958265e-01 -3.92948526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.33, Y:-46.31, Z:-3.93 [[ 9.72469044e-01 2.32752953e-01 1.14026923e-02 2.91334046e+02] [-2.32737033e-01 9.72535893e-01 -2.72225340e-03 -4.63136793e+01] [-1.17231401e-02 -6.52161941e-06 9.99931282e-01 -3.92896989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.36, Y:-46.32, Z:-3.93 [[ 9.72339818e-01 2.33282871e-01 1.15922914e-02 2.91364455e+02] [-2.33266427e-01 9.72408917e-01 -2.76984831e-03 -4.63221744e+01] [-1.19186057e-02 -1.08585983e-05 9.99928971e-01 -3.92998562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.40, Y:-46.33, Z:-3.93 [[ 9.72123889e-01 2.34182335e-01 1.15662562e-02 2.91396453e+02] [-2.34166003e-01 9.72192694e-01 -2.76574271e-03 -4.63304194e+01] [-1.18923178e-02 -1.97794182e-05 9.99929284e-01 -3.93051016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.43, Y:-46.34, Z:-3.93 [[ 9.71197520e-01 2.37999736e-01 1.14674759e-02 2.91429114e+02] [-2.37983922e-01 9.71265217e-01 -2.74433390e-03 -4.63365020e+01] [-1.17911113e-02 -6.37846224e-05 9.99930480e-01 -3.92944968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.46, Y:-46.34, Z:-3.93 [[ 9.69774857e-01 2.43768031e-01 1.06711294e-02 2.91461419e+02] [-2.43754665e-01 9.69833559e-01 -2.55569425e-03 -4.63392627e+01] [-1.09722160e-02 -1.22689555e-04 9.99939796e-01 -3.93078178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.905769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.49, Y:-46.34, Z:-3.93 [[ 9.68963542e-01 2.46985752e-01 1.03774529e-02 2.91492862e+02] [-2.46973276e-01 9.69019099e-01 -2.48719183e-03 -4.63438683e+01] [-1.06702510e-02 -1.52955328e-04 9.99943060e-01 -3.93210127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.53, Y:-46.35, Z:-3.93 [[ 9.68251046e-01 2.49759422e-01 1.04949421e-02 2.91525657e+02] [-2.49746804e-01 9.68307904e-01 -2.51724059e-03 -4.63486744e+01] [-1.07910400e-02 -1.83757426e-04 9.99941758e-01 -3.93262562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.56, Y:-46.36, Z:-3.93 [[ 9.68231212e-01 2.49836319e-01 1.04944457e-02 2.91558186e+02] [-2.49823683e-01 9.68288067e-01 -2.51930849e-03 -4.63566284e+01] [-1.07910613e-02 -1.82487961e-04 9.99941758e-01 -3.93304263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.59, Y:-46.36, Z:-3.93 [[ 9.67509102e-01 2.52620079e-01 1.04514940e-02 2.91591720e+02] [-2.52607701e-01 9.67565528e-01 -2.50969389e-03 -4.63582642e+01] [-1.07465044e-02 -2.11976199e-04 9.99942232e-01 -3.93321319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.62, Y:-46.36, Z:-3.93 [[ 9.67535834e-01 2.52556830e-01 9.45824021e-03 2.91624382e+02] [-2.52546675e-01 9.67582044e-01 -2.27276757e-03 -4.63628326e+01] [-9.72562636e-03 -1.89663043e-04 9.99952687e-01 -3.93405815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.66, Y:-46.36, Z:-3.94 [[ 9.68528638e-01 2.48803211e-01 7.01711841e-03 2.91657501e+02] [-2.48797515e-01 9.68554051e-01 -1.68732157e-03 -4.63637062e+01] [-7.21626948e-03 -1.11622359e-04 9.99973956e-01 -3.93538406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.69, Y:-46.37, Z:-3.94 [[ 9.69175350e-01 2.46285048e-01 6.54336961e-03 2.91690801e+02] [-2.46280035e-01 9.69197435e-01 -1.57371217e-03 -4.63682808e+01] [-6.72939882e-03 -8.62982512e-05 9.99977354e-01 -3.93699565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:291.72, Y:-46.37, Z:-3.93 [[ 9.70327519e-01 2.41689749e-01 7.11130972e-03 2.91723806e+02] [-2.41683693e-01 9.70353576e-01 -1.71188114e-03 -4.63724585e+01] [-7.31422894e-03 -5.76022136e-05 9.99973249e-01 -3.93431968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.76, Y:-46.38, Z:-3.94 [[ 9.70851669e-01 2.39551078e-01 7.89415559e-03 2.91755094e+02] [-2.39543530e-01 9.70883762e-01 -1.90217740e-03 -4.63790554e+01] [-8.11997613e-03 -4.42617865e-05 9.99967031e-01 -3.93786674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:291.79, Y:-46.38, Z:-3.94 [[ 9.71928569e-01 2.35113853e-01 8.73682773e-03 2.91787977e+02] [-2.35104412e-01 9.71967837e-01 -2.10700779e-03 -4.63833693e+01] [-8.98730227e-03 -6.20567588e-06 9.99959613e-01 -3.93774725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:291.82, Y:-46.39, Z:-3.94 [[ 9.72355797e-01 2.33356083e-01 8.31516374e-03 2.91820477e+02] [-2.33347454e-01 9.72391350e-01 -2.00680688e-03 -4.63896805e+01] [-8.55389389e-03 1.10080129e-05 9.99963415e-01 -3.93829885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.85, Y:-46.40, Z:-3.94 [[ 9.72600551e-01 2.32335621e-01 8.26600188e-03 2.91852457e+02] [-2.32327044e-01 9.72635676e-01 -1.99651366e-03 -4.63970858e+01] [-8.50366957e-03 2.13945096e-05 9.99963843e-01 -3.93912235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.88, Y:-46.41, Z:-3.94 [[ 9.72748400e-01 2.31673205e-01 9.38491555e-03 2.91884517e+02] [-2.31662097e-01 9.72793670e-01 -2.26885889e-03 -4.64060784e+01] [-9.65522026e-03 3.28996406e-05 9.99953387e-01 -3.93950314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.92, Y:-46.41, Z:-3.94 [[ 9.72839114e-01 2.31251614e-01 1.03319633e-02 2.91915462e+02] [-2.31238103e-01 9.72893976e-01 -2.50016245e-03 -4.64142511e+01] [-1.06300714e-02 4.31122388e-05 9.99943498e-01 -3.93971926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.95, Y:-46.42, Z:-3.94 [[ 9.73432722e-01 2.28626892e-01 1.25888915e-02 2.91945999e+02] [-2.28606576e-01 9.73514117e-01 -3.04916262e-03 -4.64233777e+01] [-1.29525842e-02 9.02512810e-05 9.99916108e-01 -3.93960525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:-46.43, Z:-3.94 [[ 9.73866770e-01 2.26786783e-01 1.22991157e-02 2.91977490e+02] [-2.26767217e-01 9.73944424e-01 -2.98122131e-03 -4.64341215e+01] [-1.26547568e-02 1.14276125e-04 9.99919919e-01 -3.94010733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.01, Y:-46.44, Z:-3.94 [[ 9.73808810e-01 2.27119882e-01 1.06282754e-02 2.92008023e+02] [-2.27105270e-01 9.73866803e-01 -2.57800803e-03 -4.64427346e+01] [-1.09360415e-02 9.67495690e-05 9.99940195e-01 -3.94099804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.04, Y:-46.45, Z:-3.94 [[ 9.73502858e-01 2.28509485e-01 8.69488205e-03 2.92039593e+02] [-2.28499751e-01 9.73541684e-01 -2.11019640e-03 -4.64511503e+01] [-8.94703001e-03 6.75038433e-05 9.99959972e-01 -3.94203565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.07, Y:-46.46, Z:-3.94 [[ 9.72232522e-01 2.33917109e-01 6.83436946e-03 2.92071889e+02] [-2.33911223e-01 9.72256543e-01 -1.65949271e-03 -4.64590025e+01] [-7.03294416e-03 1.47770704e-05 9.99975268e-01 -3.94155025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.10, Y:-46.47, Z:-3.94 [[ 9.71318608e-01 2.37666348e-01 7.40731918e-03 2.92104426e+02] [-2.37659530e-01 9.71346852e-01 -1.80025296e-03 -4.64663103e+01] [-7.62293571e-03 -1.18007905e-05 9.99970945e-01 -3.94128820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.14, Y:-46.47, Z:-3.94 [[ 9.69412271e-01 2.45244955e-01 9.73451429e-03 2.92136586e+02] [-2.45233533e-01 9.69461141e-01 -2.36864185e-03 -4.64713265e+01] [-1.00181308e-02 -9.10388605e-05 9.99949813e-01 -3.94044691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.17, Y:-46.48, Z:-3.94 [[ 9.68552631e-01 2.48591588e-01 1.03933939e-02 2.92167686e+02] [-2.48578747e-01 9.68608386e-01 -2.53021518e-03 -4.64777224e+01] [-1.06961187e-02 -1.32930247e-04 9.99942786e-01 -3.94122319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.20, Y:-46.48, Z:-3.94 [[ 9.67817308e-01 2.51439772e-01 1.03777908e-02 2.92200294e+02] [-2.51427113e-01 9.67872933e-01 -2.52825418e-03 -4.64832436e+01] [-1.06800865e-02 -1.62369839e-04 9.99942953e-01 -3.94332868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.23, Y:-46.49, Z:-3.94 [[ 9.67846225e-01 2.51365925e-01 9.42640175e-03 2.92232448e+02] [-2.51355462e-01 9.67892117e-01 -2.29804820e-03 -4.64906813e+01] [-9.70139096e-03 -1.45220289e-04 9.99952930e-01 -3.94450797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.26, Y:-46.50, Z:-3.95 [[ 9.68309132e-01 2.49677048e-01 6.22862020e-03 2.92263917e+02] [-2.49672442e-01 9.68329161e-01 -1.51894180e-03 -4.64984961e+01] [-6.41059948e-03 -8.43095997e-05 9.99979448e-01 -3.94624023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.655769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.30, Y:-46.51, Z:-3.95 [[ 9.68557020e-01 2.48719777e-01 5.98097620e-03 2.92295558e+02] [-2.48715506e-01 9.68575483e-01 -1.45945188e-03 -4.65060171e+01] [-6.15602146e-03 -7.39991601e-05 9.99981049e-01 -3.94742392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:292.33, Y:-46.51, Z:-3.95 [[ 9.68841115e-01 2.47584051e-01 7.00225754e-03 2.92326926e+02] [-2.47578154e-01 9.68866416e-01 -1.71041975e-03 -4.65114345e+01] [-7.20772481e-03 -7.64810213e-05 9.99974021e-01 -3.94773711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.36, Y:-46.52, Z:-3.95 [[ 9.68480891e-01 2.48972581e-01 7.57738683e-03 2.92359035e+02] [-2.48965706e-01 9.68510529e-01 -1.85246319e-03 -4.65173855e+01] [-7.79999147e-03 -9.24342651e-05 9.99969575e-01 -3.94696551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.39, Y:-46.52, Z:-3.95 [[ 9.67902375e-01 2.51197787e-01 8.04139021e-03 2.92390051e+02] [-2.51190105e-01 9.67935772e-01 -1.96787811e-03 -4.65226949e+01] [-8.27787587e-03 -1.15203759e-04 9.99965731e-01 -3.94640737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.42, Y:-46.52, Z:-3.95 [[ 9.66664219e-01 2.55877341e-01 9.33130034e-03 2.92420252e+02] [-2.55867211e-01 9.66709240e-01 -2.28389725e-03 -4.65243578e+01] [-9.60505181e-03 -1.79812042e-04 9.99953854e-01 -3.94643519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.45, Y:-46.53, Z:-3.95 [[ 9.66062422e-01 2.58077773e-01 1.09206412e-02 2.92453620e+02] [-2.58064043e-01 9.66124116e-01 -2.67250268e-03 -4.65288022e+01] [-1.12404083e-02 -2.36420407e-04 9.99936797e-01 -3.94747162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.49, Y:-46.53, Z:-3.95 [[ 9.65377729e-01 2.60485136e-01 1.39044875e-02 2.92486664e+02] [-2.60463078e-01 9.65477800e-01 -3.40616013e-03 -4.65290768e+01] [-1.43117281e-02 -3.33374487e-04 9.99897526e-01 -3.94925139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.51, Y:-46.53, Z:-3.95 [[ 9.65457118e-01 2.60201560e-01 1.37004106e-02 2.92514762e+02] [-2.60180086e-01 9.65554268e-01 -3.35834508e-03 -4.65337430e+01] [-1.41023366e-02 -3.22235854e-04 9.99900505e-01 -3.95015020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:-46.54, Z:-3.95 [[ 9.66373911e-01 2.56942061e-01 1.01114604e-02 2.92543361e+02] [-2.56930188e-01 9.66426788e-01 -2.47836078e-03 -4.65384412e+01] [-1.04087813e-02 -2.02916218e-04 9.99945807e-01 -3.95078959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.57, Y:-46.54, Z:-3.95 [[ 9.67167922e-01 2.53975679e-01 9.08651898e-03 2.92572676e+02] [-2.53965963e-01 9.67210593e-01 -2.22684914e-03 -4.65437841e+01] [-9.35414293e-03 -1.53929488e-04 9.99956237e-01 -3.95165001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:292.60, Y:-46.55, Z:-3.95 [[ 9.68725758e-01 2.47967549e-01 9.08298663e-03 2.92601506e+02] [-2.47957579e-01 9.68768334e-01 -2.22570408e-03 -4.65487883e+01] [-9.35121222e-03 -9.60984994e-05 9.99956272e-01 -3.95242477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:-46.56, Z:-3.95 [[ 9.69211105e-01 2.46017858e-01 1.02492746e-02 2.92632277e+02] [-2.46005058e-01 9.69265292e-01 -2.51117431e-03 -4.65571261e+01] [-1.05520598e-02 -8.75153513e-05 9.99944322e-01 -3.95215576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:-46.57, Z:-3.95 [[ 9.69242850e-01 2.45787078e-01 1.25304074e-02 2.92662803e+02] [-2.45767891e-01 9.69323838e-01 -3.07272481e-03 -4.65660024e+01] [-1.29012587e-02 -1.01355260e-04 9.99916770e-01 -3.95039951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:-46.57, Z:-3.95 [[ 9.68835845e-01 2.47377851e-01 1.27005886e-02 2.92694032e+02] [-2.47358245e-01 9.68919080e-01 -3.11682858e-03 -4.65733755e+01] [-1.30768770e-02 -1.21900061e-04 9.99914487e-01 -3.95054521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:-46.58, Z:-3.95 [[ 9.68379464e-01 2.49182627e-01 1.22160824e-02 2.92724022e+02] [-2.49164607e-01 9.68456503e-01 -2.99991894e-03 -4.65798882e+01] [-1.25782721e-02 -1.38755479e-04 9.99920881e-01 -3.95145552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.76, Y:-46.59, Z:-3.95 [[ 9.67437366e-01 2.52896653e-01 1.04031642e-02 2.92755102e+02] [-2.52883801e-01 9.67493286e-01 -2.55454542e-03 -4.65862515e+01] [-1.07110275e-02 -1.59429006e-04 9.99942623e-01 -3.95307484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.79, Y:-46.59, Z:-3.95 [[ 9.66792110e-01 2.55364672e-01 1.00945399e-02 2.92785042e+02] [-2.55352688e-01 9.66844792e-01 -2.48052172e-03 -4.65935654e+01] [-1.03932910e-02 -1.79519074e-04 9.99945972e-01 -3.95367318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.82, Y:-46.60, Z:-3.95 [[ 9.66514143e-01 2.56404205e-01 1.03583510e-02 2.92815986e+02] [-2.56391625e-01 9.66569628e-01 -2.54731751e-03 -4.66007703e+01] [-1.06652104e-02 -1.93776042e-04 9.99943106e-01 -3.95415675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:-46.61, Z:-3.95 [[ 9.66137955e-01 2.57831528e-01 1.00177573e-02 2.92845511e+02] [-2.57819833e-01 9.66189869e-01 -2.46397331e-03 -4.66077539e+01] [-1.03143456e-02 -2.02238375e-04 9.99946785e-01 -3.95474707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.87, Y:-46.61, Z:-3.96 [[ 9.65422405e-01 2.60549581e-01 8.57298252e-03 2.92874987e+02] [-2.60541122e-01 9.65460448e-01 -2.10874562e-03 -4.66141413e+01] [-8.82630833e-03 -1.97784218e-04 9.99961028e-01 -3.95502082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:292.90, Y:-46.62, Z:-3.95 [[ 9.65047055e-01 2.61927998e-01 8.82641869e-03 2.92903077e+02] [-2.61919088e-01 9.65087394e-01 -2.17120379e-03 -4.66203709e+01] [-9.08696447e-03 -2.16493716e-04 9.99958689e-01 -3.95447196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2857692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:292.93, Y:-46.62, Z:-3.95 [[ 9.64079133e-01 2.65413635e-01 1.03454556e-02 2.92931542e+02] [-2.65401600e-01 9.64134595e-01 -2.54443538e-03 -4.66240907e+01] [-1.06497395e-02 -2.92663417e-04 9.99943247e-01 -3.95464715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:292.96, Y:-46.63, Z:-3.96 [[ 9.63460286e-01 2.67643540e-01 1.05457674e-02 2.92961342e+02] [-2.67631174e-01 9.63517945e-01 -2.59311003e-03 -4.66296063e+01] [-1.08550653e-02 -3.24017587e-04 9.99941030e-01 -3.95594289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.99, Y:-46.63, Z:-3.96 [[ 9.62073991e-01 2.72619362e-01 9.60825894e-03 2.92989725e+02] [-2.72609344e-01 9.62121907e-01 -2.36267725e-03 -4.66327653e+01] [-9.88842798e-03 -3.46230830e-04 9.99951048e-01 -3.95669081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.02, Y:-46.64, Z:-3.96 [[ 9.61573801e-01 2.74381131e-01 9.52998620e-03 2.93017929e+02] [-2.74371364e-01 9.61620957e-01 -2.34310357e-03 -4.66380864e+01] [-9.80713786e-03 -3.61688309e-04 9.99951843e-01 -3.95722685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.405769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.05, Y:-46.64, Z:-3.96 [[ 9.61786825e-01 2.73609819e-01 1.01867387e-02 2.93046526e+02] [-2.73598622e-01 9.61840695e-01 -2.50405708e-03 -4.66442041e+01] [-1.04831544e-02 -3.78708562e-04 9.99944979e-01 -3.95847785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.07, Y:-46.65, Z:-3.96 [[ 9.62460852e-01 2.71212508e-01 1.06247171e-02 2.93074474e+02] [-2.71200188e-01 9.62519423e-01 -2.61115434e-03 -4.66519298e+01] [-1.09346743e-02 -3.68291445e-04 9.99940147e-01 -3.95859501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.10, Y:-46.66, Z:-3.96 [[ 9.63867770e-01 2.66177155e-01 1.04232895e-02 2.93101976e+02] [-2.66165007e-01 9.63924078e-01 -2.56129677e-03 -4.66602732e+01] [-1.07290184e-02 -3.05563523e-04 9.99942396e-01 -3.95872493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.13, Y:-46.67, Z:-3.96 [[ 9.64382214e-01 2.64327009e-01 9.90847319e-03 2.93130991e+02] [-2.64315939e-01 9.64433076e-01 -2.43429925e-03 -4.66669208e+01] [-1.01995103e-02 -2.71372490e-04 9.99947947e-01 -3.95955497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.525769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.16, Y:-46.67, Z:-3.96 [[ 9.64772424e-01 2.62908479e-01 9.65922821e-03 2.93159396e+02] [-2.62897890e-01 9.64820745e-01 -2.37286543e-03 -4.66722552e+01] [-9.94327019e-03 -2.50115582e-04 9.99950533e-01 -3.96067332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.19, Y:-46.68, Z:-3.96 [[ 9.64792206e-01 2.62824747e-01 9.95748211e-03 2.93187097e+02] [-2.62813494e-01 9.64843555e-01 -2.44573279e-03 -4.66783163e+01] [-1.02502115e-02 -2.57336726e-04 9.99947432e-01 -3.96135341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.22, Y:-46.68, Z:-3.96 [[ 9.64686488e-01 2.63199565e-01 1.02941041e-02 2.93215847e+02] [-2.63187562e-01 9.64741373e-01 -2.52813611e-03 -4.66847657e+01] [-1.05965524e-02 -2.70421401e-04 9.99943818e-01 -3.96134074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.24, Y:-46.69, Z:-3.96 [[ 9.64416031e-01 2.64124633e-01 1.18278192e-02 2.93244024e+02] [-2.64108860e-01 9.64488504e-01 -2.90446326e-03 -4.66889443e+01] [-1.21749359e-02 -3.22720911e-04 9.99925831e-01 -3.96014066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.27, Y:-46.69, Z:-3.96 [[ 9.64408447e-01 2.64075678e-01 1.34306746e-02 2.93273772e+02] [-2.64055344e-01 9.64501893e-01 -3.29751616e-03 -4.66934169e+01] [-1.38247049e-02 -3.66288965e-04 9.99904367e-01 -3.96047316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:-46.70, Z:-3.96 [[ 9.64749508e-01 2.62836077e-01 1.32507637e-02 2.93302147e+02] [-2.62816171e-01 9.64840442e-01 -3.25300059e-03 -4.66993849e+01] [-1.36398786e-02 -3.44184255e-04 9.99906913e-01 -3.96144399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.33, Y:-46.70, Z:-3.96 [[ 9.65335115e-01 2.60716328e-01 1.24544101e-02 2.93331635e+02] [-2.60698572e-01 9.65415407e-01 -3.05706391e-03 -4.67049999e+01] [-1.28207059e-02 -2.95755801e-04 9.99917768e-01 -3.96208026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.36, Y:-46.71, Z:-3.96 [[ 9.66317259e-01 2.57178839e-01 9.48686455e-03 2.93360792e+02] [-2.57168368e-01 9.66363808e-01 -2.32848305e-03 -4.67074427e+01] [-9.76659912e-03 -1.89668116e-04 9.99952288e-01 -3.96350571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.39, Y:-46.71, Z:-3.96 [[ 9.66463071e-01 2.56677135e-01 8.12290808e-03 2.93388319e+02] [-2.56669441e-01 9.66497193e-01 -1.99372587e-03 -4.67122083e+01] [-8.36251171e-03 -1.58039844e-04 9.99965021e-01 -3.96400703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.42, Y:-46.72, Z:-3.96 [[ 9.66427609e-01 2.56782070e-01 8.98027014e-03 2.93417233e+02] [-2.56772677e-01 9.66469315e-01 -2.20338899e-03 -4.67167332e+01] [-9.24494632e-03 -1.76472047e-04 9.99957249e-01 -3.96235702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.44, Y:-46.72, Z:-3.96 [[ 9.66342370e-01 2.57071754e-01 9.82532865e-03 2.93444851e+02] [-2.57060530e-01 9.66392298e-01 -2.41023602e-03 -4.67216526e+01] [-1.01147255e-02 -1.96591008e-04 9.99948826e-01 -3.96221729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.47, Y:-46.73, Z:-3.96 [[ 9.66351292e-01 2.57038208e-01 9.82550419e-03 2.93473359e+02] [-2.57026990e-01 9.66401221e-01 -2.40952018e-03 -4.67285571e+01] [-1.01147180e-02 -1.96976834e-04 9.99948826e-01 -3.96258203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:293.50, Y:-46.73, Z:-3.96 [[ 9.65982407e-01 2.58430062e-01 9.58602537e-03 2.93501787e+02] [-2.58419456e-01 9.66029948e-01 -2.35051103e-03 -4.67309118e+01] [-9.86783030e-03 -2.06663152e-04 9.99951290e-01 -3.96418659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.53, Y:-46.74, Z:-3.97 [[ 9.65919233e-01 2.58702915e-01 8.53441667e-03 2.93529928e+02] [-2.58694523e-01 9.65956918e-01 -2.09217138e-03 -4.67362979e+01] [-8.78512966e-03 -1.86938274e-04 9.99961393e-01 -3.96549500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.56, Y:-46.74, Z:-3.97 [[ 9.65871380e-01 2.58892695e-01 8.18834210e-03 2.93557483e+02] [-2.58884979e-01 9.65906072e-01 -2.00701623e-03 -4.67415181e+01] [-8.42877120e-03 -1.81319240e-04 9.99964461e-01 -3.96605496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.9757692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:293.59, Y:-46.74, Z:-3.97 [[ 9.65891677e-01 2.58755704e-01 9.93751079e-03 2.93585503e+02] [-2.58744340e-01 9.65942771e-01 -2.43496630e-03 -4.67439163e+01] [-1.02291281e-02 -2.19360993e-04 9.99947657e-01 -3.96579112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:293.61, Y:-46.74, Z:-3.97 [[ 9.65634293e-01 2.59692633e-01 1.04951976e-02 2.93614200e+02] [-2.59680022e-01 9.65691295e-01 -2.57080501e-03 -4.67447131e+01] [-1.08027401e-02 -2.42935666e-04 9.99941619e-01 -3.96580783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0357692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:293.64, Y:-46.75, Z:-3.97 [[ 9.65494899e-01 2.60215795e-01 1.03605289e-02 2.93640964e+02] [-2.60203543e-01 9.65550454e-01 -2.53710186e-03 -4.67485511e+01] [-1.06638074e-02 -2.46287431e-04 9.99943110e-01 -3.96694673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.67, Y:-46.75, Z:-3.97 [[ 9.65368588e-01 2.60701111e-01 9.92071305e-03 2.93668764e+02] [-2.60689911e-01 9.65419532e-01 -2.42858594e-03 -4.67531021e+01] [-1.02107852e-02 -2.41749221e-04 9.99947839e-01 -3.96764858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0957692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:293.70, Y:-46.75, Z:-3.97 [[ 9.64991849e-01 2.62127690e-01 8.93343009e-03 2.93696076e+02] [-2.62118674e-01 9.65033171e-01 -2.18638481e-03 -4.67536738e+01] [-9.19416836e-03 -2.31775332e-04 9.99957706e-01 -3.96794494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:293.72, Y:-46.76, Z:-3.97 [[ 9.64819790e-01 2.62747032e-01 9.31501589e-03 2.93723895e+02] [-2.62737266e-01 9.64864724e-01 -2.27892752e-03 -4.67568469e+01] [-9.58651168e-03 -2.48647441e-04 9.99954017e-01 -3.96843030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.155769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:293.75, Y:-46.76, Z:-3.97 [[ 9.64707686e-01 2.63105714e-01 1.06987349e-02 2.93752157e+02] [-2.63092864e-01 9.64766966e-01 -2.61656844e-03 -4.67581131e+01] [-1.10102201e-02 -2.90537116e-04 9.99939343e-01 -3.96847243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.78, Y:-46.76, Z:-3.97 [[ 9.65006030e-01 2.61977777e-01 1.14457990e-02 2.93779967e+02] [-2.61963000e-01 9.65073860e-01 -2.79840380e-03 -4.67626638e+01] [-1.17791611e-02 -2.97899307e-04 9.99930579e-01 -3.96868350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.215769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.81, Y:-46.77, Z:-3.97 [[ 9.66306040e-01 2.57099715e-01 1.23439945e-02 2.93807152e+02] [-2.57082141e-01 9.66384846e-01 -3.01706171e-03 -4.67650086e+01] [-1.27047349e-02 -2.58015577e-04 9.99919258e-01 -3.96855041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:293.83, Y:-46.77, Z:-3.97 [[ 9.67107917e-01 2.54082283e-01 1.20196216e-02 2.93834084e+02] [-2.54065399e-01 9.67182583e-01 -2.93681780e-03 -4.67696989e+01] [-1.23713620e-02 -2.13550210e-04 9.99923449e-01 -3.96962899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.275769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:293.86, Y:-46.78, Z:-3.97 [[ 9.68644756e-01 2.48251089e-01 9.93642800e-03 2.93860020e+02] [-2.48239251e-01 9.68695712e-01 -2.42715315e-03 -4.67753028e+01] [-1.02279186e-02 -1.15562272e-04 9.99947687e-01 -3.97154804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.89, Y:-46.78, Z:-3.97 [[ 9.69299725e-01 2.45696029e-01 9.56579080e-03 2.93887557e+02] [-2.45684939e-01 9.69346921e-01 -2.33598370e-03 -4.67819821e+01] [-9.84651178e-03 -8.59023716e-05 9.99951518e-01 -3.97125789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.33576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.91, Y:-46.79, Z:-3.97 [[ 9.70335081e-01 2.41501119e-01 1.12711660e-02 2.93914790e+02] [-2.41485450e-01 9.70400539e-01 -2.75150509e-03 -4.67869091e+01] [-1.16020371e-02 -5.19406744e-05 9.99932693e-01 -3.96934931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.94, Y:-46.79, Z:-3.97 [[ 9.70704749e-01 2.39973651e-01 1.20389542e-02 2.93941919e+02] [-2.39955667e-01 9.70779401e-01 -2.93803655e-03 -4.67918919e+01] [-1.23922201e-02 -3.68492619e-05 9.99923213e-01 -3.96889674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.97, Y:-46.80, Z:-3.97 [[ 9.71361811e-01 2.37292468e-01 1.21867886e-02 2.93968953e+02] [-2.37273840e-01 9.71438256e-01 -2.97318156e-03 -4.67951680e+01] [-1.25442262e-02 -3.57110683e-06 9.99921318e-01 -3.97067914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-46.80, Z:-3.97 [[ 9.71732609e-01 2.35775361e-01 1.20712476e-02 2.93996025e+02] [-2.35756985e-01 9.71807583e-01 -2.94370005e-03 -4.68004221e+01] [-1.24249819e-02 1.46083957e-05 9.99922807e-01 -3.97158355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.02, Y:-46.80, Z:-3.97 [[ 9.72500936e-01 2.32597137e-01 1.18532969e-02 2.94022613e+02] [-2.32579191e-01 9.72573169e-01 -2.88975647e-03 -4.68048064e+01] [-1.22003477e-02 5.34606544e-05 9.99925572e-01 -3.97281169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:294.05, Y:-46.81, Z:-3.97 [[ 9.72970121e-01 2.30631847e-01 1.17513473e-02 2.94050038e+02] [-2.30614077e-01 9.73041081e-01 -2.86397182e-03 -4.68108959e+01] [-1.20950667e-02 7.65329028e-05 9.99926849e-01 -3.97335646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.08, Y:-46.82, Z:-3.97 [[ 9.73479717e-01 2.28494561e-01 1.12905075e-02 2.94076588e+02] [-2.28478022e-01 9.73545184e-01 -2.75088577e-03 -4.68172511e+01] [-1.16203817e-02 9.82986705e-05 9.99932476e-01 -3.97342142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:294.10, Y:-46.82, Z:-3.97 [[ 9.74268167e-01 2.25109977e-01 1.12710935e-02 2.94102979e+02] [-2.25093279e-01 9.74333351e-01 -2.74521307e-03 -4.68238603e+01] [-1.15997771e-02 1.37526317e-04 9.99932711e-01 -3.97276936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:-46.83, Z:-3.97 [[ 9.74630160e-01 2.23510747e-01 1.17897234e-02 2.94129775e+02] [-2.23492373e-01 9.74701452e-01 -2.87049994e-03 -4.68311264e+01] [-1.21330481e-02 1.62762564e-04 9.99926379e-01 -3.97342037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.16, Y:-46.84, Z:-3.97 [[ 9.74599629e-01 2.23643708e-01 1.17921774e-02 2.94156889e+02] [-2.23625346e-01 9.74670953e-01 -2.87025309e-03 -4.68390138e+01] [-1.21354068e-02 1.60317846e-04 9.99926350e-01 -3.97379346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.18, Y:-46.85, Z:-3.97 [[ 9.74455578e-01 2.24279364e-01 1.16229500e-02 2.94184327e+02] [-2.24261578e-01 9.74524882e-01 -2.82838295e-03 -4.68470618e+01] [-1.19612019e-02 1.49552424e-04 9.99928451e-01 -3.97421877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.21, Y:-46.86, Z:-3.97 [[ 9.73717121e-01 2.27461590e-01 1.16702144e-02 2.94210628e+02] [-2.27443895e-01 9.73787047e-01 -2.83930426e-03 -4.68558464e+01] [-1.20101363e-02 1.10360149e-04 9.99927870e-01 -3.97389636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.24, Y:-46.86, Z:-3.97 [[ 9.72349501e-01 2.33214937e-01 1.21342909e-02 2.94237617e+02] [-2.33196264e-01 9.72425211e-01 -2.95142621e-03 -4.68634877e+01] [-1.24880071e-02 4.01464874e-05 9.99922021e-01 -3.97278829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.26, Y:-46.87, Z:-3.97 [[ 9.71408558e-01 2.37123418e-01 1.17430431e-02 2.94264748e+02] [-2.37106225e-01 9.71479534e-01 -2.85543584e-03 -4.68704349e+01] [-1.20852167e-02 -1.05537979e-05 9.99926971e-01 -3.97366577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:294.29, Y:-46.88, Z:-3.98 [[ 9.69627964e-01 2.44375886e-01 1.01013418e-02 2.94292160e+02] [-2.44363563e-01 9.69680576e-01 -2.45561666e-03 -4.68766405e+01] [-1.03951684e-02 -8.73652787e-05 9.99945965e-01 -3.97568673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7857692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.32, Y:-46.88, Z:-3.98 [[ 9.68932882e-01 2.47162064e-01 8.94334742e-03 2.94319675e+02] [-2.47152529e-01 9.68974150e-01 -2.17355314e-03 -4.68821220e+01] [-9.20309234e-03 -1.04343821e-04 9.99957645e-01 -3.97640945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:294.35, Y:-46.89, Z:-3.98 [[ 9.68333649e-01 2.49542247e-01 7.65584419e-03 2.94346493e+02] [-2.49535337e-01 9.68363906e-01 -1.86025699e-03 -4.68873957e+01] [-7.87785589e-03 -1.09054225e-04 9.99968963e-01 -3.97761992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-46.89, Z:-3.98 [[ 9.68313995e-01 2.49655514e-01 6.33501448e-03 2.94372949e+02] [-2.49650786e-01 9.68334713e-01 -1.53917940e-03 -4.68937821e+01] [-6.51867905e-03 -9.11323926e-05 9.99978749e-01 -3.97864797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.40, Y:-46.90, Z:-3.98 [[ 9.69194532e-01 2.46129227e-01 9.07536771e-03 2.94399418e+02] [-2.46119387e-01 9.69237016e-01 -2.20302849e-03 -4.69021079e+01] [-9.33841202e-03 -9.84607659e-05 9.99956391e-01 -3.97824457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-46.91, Z:-3.98 [[ 9.69537783e-01 2.44705835e-01 1.07490266e-02 2.94425952e+02] [-2.44691953e-01 9.69597362e-01 -2.60838967e-03 -4.69082923e+01] [-1.10605160e-02 -1.01267979e-04 9.99938825e-01 -3.97820228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-46.91, Z:-3.98 [[ 9.69618317e-01 2.44347585e-01 1.16007017e-02 2.94453375e+02] [-2.44331404e-01 9.69687706e-01 -2.81400821e-03 -4.69137295e+01] [-1.19366539e-02 -1.05901823e-04 9.99928750e-01 -3.97756317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-46.92, Z:-3.98 [[ 9.68643224e-01 2.48217285e-01 1.08850262e-02 2.94481083e+02] [-2.48203291e-01 9.68704371e-01 -2.63969645e-03 -4.69153473e+01] [-1.11995907e-02 -1.44775229e-04 9.99937272e-01 -3.97786841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:294.51, Y:-46.92, Z:-3.98 [[ 9.67930457e-01 2.51010986e-01 1.02037090e-02 2.94508787e+02] [-2.50998852e-01 9.67984224e-01 -2.47366848e-03 -4.69182491e+01] [-1.04979473e-02 -1.66780199e-04 9.99944881e-01 -3.97866781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-46.92, Z:-3.98 [[ 9.67010546e-01 2.54514399e-01 1.06313329e-02 2.94537785e+02] [-2.54501447e-01 9.67068961e-01 -2.57655480e-03 -4.69177299e+01] [-1.09370024e-02 -2.14133941e-04 9.99940166e-01 -3.97913287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05576923100006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.57, Y:-46.92, Z:-3.98 [[ 9.66962680e-01 2.54688046e-01 1.08247222e-02 2.94565731e+02] [-2.54674639e-01 9.67023242e-01 -2.62259217e-03 -4.69217664e+01] [-1.11357008e-02 -2.20833472e-04 9.99937972e-01 -3.97919148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-46.93, Z:-3.98 [[ 9.67715729e-01 2.51841268e-01 1.01115875e-02 2.94592003e+02] [-2.51829421e-01 9.67768539e-01 -2.44911908e-03 -4.69275809e+01] [-1.04024655e-02 -1.76344168e-04 9.99945877e-01 -3.97952323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:294.62, Y:-46.93, Z:-3.98 [[ 9.68471190e-01 2.48933252e-01 9.78724429e-03 2.94618354e+02] [-2.48922013e-01 9.68520633e-01 -2.36971230e-03 -4.69343707e+01] [-1.00690482e-02 -1.41262461e-04 9.99949296e-01 -3.98001332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14576923100003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.65, Y:-46.94, Z:-3.98 [[ 9.69282036e-01 2.45752194e-01 9.90929345e-03 2.94645967e+02] [-2.45740515e-01 9.69332681e-01 -2.39834455e-03 -4.69407913e+01] [-1.01948004e-02 -1.10442588e-04 9.99948026e-01 -3.98046377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-46.95, Z:-3.98 [[ 9.70531196e-01 2.40729216e-01 1.08923313e-02 2.94672460e+02] [-2.40714799e-01 9.70592314e-01 -2.63536011e-03 -4.69472543e+01] [-1.12064213e-02 -6.42461460e-05 9.99937204e-01 -3.98192753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-46.96, Z:-3.98 [[ 9.71178061e-01 2.38108623e-01 1.08377323e-02 2.94699169e+02] [-2.38094198e-01 9.71238530e-01 -2.62117423e-03 -4.69564916e+01] [-1.11501474e-02 -3.47742771e-05 9.99937835e-01 -3.98249203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-46.96, Z:-3.98 [[ 9.71409599e-01 2.37202367e-01 9.92107445e-03 2.94725664e+02] [-2.37190239e-01 9.71460260e-01 -2.39881094e-03 -4.69647093e+01] [-1.02069332e-02 -2.29540397e-05 9.99947908e-01 -3.98273051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.75, Y:-46.97, Z:-3.98 [[ 9.71926133e-01 2.35146962e-01 8.09304575e-03 2.94752324e+02] [-2.35138824e-01 9.71959827e-01 -1.95630347e-03 -4.69736430e+01] [-8.32613416e-03 -1.60679634e-06 9.99965337e-01 -3.98365936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-46.98, Z:-3.98 [[ 9.72114227e-01 2.34390533e-01 7.41669754e-03 2.94779279e+02] [-2.34383680e-01 9.72142519e-01 -1.79244910e-03 -4.69807381e+01] [-7.63022013e-03 4.11241076e-06 9.99970889e-01 -3.98420746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.81, Y:-46.99, Z:-3.98 [[ 9.72161195e-01 2.34205438e-01 7.10099937e-03 2.94806505e+02] [-2.34199154e-01 9.72187129e-01 -1.71566416e-03 -4.69878827e+01] [-7.30531807e-03 4.85407684e-06 9.99973316e-01 -3.98472255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-46.99, Z:-3.99 [[ 9.71816752e-01 2.35647737e-01 6.50725538e-03 2.94832840e+02] [-2.35642494e-01 9.71838538e-01 -1.57185993e-03 -4.69948995e+01] [-6.69440680e-03 -5.82607447e-06 9.99977592e-01 -3.98514196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-47.00, Z:-3.99 [[ 9.71276306e-01 2.37858423e-01 6.76081029e-03 2.94860194e+02] [-2.37852822e-01 9.71299835e-01 -1.63242386e-03 -4.70010753e+01] [-6.95505968e-03 -2.25431880e-05 9.99975813e-01 -3.98527863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-47.01, Z:-3.99 [[ 9.71090933e-01 2.38621903e-01 6.47974191e-03 2.94887386e+02] [-2.38616779e-01 9.71112551e-01 -1.56400824e-03 -4.70064587e+01] [-6.66576532e-03 -2.73809282e-05 9.99977783e-01 -3.98622996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-47.01, Z:-3.99 [[ 9.71037270e-01 2.38853602e-01 5.96461219e-03 2.94915043e+02] [-2.38849266e-01 9.71055589e-01 -1.43940412e-03 -4.70118201e+01] [-6.13577686e-03 -2.69281925e-05 9.99981176e-01 -3.98692719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-47.02, Z:-3.99 [[ 9.71292589e-01 2.37796603e-01 6.59414284e-03 2.94941963e+02] [-2.37791283e-01 9.71314972e-01 -1.59080069e-03 -4.70163209e+01] [-6.78327667e-03 -2.28967650e-05 9.99976993e-01 -3.98690310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.97, Y:-47.02, Z:-3.99 [[ 9.71374322e-01 2.37454853e-01 6.86435588e-03 2.94970476e+02] [-2.37449084e-01 9.71398575e-01 -1.65530267e-03 -4.70193200e+01] [-7.06108517e-03 -2.20165110e-05 9.99975070e-01 -3.98632151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5357692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.00, Y:-47.02, Z:-3.99 [[ 9.71365838e-01 2.37493046e-01 6.74253499e-03 2.94997893e+02] [-2.37487485e-01 9.71389238e-01 -1.62541434e-03 -4.70229728e+01] [-6.93565053e-03 -2.23957130e-05 9.99975948e-01 -3.98653636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-47.03, Z:-3.99 [[ 9.71341046e-01 2.37598865e-01 6.58422935e-03 2.95024505e+02] [-2.37593567e-01 9.71363361e-01 -1.58682998e-03 -4.70268475e+01] [-6.77270815e-03 -2.30174431e-05 9.99977065e-01 -3.98672329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5957692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:295.05, Y:-47.03, Z:-3.99 [[ 9.71808429e-01 2.35681000e-01 6.54544933e-03 2.95052263e+02] [-2.35675725e-01 9.71830472e-01 -1.57681404e-03 -4.70300598e+01] [-6.73269222e-03 -1.02423384e-05 9.99977335e-01 -3.98721405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:295.08, Y:-47.03, Z:-3.99 [[ 9.72150242e-01 2.34246774e-01 7.23575934e-03 2.95079073e+02] [-2.34240291e-01 9.72177170e-01 -1.74268820e-03 -4.70347801e+01] [-7.44265912e-03 -7.51615742e-07 9.99972303e-01 -3.98753920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6557692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.11, Y:-47.04, Z:-3.99 [[ 9.72615478e-01 2.32216091e-01 9.73747247e-03 2.95107070e+02] [-2.32204267e-01 9.72664221e-01 -2.34340722e-03 -4.70392810e+01] [-1.00154679e-02 1.81514762e-05 9.99949844e-01 -3.98804205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.13, Y:-47.04, Z:-3.99 [[ 9.72684013e-01 2.31921655e-01 9.90746059e-03 2.95133410e+02] [-2.31909407e-01 9.72734468e-01 -2.38357405e-03 -4.70447241e+01] [-1.01901308e-02 2.08310645e-05 9.99948079e-01 -3.98843428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-47.05, Z:-3.99 [[ 9.72749625e-01 2.31736774e-01 7.49899884e-03 2.95161184e+02] [-2.31729755e-01 9.72778530e-01 -1.80368535e-03 -4.70502212e+01] [-7.71284529e-03 1.67930845e-05 9.99970255e-01 -3.98917790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.19, Y:-47.06, Z:-3.99 [[ 9.72924840e-01 2.31017498e-01 6.94057928e-03 2.95187819e+02] [-2.31011470e-01 9.72949595e-01 -1.66897310e-03 -4.70560769e+01] [-7.13839579e-03 2.04319563e-05 9.99974521e-01 -3.98963018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.775769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.22, Y:-47.06, Z:-3.99 [[ 9.72938443e-01 2.30960198e-01 6.94075044e-03 2.95215556e+02] [-2.30954173e-01 9.72963199e-01 -1.66826090e-03 -4.70626073e+01] [-7.13839662e-03 2.01198781e-05 9.99974521e-01 -3.98998456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:-47.07, Z:-3.99 [[ 9.73560815e-01 2.28267501e-01 8.56086922e-03 2.95242758e+02] [-2.28258238e-01 9.73598452e-01 -2.05700294e-03 -4.70679410e+01] [-8.80439594e-03 4.85285324e-05 9.99961239e-01 -3.99042996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.27, Y:-47.07, Z:-3.99 [[ 9.73799747e-01 2.27220892e-01 9.20434258e-03 2.95270205e+02] [-2.27210144e-01 9.73843243e-01 -2.21086120e-03 -4.70741041e+01] [-9.46594069e-03 6.16160717e-05 9.99955195e-01 -3.99025957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:-47.08, Z:-3.99 [[ 9.73926780e-01 2.26679650e-01 9.10842137e-03 2.95297104e+02] [-2.26669107e-01 9.73969369e-01 -2.18716287e-03 -4.70805221e+01] [-9.36710873e-03 6.55387501e-05 9.99956126e-01 -3.99069056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-47.09, Z:-3.99 [[ 9.74317031e-01 2.25085434e-01 6.54758375e-03 2.95323240e+02] [-2.25079952e-01 9.74339029e-01 -1.57206773e-03 -4.70868379e+01] [-6.73341594e-03 5.79625230e-05 9.99977329e-01 -3.99267495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-47.09, Z:-3.99 [[ 9.74625553e-01 2.23794519e-01 4.58740166e-03 2.95350950e+02] [-2.23791814e-01 9.74636348e-01 -1.10121744e-03 -4.70929963e+01] [-4.71749483e-03 4.66517161e-05 9.99988871e-01 -3.99353987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:-47.10, Z:-3.99 [[ 9.75341566e-01 2.20665926e-01 3.92155855e-03 2.95378185e+02] [-2.20663925e-01 9.75349448e-01 -9.41231657e-04 -4.70990822e+01] [-4.03258772e-03 5.26758574e-05 9.99991868e-01 -3.99462881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-47.11, Z:-3.99 [[ 9.75798873e-01 2.18621131e-01 4.62166186e-03 2.95405655e+02] [-2.18618331e-01 9.75809815e-01 -1.10875896e-03 -4.71066381e+01] [-4.75226115e-03 7.15457441e-05 9.99988705e-01 -3.99456064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.43, Y:-47.12, Z:-4.00 [[ 9.76773493e-01 2.14221322e-01 4.77157095e-03 2.95432118e+02] [-2.14218287e-01 9.76785143e-01 -1.14434402e-03 -4.71154366e+01] [-4.90594250e-03 9.56071556e-05 9.99987961e-01 -3.99504924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-47.12, Z:-4.00 [[ 9.77145942e-01 2.12517533e-01 4.70179991e-03 2.95458102e+02] [-2.12514567e-01 9.77157248e-01 -1.12750829e-03 -4.71235135e+01] [-4.83401314e-03 1.02539177e-04 9.99988311e-01 -3.99562187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.49, Y:-47.13, Z:-4.00 [[ 9.77481370e-01 2.10960959e-01 5.06399852e-03 2.95485035e+02] [-2.10957502e-01 9.77494481e-01 -1.21347002e-03 -4.71330805e+01] [-5.20602540e-03 1.17855856e-04 9.99986442e-01 -3.99624288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.51, Y:-47.15, Z:-4.00 [[ 9.77958027e-01 2.08712306e-01 6.10495740e-03 2.95511345e+02] [-2.08707243e-01 9.77977070e-01 -1.46212398e-03 -4.71478896e+01] [-6.27567162e-03 1.55747059e-04 9.99980296e-01 -3.99501300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.54, Y:-47.16, Z:-3.99 [[ 9.78163433e-01 2.07706841e-01 7.35984206e-03 2.95536574e+02] [-2.07699456e-01 9.78191101e-01 -1.76223242e-03 -4.71611062e+01] [-7.56535973e-03 1.95116123e-04 9.99971363e-01 -3.99381903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.56, Y:-47.17, Z:-3.99 [[ 9.77944088e-01 2.08690170e-01 8.58910263e-03 2.95563812e+02] [-2.08680158e-01 9.77981782e-01 -2.05587236e-03 -4.71707147e+01] [-8.82902625e-03 2.18152929e-04 9.99961000e-01 -3.99367219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-47.18, Z:-3.99 [[ 9.77425758e-01 2.11037401e-01 1.01045540e-02 2.95590212e+02] [-2.11023675e-01 9.77477960e-01 -2.41800561e-03 -4.71796072e+01] [-1.03872685e-02 2.31120843e-04 9.99946024e-01 -3.99341172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:-47.19, Z:-3.99 [[ 9.75783203e-01 2.18479952e-01 1.06607605e-02 2.95617549e+02] [-2.18465125e-01 9.75841424e-01 -2.55028593e-03 -4.71889285e+01] [-1.09603981e-02 1.59521797e-04 9.99939920e-01 -3.99340753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:-47.20, Z:-3.99 [[ 9.74875168e-01 2.22525778e-01 1.00341991e-02 2.95645764e+02] [-2.22512861e-01 9.74926801e-01 -2.39995354e-03 -4.71960777e+01] [-1.03166611e-02 1.06916761e-04 9.99946776e-01 -3.99391766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.67, Y:-47.20, Z:-3.99 [[ 9.73347147e-01 2.29122810e-01 9.90295343e-03 2.95672556e+02] [-2.29110575e-01 9.73397522e-01 -2.36807172e-03 -4.72020634e+01] [-1.01820896e-02 3.60844987e-05 9.99948161e-01 -3.99440135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-47.21, Z:-3.99 [[ 9.72862185e-01 2.31166924e-01 1.00509658e-02 2.95699709e+02] [-2.31154436e-01 9.72914104e-01 -2.40280407e-03 -4.72081371e+01] [-1.03341752e-02 1.42718919e-05 9.99946601e-01 -3.99483530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:-47.21, Z:-4.00 [[ 9.72608986e-01 2.32272160e-01 9.02240699e-03 2.95726676e+02] [-2.32262151e-01 9.72650833e-01 -2.15628822e-03 -4.72138578e+01] [-9.27649740e-03 1.66164301e-06 9.99956972e-01 -3.99606139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:-47.22, Z:-4.00 [[ 9.72939509e-01 2.30891891e-01 8.81175782e-03 2.95753830e+02] [-2.30882292e-01 9.72979411e-01 -2.10545538e-03 -4.72200161e+01] [-9.05979151e-03 1.40018821e-05 9.99958959e-01 -3.99640671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-47.23, Z:-4.00 [[ 9.73997514e-01 2.26316963e-01 1.04630161e-02 2.95781662e+02] [-2.26303175e-01 9.74053709e-01 -2.49899711e-03 -4.72265550e+01] [-1.07571051e-02 6.62032115e-05 9.99942138e-01 -3.99609137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:-47.23, Z:-4.00 [[ 9.74483414e-01 2.24214075e-01 1.04940546e-02 2.95808925e+02] [-2.24200089e-01 9.74539912e-01 -2.50589983e-03 -4.72330462e+01] [-1.07887331e-02 8.91898433e-05 9.99941796e-01 -3.99619034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-47.24, Z:-4.00 [[ 9.74639391e-01 2.23588735e-01 9.28088944e-03 2.95836485e+02] [-2.23577772e-01 9.74683575e-01 -2.21567766e-03 -4.72400332e+01] [-9.54133105e-03 8.44861386e-05 9.99954477e-01 -3.99686005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49576923100005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.86, Y:-47.25, Z:-4.00 [[ 9.74328243e-01 2.24985968e-01 8.11110142e-03 2.95864929e+02] [-2.24977646e-01 9.74362002e-01 -1.93607405e-03 -4.72464757e+01] [-8.33873851e-03 6.15551202e-05 9.99965230e-01 -3.99678024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-47.25, Z:-4.00 [[ 9.73883482e-01 2.26940401e-01 7.00132981e-03 2.95892341e+02] [-2.26934252e-01 9.73908647e-01 -1.67097138e-03 -4.72521243e+01] [-7.19786656e-03 3.84898787e-05 9.99974094e-01 -3.99737786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-47.26, Z:-4.00 [[ 9.73015008e-01 2.30688473e-01 4.96203616e-03 2.95920737e+02] [-2.30685433e-01 9.73027661e-01 -1.18428001e-03 -4.72557992e+01] [-5.10139819e-03 7.65276485e-06 9.99986988e-01 -3.99894612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-47.26, Z:-4.00 [[ 9.72588789e-01 2.32487953e-01 4.51659912e-03 2.95948209e+02] [-2.32485455e-01 9.72599276e-01 -1.07760182e-03 -4.72610652e+01] [-4.64337047e-03 -1.98015217e-06 9.99989219e-01 -4.00000602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:295.98, Y:-47.27, Z:-4.00 [[ 9.72283411e-01 2.33746126e-01 5.26479368e-03 2.95976220e+02] [-2.33742753e-01 9.72297665e-01 -1.25571642e-03 -4.72661462e+01] [-5.41246545e-03 -9.69513024e-06 9.99985352e-01 -4.00065607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:-47.27, Z:-4.00 [[ 9.72473205e-01 2.32942615e-01 5.79692533e-03 2.96002942e+02] [-2.32938514e-01 9.72490482e-01 -1.38218530e-03 -4.72717388e+01] [-5.95942456e-03 -6.18900759e-06 9.99982242e-01 -4.00083089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.03, Y:-47.28, Z:-4.00 [[ 9.73457743e-01 2.28780272e-01 6.29365313e-03 2.96029281e+02] [-2.28775355e-01 9.73478088e-01 -1.49996260e-03 -4.72771621e+01] [-6.46989526e-03 2.03174792e-05 9.99979070e-01 -4.00086480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:-47.28, Z:-4.00 [[ 9.74036136e-01 2.26311392e-01 6.06291407e-03 2.96056003e+02] [-2.26306785e-01 9.74055005e-01 -1.44442819e-03 -4.72839851e+01] [-6.23250235e-03 3.48466638e-05 9.99980577e-01 -4.00144677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.08, Y:-47.29, Z:-4.00 [[ 9.74897823e-01 2.22583716e-01 5.54302728e-03 2.96081663e+02] [-2.22579806e-01 9.74913579e-01 -1.32032281e-03 -4.72915800e+01] [-5.69785493e-03 5.34138943e-05 9.99983766e-01 -4.00243212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-47.30, Z:-4.00 [[ 9.75276046e-01 2.20914906e-01 5.76534498e-03 2.96108394e+02] [-2.20910651e-01 9.75293084e-01 -1.37270483e-03 -4.72981881e+01] [-5.92615205e-03 6.51400310e-05 9.99982438e-01 -4.00262171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-47.31, Z:-4.00 [[ 9.75577439e-01 2.19546276e-01 6.93494347e-03 2.96135063e+02] [-2.19540090e-01 9.75602083e-01 -1.65047288e-03 -4.73051787e+01] [-7.12810047e-03 8.76659998e-05 9.99974591e-01 -4.00230200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-47.31, Z:-4.00 [[ 9.75894511e-01 2.18046705e-01 9.24863114e-03 2.96161887e+02] [-2.18035644e-01 9.75938327e-01 -2.20007932e-03 -4.73136516e+01] [-9.50581364e-03 1.30514084e-04 9.99954810e-01 -4.00113346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.19, Y:-47.32, Z:-4.00 [[ 9.75774098e-01 2.18548037e-01 1.00828879e-02 2.96188650e+02] [-2.18534925e-01 9.75826182e-01 -2.39783936e-03 -4.73218500e+01] [-1.03631891e-02 1.36286386e-04 9.99946291e-01 -4.00101400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-47.33, Z:-4.00 [[ 9.75389578e-01 2.20239353e-01 1.04784307e-02 2.96215573e+02] [-2.20225297e-01 9.75445853e-01 -2.49120867e-03 -4.73315172e+01] [-1.07698040e-02 1.22283455e-04 9.99941997e-01 -4.00096171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.24, Y:-47.34, Z:-4.00 [[ 9.75286321e-01 2.20746535e-01 9.35731253e-03 2.96243098e+02] [-2.20735353e-01 9.75331204e-01 -2.22427075e-03 -4.73395321e+01] [-9.61747895e-03 1.03811153e-04 9.99953746e-01 -4.00184825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.27, Y:-47.35, Z:-4.00 [[ 9.74987136e-01 2.22155351e-01 6.86186803e-03 2.96271017e+02] [-2.22149374e-01 9.75011280e-01 -1.63091199e-03 -4.73485491e+01] [-7.05271455e-03 6.57585252e-05 9.99975127e-01 -4.00233670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.9757692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:296.30, Y:-47.36, Z:-4.00 [[ 9.74848851e-01 2.22773378e-01 6.46065418e-03 2.96297870e+02] [-2.22768094e-01 9.74870258e-01 -1.53532786e-03 -4.73557473e+01] [-6.64032978e-03 5.74849829e-05 9.99977951e-01 -4.00224379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00576923100004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:296.33, Y:-47.36, Z:-4.00 [[ 9.74779148e-01 2.23075497e-01 6.55252444e-03 2.96325445e+02] [-2.23070073e-01 9.74801169e-01 -1.55666684e-03 -4.73624885e+01] [-6.73466271e-03 5.57342747e-05 9.99977320e-01 -4.00164208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-47.37, Z:-4.00 [[ 9.74054378e-01 2.26141209e-01 8.84430581e-03 2.96353332e+02] [-2.26131459e-01 9.74094529e-01 -2.10045076e-03 -4.73694269e+01] [-9.09018838e-03 4.59774892e-05 9.99958682e-01 -4.00095681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.38, Y:-47.37, Z:-4.00 [[ 9.73058350e-01 2.30313891e-01 1.06281864e-02 2.96380737e+02] [-2.30300067e-01 9.73116392e-01 -2.52345854e-03 -4.73748400e+01] [-1.09236500e-02 7.80035641e-06 9.99940335e-01 -4.00187252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-47.38, Z:-4.00 [[ 9.72720207e-01 2.31782913e-01 9.59589431e-03 2.96409485e+02] [-2.31771720e-01 9.72767537e-01 -2.27779507e-03 -4.73804397e+01] [-9.86252845e-03 -8.39964197e-06 9.99951364e-01 -4.00300020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-47.39, Z:-4.00 [[ 9.72408027e-01 2.33152214e-01 7.91675644e-03 2.96437349e+02] [-2.33144643e-01 9.72440253e-01 -1.87902753e-03 -4.73862864e+01] [-8.13667206e-03 -1.85679051e-05 9.99966897e-01 -4.00404989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-47.39, Z:-4.00 [[ 9.72007776e-01 2.34892144e-01 5.15409344e-03 2.96464255e+02] [-2.34888960e-01 9.72021440e-01 -1.22324423e-03 -4.73924232e+01] [-5.29721979e-03 -2.16367412e-05 9.99985969e-01 -4.00352248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:-47.40, Z:-4.00 [[ 9.71815120e-01 2.35689072e-01 5.10226565e-03 2.96491516e+02] [-2.35685964e-01 9.71828514e-01 -1.21056812e-03 -4.73979391e+01] [-5.24384492e-03 -2.60839958e-05 9.99986251e-01 -4.00362950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:-47.40, Z:-4.00 [[ 9.71164843e-01 2.38268944e-01 8.17058362e-03 2.96518509e+02] [-2.38261076e-01 9.71199210e-01 -1.93745087e-03 -4.73998529e+01] [-8.39689874e-03 -6.51478793e-05 9.99964743e-01 -4.00241999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:-47.40, Z:-4.00 [[ 9.70810963e-01 2.39654440e-01 9.58246183e-03 2.96546712e+02] [-2.39643695e-01 9.70858250e-01 -2.27119414e-03 -4.74040574e+01] [-9.84751389e-03 -9.14763885e-05 9.99951508e-01 -4.00268790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:-47.41, Z:-4.00 [[ 9.70406429e-01 2.41273104e-01 9.93237679e-03 2.96573645e+02] [-2.41261651e-01 9.70457251e-01 -2.35346017e-03 -4.74068483e+01] [-1.02067737e-02 -1.12488749e-04 9.99947903e-01 -4.00331410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-47.41, Z:-4.00 [[ 9.70314687e-01 2.41677043e-01 9.03405877e-03 2.96601553e+02] [-2.41667596e-01 9.70356736e-01 -2.13954622e-03 -4.74119406e+01] [-9.28333899e-03 -1.07206141e-04 9.99956903e-01 -4.00398242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:-47.42, Z:-4.00 [[ 9.70251141e-01 2.41963597e-01 8.14505480e-03 2.96627824e+02] [-2.41955932e-01 9.70285323e-01 -1.92854537e-03 -4.74162068e+01] [-8.36966490e-03 -9.95709754e-05 9.99964969e-01 -4.00397008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.66, Y:-47.42, Z:-4.00 [[ 9.70490119e-01 2.40977372e-01 8.87896968e-03 2.96656260e+02] [-2.40968229e-01 9.70530729e-01 -2.10143920e-03 -4.74178507e+01] [-9.12371221e-03 -1.00123623e-04 9.99958373e-01 -4.00337146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.68, Y:-47.42, Z:-4.00 [[ 9.70977257e-01 2.38866703e-01 1.20774539e-02 2.96684012e+02] [-2.38849639e-01 9.71052360e-01 -2.85726313e-03 -4.74214351e+01] [-1.24103452e-02 -1.10357994e-04 9.99922983e-01 -4.00353182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.71, Y:-47.43, Z:-4.00 [[ 9.71258665e-01 2.37695021e-01 1.25571952e-02 2.96710820e+02] [-2.37676488e-01 9.71339831e-01 -2.96982642e-03 -4.74276361e+01] [-1.29032168e-02 -1.00080413e-04 9.99916745e-01 -4.00409180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.74, Y:-47.43, Z:-4.00 [[ 9.71495574e-01 2.36754931e-01 1.19771518e-02 2.96737494e+02] [-2.36738010e-01 9.71569398e-01 -2.83179799e-03 -4.74339515e+01] [-1.23070763e-02 -8.43678780e-05 9.99924262e-01 -4.00403201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.77, Y:-47.44, Z:-4.00 [[ 9.71629266e-01 2.36297132e-01 1.00116988e-02 2.96765576e+02] [-2.36285292e-01 9.71680843e-01 -2.36638124e-03 -4.74387777e+01] [-1.02873450e-02 -6.63719107e-05 9.99947082e-01 -4.00431591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.79, Y:-47.44, Z:-4.00 [[ 9.71561769e-01 2.36589464e-01 9.65162334e-03 2.96792125e+02] [-2.36578481e-01 9.71609706e-01 -2.28061662e-03 -4.74434361e+01] [-9.91718078e-03 -6.76064729e-05 9.99950821e-01 -4.00459012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:-47.45, Z:-4.00 [[ 9.70927204e-01 2.39137704e-01 1.06547214e-02 2.96819614e+02] [-2.39124485e-01 9.70985658e-01 -2.51659164e-03 -4.74473370e+01] [-1.09473936e-02 -1.04377479e-04 9.99940070e-01 -4.00430889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.85, Y:-47.45, Z:-4.00 [[ 9.70528317e-01 2.40755284e-01 1.05678786e-02 2.96846980e+02] [-2.40742383e-01 9.70585843e-01 -2.49530778e-03 -4.74516194e+01] [-1.08577919e-02 -1.22369428e-04 9.99941045e-01 -4.00452150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:-47.45, Z:-4.01 [[ 9.69841886e-01 2.43604769e-01 7.96450564e-03 2.96874912e+02] [-2.43597540e-01 9.69874581e-01 -1.88027222e-03 -4.74519099e+01] [-8.18261485e-03 -1.16567224e-04 9.99966515e-01 -4.00664056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.90, Y:-47.46, Z:-4.01 [[ 9.69604444e-01 2.44590554e-01 6.53319619e-03 2.96902198e+02] [-2.44585715e-01 9.69626449e-01 -1.54198092e-03 -4.74554405e+01] [-6.71191379e-03 -1.02814912e-04 9.99977470e-01 -4.00771193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.93, Y:-47.46, Z:-4.01 [[ 9.69644043e-01 2.44433523e-01 6.53321165e-03 2.96929975e+02] [-2.44428681e-01 9.69666047e-01 -1.54191570e-03 -4.74617740e+01] [-6.71192940e-03 -1.01794930e-04 9.99977470e-01 -4.00806624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:-47.47, Z:-4.01 [[ 9.69481030e-01 2.45101555e-01 5.63555078e-03 2.96957419e+02] [-2.45097971e-01 9.69497405e-01 -1.32875686e-03 -4.74653446e+01] [-5.78933223e-03 -9.30574864e-05 9.99983237e-01 -4.00856067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:-47.46, Z:-4.01 [[ 9.69323974e-01 2.45722187e-01 5.62493227e-03 2.96986676e+02] [-2.45718629e-01 9.69340290e-01 -1.32583156e-03 -4.74648575e+01] [-5.77825971e-03 -9.69903299e-05 9.99983301e-01 -4.00871355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:-47.46, Z:-4.01 [[ 9.69721520e-01 2.44129380e-01 6.40464750e-03 2.97015660e+02] [-2.44124737e-01 9.69742665e-01 -1.50901817e-03 -4.74631674e+01] [-6.57925560e-03 -1.00205495e-04 9.99978351e-01 -4.01033501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:-47.47, Z:-4.01 [[ 9.70327466e-01 2.41691092e-01 7.07283466e-03 2.97042497e+02] [-2.41685369e-01 9.70353238e-01 -1.66588021e-03 -4.74674316e+01] [-7.26577643e-03 -9.29513286e-05 9.99973600e-01 -4.01085467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-47.47, Z:-4.01 [[ 9.71289068e-01 2.37786864e-01 7.41306417e-03 2.97069574e+02] [-2.37780469e-01 9.71317354e-01 -1.74524930e-03 -4.74733357e+01] [-7.61543524e-03 -6.75403078e-05 9.99971000e-01 -4.01105523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8457692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:297.10, Y:-47.48, Z:-4.01 [[ 9.73773779e-01 2.27371651e-01 8.17061439e-03 2.97096227e+02] [-2.27363520e-01 9.73808057e-01 -1.92294753e-03 -4.74799538e+01] [-8.39383388e-03 1.48162372e-05 9.99964771e-01 -4.01095923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.12, Y:-47.49, Z:-4.01 [[ 9.76051376e-01 2.17350570e-01 9.07973375e-03 2.97122857e+02] [-2.17340103e-01 9.76093601e-01 -2.13597318e-03 -4.74886686e+01] [-9.32692500e-03 1.11429286e-04 9.99956497e-01 -4.01088496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-47.50, Z:-4.01 [[ 9.76833023e-01 2.13790207e-01 9.53903944e-03 2.97148373e+02] [-2.13778491e-01 9.76879585e-01 -2.24329032e-03 -4.74976224e+01] [-9.79808639e-03 1.52078604e-04 9.99951986e-01 -4.01114532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:-47.51, Z:-4.01 [[ 9.77480520e-01 2.10800329e-01 9.74955161e-03 2.97174882e+02] [-2.10787950e-01 9.77529123e-01 -2.29189945e-03 -4.75074921e+01] [-1.00136038e-02 1.85199062e-04 9.99949845e-01 -4.01137992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.965769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.20, Y:-47.52, Z:-4.01 [[ 9.78120152e-01 2.07835786e-01 9.23328832e-03 2.97199342e+02] [-2.07824558e-01 9.78163710e-01 -2.16998866e-03 -4.75209542e+01] [-9.48266886e-03 2.03605583e-04 9.99955018e-01 -4.01191265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.23, Y:-47.53, Z:-4.01 [[ 9.78141889e-01 2.07727450e-01 9.36757716e-03 2.97225685e+02] [-2.07715898e-01 9.78186722e-01 -2.20043452e-03 -4.75314284e+01] [-9.62033025e-03 2.06542482e-04 9.99953702e-01 -4.01162182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-47.54, Z:-4.01 [[ 9.78111203e-01 2.07849795e-01 9.84566576e-03 2.97250419e+02] [-2.07837048e-01 9.78160731e-01 -2.31199050e-03 -4.75420196e+01] [-1.01111904e-02 2.15089702e-04 9.99948857e-01 -4.01174308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.28, Y:-47.56, Z:-4.01 [[ 9.78194884e-01 2.07441873e-01 1.01310242e-02 2.97276523e+02] [-2.07428364e-01 9.78247320e-01 -2.37802382e-03 -4.75588468e+01] [-1.04039490e-02 2.24708950e-04 9.99945852e-01 -4.01199246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:-47.57, Z:-4.01 [[ 9.77959795e-01 2.08538648e-01 1.03087998e-02 2.97302555e+02] [-2.08524727e-01 9.78014103e-01 -2.41923851e-03 -4.75737667e+01] [-1.05866563e-02 2.16278330e-04 9.99943936e-01 -4.01160108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:-47.58, Z:-4.01 [[ 9.77619369e-01 2.10157459e-01 9.70624990e-03 2.97328709e+02] [-2.10145202e-01 9.77667534e-01 -2.27742829e-03 -4.75840378e+01] [-9.96810395e-03 1.86736169e-04 9.99950300e-01 -4.01240986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.36, Y:-47.60, Z:-4.01 [[ 9.77160208e-01 2.12329446e-01 8.61014405e-03 2.97356159e+02] [-2.12319889e-01 9.77198130e-01 -2.01970651e-03 -4.75951158e+01] [-8.84265983e-03 1.45472004e-04 9.99960892e-01 -4.01250801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-47.61, Z:-4.01 [[ 9.76399684e-01 2.15843107e-01 7.44388264e-03 2.97381567e+02] [-2.15836068e-01 9.76428054e-01 -1.74589930e-03 -4.76100562e+01] [-7.64525617e-03 9.80371666e-05 9.99970770e-01 -4.01305492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.41, Y:-47.62, Z:-4.01 [[ 9.76079965e-01 2.17273520e-01 7.75366378e-03 2.97408994e+02] [-2.17265932e-01 9.76110757e-01 -1.81797993e-03 -4.76198457e+01] [-7.96343352e-03 8.98867980e-05 9.99968287e-01 -4.01309792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:-47.63, Z:-4.01 [[ 9.74980159e-01 2.22093072e-01 9.39986443e-03 2.97436294e+02] [-2.22082150e-01 9.75025468e-01 -2.20338733e-03 -4.76309901e+01] [-9.65446428e-03 6.07168250e-05 9.99953393e-01 -4.01184223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:-47.64, Z:-4.01 [[ 9.74265865e-01 2.25182000e-01 9.95444205e-03 2.97464180e+02] [-2.25169918e-01 9.74316717e-01 -2.33285819e-03 -4.76391161e+01] [-1.02240970e-02 3.13832039e-05 9.99947732e-01 -4.01261663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-47.65, Z:-4.01 [[ 9.73550352e-01 2.28247948e-01 1.01285066e-02 2.97490864e+02] [-2.28235610e-01 9.73603037e-01 -2.37315790e-03 -4.76464209e+01] [-1.04028132e-02 -1.29718517e-06 9.99945889e-01 -4.01302493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.52, Y:-47.65, Z:-4.01 [[ 9.72270831e-01 2.33656068e-01 9.70943677e-03 2.97519685e+02] [-2.33645006e-01 9.72319309e-01 -2.27436653e-03 -4.76520026e+01] [-9.97209239e-03 -5.72611743e-05 9.99950276e-01 -4.01318060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:-47.66, Z:-4.01 [[ 9.71202178e-01 2.38120890e-01 8.04805349e-03 2.97548468e+02] [-2.38113445e-01 9.71235520e-01 -1.88490112e-03 -4.76569715e+01] [-8.26538974e-03 -8.57296673e-05 9.99965837e-01 -4.01345925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.58, Y:-47.66, Z:-4.01 [[ 9.70846372e-01 2.39606232e-01 6.79526294e-03 2.97576615e+02] [-2.39600963e-01 9.70870149e-01 -1.59124397e-03 -4.76627882e+01] [-6.97858991e-03 -8.32981142e-05 9.99975646e-01 -4.01448518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:-47.67, Z:-4.01 [[ 9.70691193e-01 2.40253288e-01 6.07992991e-03 2.97604954e+02] [-2.40249084e-01 9.70710230e-01 -1.42349204e-03 -4.76682782e+01] [-6.24384881e-03 -7.89264034e-05 9.99980504e-01 -4.01485645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:-47.67, Z:-4.02 [[ 9.70989004e-01 2.38986969e-01 8.09832288e-03 2.97632895e+02] [-2.38979471e-01 9.71022770e-01 -1.89550051e-03 -4.76719953e+01] [-8.31665583e-03 -9.48227625e-05 9.99965412e-01 -4.01607941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:-47.68, Z:-4.02 [[ 9.71356482e-01 2.37434744e-01 9.55656130e-03 2.97660550e+02] [-2.37424234e-01 9.71403486e-01 -2.23608261e-03 -4.76772349e+01] [-9.81420067e-03 -9.69259058e-05 9.99951835e-01 -4.01565544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:-47.68, Z:-4.02 [[ 9.72036957e-01 2.34626140e-01 9.73287904e-03 2.97688634e+02] [-2.34615104e-01 9.72085680e-01 -2.27673896e-03 -4.76811953e+01] [-9.99537482e-03 -7.04060127e-05 9.99950043e-01 -4.01589631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:-47.69, Z:-4.02 [[ 9.72389761e-01 2.33205625e-01 8.56093432e-03 2.97717114e+02] [-2.33197036e-01 9.72427444e-01 -2.00206949e-03 -4.76859511e+01] [-8.79178135e-03 -4.95926335e-05 9.99961350e-01 -4.01655484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.75, Y:-47.69, Z:-4.02 [[ 9.72704279e-01 2.31928398e-01 7.45684166e-03 2.97745017e+02] [-2.31921846e-01 9.72732860e-01 -1.74363088e-03 -4.76902661e+01] [-7.65791243e-03 -3.33672644e-05 9.99970677e-01 -4.01657151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.77, Y:-47.69, Z:-4.02 [[ 9.73346058e-01 2.29197626e-01 8.11786166e-03 2.97772995e+02] [-2.29189770e-01 9.73379909e-01 -1.89762844e-03 -4.76938374e+01] [-8.33669538e-03 -1.34816873e-05 9.99965249e-01 -4.01626714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.80, Y:-47.70, Z:-4.02 [[ 9.73671348e-01 2.27772033e-01 9.16554225e-03 2.97800087e+02] [-2.27761961e-01 9.73714486e-01 -2.14192839e-03 -4.76987779e+01] [-9.41249264e-03 -2.02757896e-06 9.99955702e-01 -4.01625687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6557692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.83, Y:-47.70, Z:-4.02 [[ 9.73784691e-01 2.27214888e-01 1.08060258e-02 2.97827953e+02] [-2.27200865e-01 9.73844646e-01 -2.52431982e-03 -4.77020300e+01] [-1.10969535e-02 3.00557314e-06 9.99938427e-01 -4.01601334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.86, Y:-47.71, Z:-4.02 [[ 9.73698639e-01 2.27576345e-01 1.09529797e-02 2.97855390e+02] [-2.27561969e-01 9.73760241e-01 -2.55796158e-03 -4.77059548e+01] [-1.12477077e-02 -1.79792257e-06 9.99936743e-01 -4.01609162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.715769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.88, Y:-47.71, Z:-4.02 [[ 9.73426199e-01 2.28751608e-01 1.06835253e-02 2.97882973e+02] [-2.28738008e-01 9.73484823e-01 -2.49443853e-03 -4.77100206e+01] [-1.09708565e-02 -1.55764719e-05 9.99939818e-01 -4.01618514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.91, Y:-47.71, Z:-4.02 [[ 9.72763111e-01 2.31563616e-01 1.04986626e-02 2.97911420e+02] [-2.31550654e-01 9.72819762e-01 -2.45051864e-03 -4.77115858e+01] [-1.07807574e-02 -4.71980600e-05 9.99941885e-01 -4.01608474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.94, Y:-47.71, Z:-4.02 [[ 9.72318405e-01 2.33387697e-01 1.12739664e-02 2.97939306e+02] [-2.33372883e-01 9.72383760e-01 -2.63053122e-03 -4.77147716e+01] [-1.15765554e-02 -7.33241215e-05 9.99932987e-01 -4.01690363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.97, Y:-47.71, Z:-4.02 [[ 9.71471033e-01 2.36847739e-01 1.21317709e-02 2.97967603e+02] [-2.36830865e-01 9.71546774e-01 -2.82984492e-03 -4.77146197e+01] [-1.24568252e-02 -1.24065436e-04 9.99922403e-01 -4.01698723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.00, Y:-47.72, Z:-4.02 [[ 9.71257078e-01 2.37718450e-01 1.22321764e-02 2.97995573e+02] [-2.37701377e-01 9.71334093e-01 -2.85237156e-03 -4.77184104e+01] [-1.25595913e-02 -1.37219092e-04 9.99921116e-01 -4.01800122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:298.02, Y:-47.72, Z:-4.02 [[ 9.71491182e-01 2.36856508e-01 1.01920194e-02 2.98024335e+02] [-2.36844614e-01 9.71544638e-01 -2.37603519e-03 -4.77190336e+01] [-1.04647812e-02 -1.05627647e-04 9.99945237e-01 -4.01952482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:298.05, Y:-47.72, Z:-4.02 [[ 9.71712948e-01 2.35996293e-01 8.92732572e-03 2.98052307e+02] [-2.35987136e-01 9.71753952e-01 -2.08065759e-03 -4.77219689e+01] [-9.16619152e-03 -8.49321079e-05 9.99957986e-01 -4.02074785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:298.08, Y:-47.72, Z:-4.02 [[ 9.72099445e-01 2.34390048e-01 9.16375144e-03 2.98080304e+02] [-2.34380334e-01 9.72142634e-01 -2.13509300e-03 -4.77221156e+01] [-9.40891802e-03 -7.22804028e-05 9.99955733e-01 -4.02148567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:298.11, Y:-47.73, Z:-4.02 [[ 9.72328651e-01 2.33394947e-01 1.01878758e-02 2.98107148e+02] [-2.33382896e-01 9.72382020e-01 -2.37278502e-03 -4.77252259e+01] [-1.04603033e-02 -7.05491100e-05 9.99945287e-01 -4.02125221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:-47.73, Z:-4.02 [[ 9.72629644e-01 2.32109507e-01 1.08052186e-02 2.98134918e+02] [-2.32095889e-01 9.72689659e-01 -2.51505315e-03 -4.77288547e+01] [-1.10938921e-02 -6.16315661e-05 9.99938459e-01 -4.02105583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:298.16, Y:-47.73, Z:-4.02 [[ 9.73333849e-01 2.29180099e-01 9.88434310e-03 2.98163135e+02] [-2.29168558e-01 9.73384036e-01 -2.30011948e-03 -4.77319984e+01] [-1.01484034e-02 -2.63965068e-05 9.99948503e-01 -4.02112699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:298.19, Y:-47.74, Z:-4.02 [[ 9.73693068e-01 2.27668594e-01 9.42448478e-03 2.98191078e+02] [-2.27658038e-01 9.73738677e-01 -2.19244757e-03 -4.77366472e+01] [-9.67613680e-03 -1.07887078e-05 9.99953185e-01 -4.02159851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:298.22, Y:-47.74, Z:-4.02 [[ 9.74155955e-01 2.25690883e-01 9.15423487e-03 2.98218268e+02] [-2.25680842e-01 9.74198966e-01 -2.12895276e-03 -4.77378754e+01] [-9.39853137e-03 7.99657732e-06 9.99955833e-01 -4.02168887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:298.25, Y:-47.74, Z:-4.02 [[ 9.74258288e-01 2.25231496e-01 9.56877885e-03 2.98245732e+02] [-2.25220512e-01 9.74305277e-01 -2.22445254e-03 -4.77418224e+01] [-9.82392850e-03 1.21060542e-05 9.99951744e-01 -4.02212197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:298.27, Y:-47.75, Z:-4.02 [[ 9.74368981e-01 2.24705875e-01 1.05999037e-02 2.98272987e+02] [-2.24692374e-01 9.74426636e-01 -2.46329041e-03 -4.77452646e+01] [-1.08823443e-02 1.84362504e-05 9.99940785e-01 -4.02206909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:298.30, Y:-47.75, Z:-4.02 [[ 9.74532592e-01 2.23986517e-01 1.07827381e-02 2.98299918e+02] [-2.23972512e-01 9.74592243e-01 -2.50483116e-03 -4.77503649e+01] [-1.10698214e-02 2.60026554e-05 9.99938727e-01 -4.02243706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19576923100004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:298.33, Y:-47.76, Z:-4.02 [[ 9.74822266e-01 2.22743718e-01 1.03337279e-02 2.98327148e+02] [-2.22730794e-01 9.74877036e-01 -2.39966446e-03 -4.77558399e+01] [-1.06086243e-02 3.76069089e-05 9.99943726e-01 -4.02314895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2257692310001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:298.35, Y:-47.76, Z:-4.02 [[ 9.75602478e-01 2.19356332e-01 9.08871579e-03 2.98354131e+02] [-2.19346194e-01 9.75644810e-01 -2.10998970e-03 -4.77632501e+01] [-9.33019799e-03 6.49359655e-05 9.99956471e-01 -4.02378185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:298.38, Y:-47.77, Z:-4.02 [[ 9.76040385e-01 2.17374101e-01 9.67818994e-03 2.98380921e+02] [-2.17362515e-01 9.76088363e-01 -2.24606382e-03 -4.77720437e+01] [-9.93500468e-03 8.85732883e-05 9.99950643e-01 -4.02392693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:-47.78, Z:-4.02 [[ 9.76744277e-01 2.13997720e-01 1.32511693e-02 2.98407052e+02] [-2.13975706e-01 9.76834146e-01 -3.07394220e-03 -4.77835020e+01] [-1.36020112e-02 1.67027145e-04 9.99907474e-01 -4.02370102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31576923100005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:298.43, Y:-47.79, Z:-4.02 [[ 9.76937421e-01 2.13026591e-01 1.45926999e-02 2.98433623e+02] [-2.12999804e-01 9.77046382e-01 -3.38396459e-03 -4.77915593e+01] [-1.49786191e-02 1.97679410e-04 9.99887795e-01 -4.02376762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3457692310001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:298.46, Y:-47.80, Z:-4.02 [[ 9.77014731e-01 2.12782116e-01 1.28835374e-02 2.98459426e+02] [-2.12761227e-01 9.77099657e-01 -2.98671733e-03 -4.78017732e+01] [-1.32240200e-02 1.76949608e-04 9.99912543e-01 -4.02332437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37576923100005 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:298.49, Y:-47.81, Z:-4.02 [[ 9.76901792e-01 2.13428376e-01 1.05459503e-02 2.98485656e+02] [-2.13414427e-01 9.76958704e-01 -2.44390631e-03 -4.78093643e+01] [-1.08245569e-02 1.36798511e-04 9.99941403e-01 -4.02438441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.4057692310001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:298.51, Y:-47.82, Z:-4.03 [[ 9.76330015e-01 2.16125712e-01 8.32940667e-03 2.98512215e+02] [-2.16117116e-01 9.76365541e-01 -1.92940520e-03 -4.78179435e+01] [-8.54953972e-03 8.36088607e-05 9.99963449e-01 -4.02580378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:298.54, Y:-47.82, Z:-4.03 [[ 9.76069700e-01 2.17286720e-01 8.62680048e-03 2.98538014e+02] [-2.17277550e-01 9.76107820e-01 -1.99769073e-03 -4.78245572e+01] [-8.85475908e-03 7.54753200e-05 9.99960793e-01 -4.02623608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.465769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:298.57, Y:-47.83, Z:-4.03 [[ 9.75820273e-01 2.18345535e-01 1.00010609e-02 2.98565230e+02] [-2.18333280e-01 9.75871519e-01 -2.31454910e-03 -4.78314891e+01] [-1.02651220e-02 7.50195073e-05 9.99947309e-01 -4.02600902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49576923100005 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:298.59, Y:-47.84, Z:-4.02 [[ 9.75511306e-01 2.19702377e-01 1.04191006e-02 2.98591439e+02] [-2.19689161e-01 9.75566944e-01 -2.41051987e-03 -4.78382191e+01] [-1.06941270e-02 6.25259266e-05 9.99942814e-01 -4.02467565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.525769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:298.62, Y:-47.84, Z:-4.03 [[ 9.75400282e-01 2.20220207e-01 9.86657884e-03 2.98618626e+02] [-2.20208391e-01 9.75450182e-01 -2.28188214e-03 -4.78438596e+01] [-1.01268727e-02 5.30450297e-05 9.99948721e-01 -4.02504398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:298.65, Y:-47.85, Z:-4.03 [[ 9.74961615e-01 2.22153488e-01 9.88318668e-03 2.98646079e+02] [-2.22141739e-01 9.75011706e-01 -2.28501485e-03 -4.78476339e+01] [-1.01438467e-02 3.23334965e-05 9.99948549e-01 -4.02608800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:298.67, Y:-47.85, Z:-4.03 [[ 9.74974694e-01 2.22096072e-01 9.88335436e-03 2.98673872e+02] [-2.22084327e-01 9.75024786e-01 -2.28428933e-03 -4.78539223e+01] [-1.01438472e-02 3.21861841e-05 9.99948549e-01 -4.02644239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:298.70, Y:-47.86, Z:-4.03 [[ 9.74788478e-01 2.22871790e-01 1.07511641e-02 2.98700223e+02] [-2.22857947e-01 9.74847765e-01 -2.48416221e-03 -4.78587421e+01] [-1.10343980e-02 2.55503360e-05 9.99939119e-01 -4.02682845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:298.73, Y:-47.86, Z:-4.03 [[ 9.74641955e-01 2.23464250e-01 1.16956835e-02 2.98727010e+02] [-2.23447923e-01 9.74712126e-01 -2.70129863e-03 -4.78623274e+01] [-1.20035682e-02 1.94227836e-05 9.99927954e-01 -4.02683021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67576923100006 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:298.75, Y:-47.87, Z:-4.03 [[ 9.74678350e-01 2.23317913e-01 1.14553204e-02 2.98754751e+02] [-2.23302251e-01 9.74745664e-01 -2.64484710e-03 -4.78670675e+01] [-1.17566656e-02 1.98763860e-05 9.99930888e-01 -4.02729317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:298.78, Y:-47.87, Z:-4.03 [[ 9.74754489e-01 2.23031440e-01 1.05196201e-02 2.98782431e+02] [-2.23018223e-01 9.74811252e-01 -2.42814136e-03 -4.78715012e+01] [-1.07961959e-02 2.07747009e-05 9.99941719e-01 -4.02776446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:298.81, Y:-47.87, Z:-4.03 [[ 9.74770913e-01 2.23052974e-01 8.30894751e-03 2.98810870e+02] [-2.23044733e-01 9.74806325e-01 -1.91745488e-03 -4.78747496e+01] [-8.52730860e-03 1.58122677e-05 9.99963642e-01 -4.02882515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76576923100004 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:298.84, Y:-47.88, Z:-4.03 [[ 9.74667845e-01 2.23527957e-01 7.60557812e-03 2.98837352e+02] [-2.23521069e-01 9.74697519e-01 -1.75469817e-03 -4.78793120e+01] [-7.80536222e-03 1.02409326e-05 9.99969538e-01 -4.02960597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79576923100007 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:298.87, Y:-47.88, Z:-4.03 [[ 9.74334933e-01 2.24940307e-01 8.56137378e-03 2.98865305e+02] [-2.24931643e-01 9.74372546e-01 -1.97428309e-03 -4.78820349e+01] [-8.78606341e-03 -2.11089199e-06 9.99961402e-01 -4.02908155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82576923100004 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:298.89, Y:-47.89, Z:-4.03 [[ 9.74138142e-01 2.25740070e-01 9.81332043e-03 2.98891716e+02] [-2.25728736e-01 9.74187569e-01 -2.26213426e-03 -4.78862488e+01] [-1.00706691e-02 -1.15171569e-05 9.99949289e-01 -4.02958244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85576923100007 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:298.92, Y:-47.89, Z:-4.03 [[ 9.74092800e-01 2.25877631e-01 1.10685387e-02 2.98919541e+02] [-2.25863233e-01 9.74155684e-01 -2.55035480e-03 -4.78897960e+01] [-1.13585480e-02 -1.56936921e-05 9.99935489e-01 -4.02976118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88576923100004 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:298.95, Y:-47.90, Z:-4.03 [[ 9.74299351e-01 2.24981611e-01 1.11377872e-02 2.98947223e+02] [-2.24966983e-01 9.74363010e-01 -2.56547181e-03 -4.78953452e+01] [-1.14294319e-02 -6.09687199e-06 9.99934682e-01 -4.03039088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91576923100007 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:298.97, Y:-47.90, Z:-4.03 [[ 9.74621380e-01 2.23581109e-01 1.11648166e-02 2.98974407e+02] [-2.23566328e-01 9.74685328e-01 -2.57086142e-03 -4.79015374e+01] [-1.14569789e-02 9.53946134e-06 9.99934367e-01 -4.03087543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:299.00, Y:-47.91, Z:-4.03 [[ 9.75602810e-01 2.19252980e-01 1.12821716e-02 2.99001534e+02] [-2.19237607e-01 9.75668041e-01 -2.59703276e-03 -4.79100564e+01] [-1.15770615e-02 6.01961509e-05 9.99932982e-01 -4.03104110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.9757692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:299.03, Y:-47.92, Z:-4.03 [[ 9.76257589e-01 2.16297413e-01 1.16854285e-02 2.99027973e+02] [-2.16280721e-01 9.76327516e-01 -2.68895201e-03 -4.79179196e+01] [-1.19904187e-02 9.77769043e-05 9.99928108e-01 -4.03141412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:299.05, Y:-47.93, Z:-4.03 [[ 9.77529497e-01 2.10455681e-01 1.20203702e-02 2.99053311e+02] [-2.10437587e-01 9.77603384e-01 -2.76507702e-03 -4.79277314e+01] [-1.23330807e-02 1.73406648e-04 9.99923930e-01 -4.03154943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0357692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:299.08, Y:-47.94, Z:-4.03 [[ 9.78004191e-01 2.08239327e-01 1.20077296e-02 2.99079033e+02] [-2.08221117e-01 9.78077882e-01 -2.76109942e-03 -4.79355463e+01] [-1.23194642e-02 2.00103949e-04 9.99924092e-01 -4.03217535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:299.11, Y:-47.94, Z:-4.03 [[ 9.78331801e-01 2.06717620e-01 1.16066099e-02 2.99106249e+02] [-2.06700511e-01 9.78400624e-01 -2.66788904e-03 -4.79436258e+01] [-1.19074140e-02 2.10988503e-04 9.99929082e-01 -4.03292693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0957692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:299.13, Y:-47.95, Z:-4.03 [[ 9.78554116e-01 2.05672299e-01 1.14344403e-02 2.99131450e+02] [-2.05655633e-01 9.78620895e-01 -2.62747418e-03 -4.79548332e+01] [-1.17303808e-02 2.19568619e-04 9.99931173e-01 -4.03288390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:299.16, Y:-47.96, Z:-4.03 [[ 9.78592042e-01 2.05479998e-01 1.16441396e-02 2.99158232e+02] [-2.05462713e-01 9.78661290e-01 -2.67461834e-03 -4.79646562e+01] [-1.19452493e-02 2.24923699e-04 9.99928628e-01 -4.03312407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1557692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.18, Y:-47.98, Z:-4.03 [[ 9.78863214e-01 2.04208053e-01 1.12195986e-02 2.99184043e+02] [-2.04191931e-01 9.78927484e-01 -2.57628434e-03 -4.79771486e+01] [-1.15092714e-02 2.30878473e-04 9.99933739e-01 -4.03351782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:299.21, Y:-47.99, Z:-4.03 [[ 9.79205424e-01 2.02597668e-01 1.05320132e-02 2.99210864e+02] [-2.02583376e-01 9.79262033e-01 -2.41779000e-03 -4.79859672e+01] [-1.08034393e-02 2.33902293e-04 9.99941614e-01 -4.03414544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.215769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:299.24, Y:-48.00, Z:-4.04 [[ 9.80119533e-01 1.98135644e-01 1.03907709e-02 2.99237617e+02] [-1.98121489e-01 9.80174571e-01 -2.38471311e-03 -4.79995900e+01] [-1.06572661e-02 2.78668896e-04 9.99943171e-01 -4.03589583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:299.27, Y:-48.01, Z:-4.04 [[ 9.80599127e-01 1.95739853e-01 1.05480862e-02 2.99265071e+02] [-1.95725132e-01 9.80655808e-01 -2.42029402e-03 -4.80107640e+01] [-1.08177900e-02 3.08812629e-04 9.99941438e-01 -4.03619211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.275769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:299.29, Y:-48.02, Z:-4.04 [[ 9.80995480e-01 1.93718338e-01 1.10033812e-02 2.99291632e+02] [-1.93702199e-01 9.81057127e-01 -2.52419780e-03 -4.80217180e+01] [-1.12839290e-02 3.44847491e-04 9.99936275e-01 -4.03598571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:299.32, Y:-48.04, Z:-4.04 [[ 9.81076283e-01 1.93348506e-01 1.02801587e-02 2.99318106e+02] [-1.93334404e-01 9.81130088e-01 -2.35779325e-03 -4.80358402e+01] [-1.05420488e-02 3.25666689e-04 9.99944378e-01 -4.03583448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.33576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:299.34, Y:-48.05, Z:-4.04 [[ 9.80803655e-01 1.94800754e-01 8.76676613e-03 2.99344747e+02] [-1.94790557e-01 9.80842799e-01 -2.01050803e-03 -4.80452942e+01] [-8.99046791e-03 2.64230360e-04 9.99959550e-01 -4.03679655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.37, Y:-48.06, Z:-4.04 [[ 9.80012304e-01 1.98814363e-01 6.98092064e-03 2.99371787e+02] [-1.98808000e-01 9.80037151e-01 -1.60078862e-03 -4.80577265e+01] [-7.15982134e-03 1.80929670e-04 9.99974352e-01 -4.03814574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:299.40, Y:-48.07, Z:-4.04 [[ 9.79664667e-01 2.00502277e-01 7.48173699e-03 2.99399599e+02] [-2.00495024e-01 9.79693220e-01 -1.71481364e-03 -4.80658578e+01] [-7.67363104e-03 1.79891297e-04 9.99970541e-01 -4.03786485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:299.43, Y:-48.07, Z:-4.04 [[ 9.79350505e-01 2.01985969e-01 8.61721947e-03 2.99427632e+02] [-2.01976410e-01 9.79388396e-01 -1.97456645e-03 -4.80737819e+01] [-8.83843947e-03 1.93317600e-04 9.99960922e-01 -4.03782532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.45, Y:-48.08, Z:-4.04 [[ 9.79015194e-01 2.03579786e-01 9.19352815e-03 2.99454052e+02] [-2.03568980e-01 9.79058341e-01 -2.10617883e-03 -4.80834801e+01] [-9.42977585e-03 1.90463937e-04 9.99955521e-01 -4.03796475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:299.48, Y:-48.09, Z:-4.04 [[ 9.79126341e-01 2.03069892e-01 8.61551839e-03 2.99481693e+02] [-2.03060386e-01 9.79164228e-01 -1.97325219e-03 -4.80922672e+01] [-8.83671553e-03 1.82592702e-04 9.99960939e-01 -4.03895393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.51, Y:-48.10, Z:-4.04 [[ 9.79933490e-01 1.99138193e-01 8.62182797e-03 2.99510550e+02] [-1.99128527e-01 9.79971394e-01 -1.97412596e-03 -4.81039223e+01] [-8.84226865e-03 2.17660237e-04 9.99960883e-01 -4.04050609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.54, Y:-48.11, Z:-4.04 [[ 9.80430543e-01 1.96653786e-01 9.12347296e-03 2.99539628e+02] [-1.96642855e-01 9.80472959e-01 -2.08898680e-03 -4.81132738e+01] [-9.35612569e-03 2.54040693e-04 9.99956198e-01 -4.04018649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:299.57, Y:-48.12, Z:-4.04 [[ 9.80802721e-01 1.94734892e-01 1.02149287e-02 2.99569919e+02] [-1.94721085e-01 9.80855865e-01 -2.33884840e-03 -4.81233271e+01] [-1.04748282e-02 3.04886864e-04 9.99945091e-01 -4.04008047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60576923100007 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:299.60, Y:-48.14, Z:-4.04 [[ 9.81039651e-01 1.93417039e-01 1.22903466e-02 2.99599054e+02] [-1.93396943e-01 9.81116559e-01 -2.81442146e-03 -4.81362799e+01] [-1.26026196e-02 3.84143595e-04 9.99920510e-01 -4.03952020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.63, Y:-48.15, Z:-4.04 [[ 9.81029045e-01 1.93470553e-01 1.22946108e-02 2.99629913e+02] [-1.93450432e-01 9.81106007e-01 -2.81661858e-03 -4.81461194e+01] [-1.26072493e-02 3.84786872e-04 9.99920451e-01 -4.03992190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.66, Y:-48.16, Z:-4.04 [[ 9.81116681e-01 1.93146054e-01 1.02303705e-02 2.99659664e+02] [-1.93132089e-01 9.81169963e-01 -2.34523074e-03 -4.81593205e+01] [-1.04907043e-02 3.25132167e-04 9.99944918e-01 -4.04182205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.69, Y:-48.17, Z:-4.04 [[ 9.81061044e-01 1.93471753e-01 9.37596528e-03 2.99690228e+02] [-1.93460029e-01 9.81105801e-01 -2.15040255e-03 -4.81701748e+01] [-9.61485608e-03 2.95801665e-04 9.99953732e-01 -4.04198522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.72, Y:-48.18, Z:-4.04 [[ 9.80914441e-01 1.94232935e-01 8.96808521e-03 2.99721172e+02] [-1.94222232e-01 9.80955397e-01 -2.05773469e-03 -4.81810022e+01] [-9.19697144e-03 2.76660151e-04 9.99957669e-01 -4.04240135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:299.75, Y:-48.19, Z:-4.04 [[ 9.80673604e-01 1.95470970e-01 8.38937040e-03 2.99751094e+02] [-1.95461638e-01 9.80709456e-01 -1.92619068e-03 -4.81948843e+01] [-8.60404924e-03 2.49164274e-04 9.99962953e-01 -4.04144609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.78, Y:-48.21, Z:-4.04 [[ 9.80606157e-01 1.95775026e-01 9.14898901e-03 2.99782451e+02] [-1.95763924e-01 9.80648799e-01 -2.10239479e-03 -4.82051835e+01] [-9.38354147e-03 2.70579286e-04 9.99955937e-01 -4.04130380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81576923100005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:299.81, Y:-48.22, Z:-4.04 [[ 9.80479161e-01 1.96375870e-01 9.85556665e-03 2.99812191e+02] [-1.96362996e-01 9.80528651e-01 -2.26691503e-03 -4.82179382e+01] [-1.01088329e-02 2.87394353e-04 9.99948863e-01 -4.04220747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8457692310001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:299.84, Y:-48.23, Z:-4.04 [[ 9.80430260e-01 1.96615802e-01 9.93638836e-03 2.99842558e+02] [-1.96602709e-01 9.80480567e-01 -2.28733879e-03 -4.82279824e+01] [-1.01921626e-02 2.89055292e-04 9.99948017e-01 -4.04324592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:299.87, Y:-48.24, Z:-4.04 [[ 9.80431233e-01 1.96612001e-01 9.91551597e-03 2.99873904e+02] [-1.96598945e-01 9.80481329e-01 -2.28430224e-03 -4.82380798e+01] [-1.01710995e-02 2.90221280e-04 9.99948231e-01 -4.04439862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.9057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.90, Y:-48.25, Z:-4.04 [[ 9.80288085e-01 1.97345722e-01 9.48351275e-03 2.99903577e+02] [-1.97333796e-01 9.80333919e-01 -2.18653071e-03 -4.82517075e+01] [-9.72851170e-03 2.72012434e-04 9.99952640e-01 -4.04421662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:299.93, Y:-48.26, Z:-4.04 [[ 9.80073490e-01 1.98449829e-01 8.58022150e-03 2.99933913e+02] [-1.98440098e-01 9.80111019e-01 -1.97960436e-03 -4.82628938e+01] [-8.80242178e-03 2.37497757e-04 9.99961230e-01 -4.04474222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.965769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:299.97, Y:-48.28, Z:-4.05 [[ 9.79547643e-01 2.01094927e-01 6.87357401e-03 2.99965138e+02] [-2.01088741e-01 9.79571744e-01 -1.58658090e-03 -4.82757800e+01] [-7.05221225e-03 1.71933234e-04 9.99975118e-01 -4.04581595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:300.00, Y:-48.28, Z:-4.05 [[ 9.79238214e-01 2.02591265e-01 7.02138193e-03 2.99996534e+02] [-2.02584839e-01 9.79263372e-01 -1.62206973e-03 -4.82847266e+01] [-7.20439931e-03 1.65967139e-04 9.99974034e-01 -4.04592499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.025769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:300.03, Y:-48.29, Z:-4.05 [[ 9.78981297e-01 2.03794326e-01 7.96819892e-03 3.00028836e+02] [-2.03786075e-01 9.79013708e-01 -1.84262186e-03 -4.82935671e+01] [-8.17649186e-03 1.80084356e-04 9.99966556e-01 -4.04586040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:300.06, Y:-48.30, Z:-4.05 [[ 9.78698105e-01 2.05055279e-01 1.01168831e-02 3.00058962e+02] [-2.05042018e-01 9.78750369e-01 -2.34216121e-03 -4.83041487e+01] [-1.03821756e-02 2.17882611e-04 9.99946080e-01 -4.04580421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-48.31, Z:-4.05 [[ 9.78637581e-01 2.05324410e-01 1.05058493e-02 3.00090372e+02] [-2.05310112e-01 9.78693944e-01 -2.43338847e-03 -4.83139063e+01] [-1.07816451e-02 2.24448314e-04 9.99941851e-01 -4.04652057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:300.12, Y:-48.32, Z:-4.05 [[ 9.78649202e-01 2.05284384e-01 1.02010499e-02 3.00122268e+02] [-2.05270883e-01 9.78702342e-01 -2.36462351e-03 -4.83240838e+01] [-1.04692117e-02 2.20158383e-04 9.99945172e-01 -4.04728361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.15, Y:-48.34, Z:-4.05 [[ 9.78814927e-01 2.04500938e-01 1.00351542e-02 3.00152397e+02] [-2.04487811e-01 9.78866342e-01 -2.32814331e-03 -4.83372697e+01] [-1.02991822e-02 2.26754709e-04 9.99946936e-01 -4.04774764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-48.35, Z:-4.05 [[ 9.78781947e-01 2.04653217e-01 1.01470014e-02 3.00182589e+02] [-2.04639793e-01 9.78834515e-01 -2.35516675e-03 -4.83475715e+01] [-1.04142277e-02 2.28714427e-04 9.99945744e-01 -4.04733323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.21, Y:-48.36, Z:-4.05 [[ 9.78182324e-01 2.07526037e-01 9.60652852e-03 3.00212494e+02] [-2.07514126e-01 9.78229476e-01 -2.23141269e-03 -4.83581850e+01] [-9.86046559e-03 1.89238084e-04 9.99951367e-01 -4.04698496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:300.24, Y:-48.37, Z:-4.05 [[ 9.77563422e-01 2.10457606e-01 8.79495247e-03 3.00244478e+02] [-2.10447735e-01 9.77602974e-01 -2.04356487e-03 -4.83662537e+01] [-9.02805547e-03 1.46836441e-04 9.99959235e-01 -4.04764409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:300.28, Y:-48.37, Z:-4.05 [[ 9.76705313e-01 2.14405225e-01 8.78248209e-03 3.00276978e+02] [-2.14395527e-01 9.76744791e-01 -2.04225788e-03 -4.83735857e+01] [-9.01611440e-03 1.11759246e-04 9.99959348e-01 -4.04720379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:300.31, Y:-48.38, Z:-4.05 [[ 9.74643922e-01 2.23507477e-01 1.06598476e-02 3.00308669e+02] [-2.23493707e-01 9.74702214e-01 -2.48124016e-03 -4.83787454e+01] [-1.09447528e-02 3.59167926e-05 9.99940104e-01 -4.04617237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:300.34, Y:-48.38, Z:-4.05 [[ 9.73785080e-01 2.27183234e-01 1.14191400e-02 3.00340436e+02] [-2.27167662e-01 9.73852031e-01 -2.65989683e-03 -4.83835700e+01] [-1.17248367e-02 -3.89150137e-06 9.99931262e-01 -4.04652261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.37, Y:-48.39, Z:-4.05 [[ 9.73141326e-01 2.29923220e-01 1.14574181e-02 3.00372177e+02] [-2.29907711e-01 9.73208771e-01 -2.67074151e-03 -4.83877961e+01] [-1.17645252e-02 -3.51398223e-05 9.99930795e-01 -4.04706512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:300.41, Y:-48.39, Z:-4.05 [[ 9.72684477e-01 2.31806457e-01 1.22749385e-02 3.00405046e+02] [-2.31788780e-01 9.72761925e-01 -2.86335130e-03 -4.83904565e+01] [-1.26043361e-02 -6.00556539e-05 9.99920560e-01 -4.04881584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:300.44, Y:-48.40, Z:-4.05 [[ 9.72900480e-01 2.30860850e-01 1.29585286e-02 3.00436323e+02] [-2.30841030e-01 9.72986776e-01 -3.02541516e-03 -4.83970249e+01] [-1.33069269e-02 -4.79322411e-05 9.99911458e-01 -4.04883569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.47, Y:-48.40, Z:-4.05 [[ 9.74466540e-01 2.24209401e-01 1.20460598e-02 3.00467495e+02] [-2.24191741e-01 9.74540991e-01 -2.81438177e-03 -4.84032940e+01] [-1.23703899e-02 4.18937608e-05 9.99923483e-01 -4.05001185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.50, Y:-48.41, Z:-4.05 [[ 9.74454883e-01 2.24260083e-01 1.20456184e-02 3.00499274e+02] [-2.24242403e-01 9.74529329e-01 -2.81626937e-03 -4.84108318e+01] [-1.23703853e-02 4.31890200e-05 9.99923483e-01 -4.05041841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:300.53, Y:-48.42, Z:-4.05 [[ 9.75446100e-01 2.20003162e-01 1.01742183e-02 3.00531006e+02] [-2.19990315e-01 9.75499155e-01 -2.37891005e-03 -4.84180767e+01] [-1.04483090e-02 8.22690475e-05 9.99945412e-01 -4.05169793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.56, Y:-48.43, Z:-4.05 [[ 9.76312402e-01 2.16153521e-01 9.57859721e-03 3.00563015e+02] [-2.16141932e-01 9.76359381e-01 -2.24141146e-03 -4.84260583e+01] [-9.83664222e-03 1.17981297e-04 9.99951612e-01 -4.05356120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.59, Y:-48.44, Z:-4.05 [[ 9.77699159e-01 2.09725463e-01 1.09355058e-02 3.00593404e+02] [-2.09709926e-01 9.77760291e-01 -2.56147854e-03 -4.84368832e+01] [-1.12295106e-02 2.11071294e-04 9.99936925e-01 -4.05314775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5957692310001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:300.63, Y:-48.45, Z:-4.05 [[ 9.78221565e-01 2.07275163e-01 1.09350955e-02 3.00625261e+02] [-2.07259451e-01 9.78282653e-01 -2.56341191e-03 -4.84473258e+01] [-1.12289459e-02 2.41182912e-04 9.99936924e-01 -4.05025234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.65, Y:-48.46, Z:-4.05 [[ 9.78841701e-01 2.04480480e-01 7.52707017e-03 3.00654282e+02] [-2.04472947e-01 9.78870624e-01 -1.76530797e-03 -4.84630929e+01] [-7.72899889e-03 1.88874840e-04 9.99970113e-01 -4.05482567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.68, Y:-48.48, Z:-4.06 [[ 9.78980401e-01 2.03858662e-01 6.24661344e-03 3.00684444e+02] [-2.03853456e-01 9.79000317e-01 -1.46579415e-03 -4.84762915e+01] [-6.41425137e-03 1.61590003e-04 9.99979415e-01 -4.05649202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:300.71, Y:-48.49, Z:-4.06 [[ 9.78999103e-01 2.03779943e-01 5.87296317e-03 3.00714921e+02] [-2.03775335e-01 9.79016706e-01 -1.37894744e-03 -4.84903318e+01] [-6.03073089e-03 1.53223268e-04 9.99981803e-01 -4.05741167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.715769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:300.74, Y:-48.51, Z:-4.06 [[ 9.78669548e-01 2.05336208e-01 6.55422048e-03 3.00744057e+02] [-2.05330493e-01 9.78691481e-01 -1.54051145e-03 -4.85098204e+01] [-6.73088253e-03 1.61870322e-04 9.99977334e-01 -4.05721040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:300.77, Y:-48.52, Z:-4.06 [[ 9.78227773e-01 2.07401885e-01 7.40830703e-03 3.00774087e+02] [-2.07394628e-01 9.78255810e-01 -1.74318137e-03 -4.85219276e+01] [-7.60875850e-03 1.68785351e-04 9.99971039e-01 -4.05617928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.775769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:300.80, Y:-48.54, Z:-4.05 [[ 9.76807226e-01 2.13876767e-01 1.02162518e-02 3.00804447e+02] [-2.13863290e-01 9.76860635e-01 -2.40673028e-03 -4.85360851e+01] [-1.04945979e-02 1.66030322e-04 9.99944916e-01 -4.05483157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:300.84, Y:-48.55, Z:-4.05 [[ 9.75823672e-01 2.18327493e-01 1.00631874e-02 3.00835494e+02] [-2.18302115e-01 9.75874712e-01 -3.56833568e-03 -4.85454764e+01] [-1.05994759e-02 1.28525134e-03 9.99942998e-01 -4.05456502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.87, Y:-48.56, Z:-4.05 [[ 9.74780414e-01 2.22894369e-01 1.10110886e-02 3.00865556e+02] [-2.22892701e-01 9.74841987e-01 -1.39407004e-03 -4.85559532e+01] [-1.10448019e-02 -1.09537912e-03 9.99938404e-01 -4.05491293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.90, Y:-48.57, Z:-4.06 [[ 9.72934370e-01 2.30879261e-01 9.66846734e-03 3.00895494e+02] [-2.30867983e-01 9.72982408e-01 -2.28206608e-03 -4.85677824e+01] [-9.93413036e-03 -1.18390325e-05 9.99950655e-01 -4.05614727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.93, Y:-48.58, Z:-4.06 [[ 9.71980347e-01 2.34868395e-01 9.54159613e-03 3.00927597e+02] [-2.34857587e-01 9.72027178e-01 -2.25377542e-03 -4.85771425e+01] [-9.80403137e-03 -5.02908258e-05 9.99951938e-01 -4.05594812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:300.96, Y:-48.59, Z:-4.06 [[ 9.70037291e-01 2.42744613e-01 1.01344785e-02 3.00959873e+02] [-2.42732826e-01 9.70090220e-01 -2.39599878e-03 -4.85855059e+01] [-1.04129743e-02 -1.35762447e-04 9.99945774e-01 -4.05623490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.99, Y:-48.59, Z:-4.06 [[ 9.69128417e-01 2.46345150e-01 1.02067584e-02 3.00992169e+02] [-2.46333372e-01 9.69182149e-01 -2.41515267e-03 -4.85932540e+01] [-1.04871692e-02 -1.73672137e-04 9.99944993e-01 -4.05638634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:301.02, Y:-48.60, Z:-4.06 [[ 9.68248751e-01 2.49774706e-01 1.03417608e-02 3.01022792e+02] [-2.49762787e-01 9.68303956e-01 -2.44922912e-03 -4.86011589e+01] [-1.06257233e-02 -2.11523944e-04 9.99943523e-01 -4.05638384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.06, Y:-48.61, Z:-4.06 [[ 9.66951699e-01 2.54734614e-01 1.07092368e-02 3.01055102e+02] [-2.54722113e-01 9.67010963e-01 -2.53832770e-03 -4.86099548e+01] [-1.10025493e-02 -2.73439156e-04 9.99939433e-01 -4.05544092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.09, Y:-48.62, Z:-4.06 [[ 9.66438518e-01 2.56705192e-01 9.95167327e-03 3.01087298e+02] [-2.56694485e-01 9.66489715e-01 -2.36048506e-03 -4.86176090e+01] [-1.02241386e-02 -2.73275954e-04 9.99947695e-01 -4.05610220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.12, Y:-48.62, Z:-4.06 [[ 9.65889742e-01 2.58806717e-01 8.72296681e-03 3.01118791e+02] [-2.58798563e-01 9.65929095e-01 -2.07052517e-03 -4.86246438e+01] [-8.96163326e-03 -2.57592252e-04 9.99959811e-01 -4.05756604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.15, Y:-48.63, Z:-4.06 [[ 9.64848317e-01 2.62697288e-01 7.60655515e-03 3.01151561e+02] [-2.62691200e-01 9.64878267e-01 -1.80658842e-03 -4.86307019e+01] [-7.81398563e-03 -2.55091302e-04 9.99969438e-01 -4.06031660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.18, Y:-48.64, Z:-4.06 [[ 9.64520637e-01 2.63894895e-01 7.70874928e-03 3.01183012e+02] [-2.63888668e-01 9.64551405e-01 -1.83248795e-03 -4.86367290e+01] [-7.91906916e-03 -2.66779134e-04 9.99968608e-01 -4.06092142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.22, Y:-48.64, Z:-4.06 [[ 9.64042238e-01 2.65570764e-01 9.73309869e-03 3.01215873e+02] [-2.65560898e-01 9.64091306e-01 -2.31607637e-03 -4.86420385e+01] [-9.99867800e-03 -3.51934980e-04 9.99949950e-01 -4.06080288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.25, Y:-48.65, Z:-4.06 [[ 9.64029879e-01 2.65572640e-01 1.08427512e-02 3.01247359e+02] [-2.65560368e-01 9.64090774e-01 -2.58263968e-03 -4.86489071e+01] [-1.11392748e-02 -3.89663174e-04 9.99937880e-01 -4.06005927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.28, Y:-48.66, Z:-4.06 [[ 9.64148954e-01 2.65096727e-01 1.18540980e-02 3.01280085e+02] [-2.65082004e-01 9.64221733e-01 -2.82510554e-03 -4.86555877e+01] [-1.21789052e-02 -4.18485502e-04 9.99925747e-01 -4.05979261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.25576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.31, Y:-48.66, Z:-4.06 [[ 9.64647548e-01 2.63246023e-01 1.25155696e-02 3.01312242e+02] [-2.63229422e-01 9.64728645e-01 -2.98533573e-03 -4.86596334e+01] [-1.28600063e-02 -4.14669371e-04 9.99917221e-01 -4.06104100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2857692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:301.34, Y:-48.67, Z:-4.06 [[ 9.64949506e-01 2.62123864e-01 1.27879274e-02 3.01344533e+02] [-2.62106412e-01 9.65034152e-01 -3.05196196e-03 -4.86651797e+01] [-1.31407788e-02 -4.06808595e-04 9.99913573e-01 -4.06324126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.38, Y:-48.67, Z:-4.06 [[ 9.65185063e-01 2.61282827e-01 1.22097243e-02 3.01376446e+02] [-2.61266822e-01 9.65262215e-01 -2.91624242e-03 -4.86712586e+01] [-1.25475496e-02 -3.75282233e-04 9.99921206e-01 -4.06368154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3457692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.41, Y:-48.68, Z:-4.06 [[ 9.65584721e-01 2.59883351e-01 1.03339741e-02 3.01409046e+02] [-2.59871789e-01 9.65639971e-01 -2.46974913e-03 -4.86756896e+01] [-1.06207452e-02 -3.00756317e-04 9.99943553e-01 -4.06398359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.37576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.44, Y:-48.68, Z:-4.06 [[ 9.65940068e-01 2.58593741e-01 9.43727133e-03 3.01440634e+02] [-2.58584021e-01 9.65986133e-01 -2.25712818e-03 -4.86810970e+01] [-9.69995246e-03 -2.60077015e-04 9.99952921e-01 -4.06469653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.47, Y:-48.69, Z:-4.07 [[ 9.67181684e-01 2.53924870e-01 9.04164903e-03 3.01472286e+02] [-2.53915729e-01 9.67223924e-01 -2.16405507e-03 -4.86859190e+01] [-9.29480666e-03 -2.02782483e-04 9.99956782e-01 -4.06536543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.50, Y:-48.69, Z:-4.07 [[ 9.67908095e-01 2.51131249e-01 9.32820411e-03 3.01503949e+02] [-2.51121372e-01 9.67953028e-01 -2.23450077e-03 -4.86936264e+01] [-9.59041638e-03 -1.79720027e-04 9.99953995e-01 -4.06573379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.54, Y:-48.70, Z:-4.07 [[ 9.68779219e-01 2.47739960e-01 9.57798880e-03 3.01535122e+02] [-2.47729362e-01 9.68826553e-01 -2.29627659e-03 -4.87015640e+01] [-9.84828934e-03 -1.48164014e-04 9.99951493e-01 -4.06602643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.49576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.57, Y:-48.71, Z:-4.07 [[ 9.70591701e-01 2.40574122e-01 8.70866159e-03 3.01567444e+02] [-2.40565060e-01 9.70630768e-01 -2.08918561e-03 -4.87082726e+01] [-8.95549888e-03 -6.72534833e-05 9.99959896e-01 -4.06640790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.60, Y:-48.72, Z:-4.07 [[ 9.71295057e-01 2.37743588e-01 7.99361089e-03 3.01599694e+02] [-2.37735846e-01 9.71327949e-01 -1.91895280e-03 -4.87155300e+01] [-8.22063640e-03 -3.64984818e-05 9.99966209e-01 -4.06717980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.63, Y:-48.72, Z:-4.07 [[ 9.71734920e-01 2.35941622e-01 7.92439899e-03 3.01630672e+02] [-2.35933941e-01 9.71767231e-01 -1.90397205e-03 -4.87231915e+01] [-8.14989751e-03 -1.94785572e-05 9.99966789e-01 -4.06739900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.66, Y:-48.73, Z:-4.07 [[ 9.71877409e-01 2.35323803e-01 8.77552223e-03 3.01662153e+02] [-2.35314340e-01 9.71917027e-01 -2.11032928e-03 -4.87323014e+01] [-9.02569019e-03 -1.40248671e-05 9.99959268e-01 -4.06635206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.69, Y:-48.74, Z:-4.07 [[ 9.71790967e-01 2.35671332e-01 9.01886432e-03 3.01693058e+02] [-2.35661335e-01 9.71832816e-01 -2.17077460e-03 -4.87391890e+01] [-9.27641766e-03 -1.58584616e-05 9.99956973e-01 -4.06666299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.73, Y:-48.75, Z:-4.07 [[ 9.71440145e-01 2.37111187e-01 9.07359731e-03 3.01726037e+02] [-2.37101115e-01 9.71482519e-01 -2.18562288e-03 -4.87451370e+01] [-9.33307681e-03 -2.81582324e-05 9.99956445e-01 -4.06740024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.76, Y:-48.75, Z:-4.07 [[ 9.71206137e-01 2.38079116e-01 8.77350060e-03 3.01757176e+02] [-2.38069723e-01 9.71245764e-01 -2.11507817e-03 -4.87526606e+01] [-9.02478123e-03 -3.45279608e-05 9.99959275e-01 -4.06760910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.79, Y:-48.76, Z:-4.07 [[ 9.71001655e-01 2.38913556e-01 8.72343740e-03 3.01789210e+02] [-2.38904289e-01 9.71040839e-01 -2.10462138e-03 -4.87611118e+01] [-8.97363655e-03 -4.04757671e-05 9.99959735e-01 -4.06781136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.73576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.82, Y:-48.77, Z:-4.07 [[ 9.70337245e-01 2.41571419e-01 9.42768340e-03 3.01820677e+02] [-2.41560701e-01 9.70383040e-01 -2.27661147e-03 -4.87688438e+01] [-9.69842835e-03 -6.82769050e-05 9.99952967e-01 -4.06756804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.85, Y:-48.78, Z:-4.07 [[ 9.69833347e-01 2.43543361e-01 1.04838395e-02 3.01852709e+02] [-2.43530199e-01 9.69890005e-01 -2.53379494e-03 -4.87756219e+01] [-1.07852601e-02 -9.57726879e-05 9.99941833e-01 -4.06864623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.79576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.88, Y:-48.78, Z:-4.07 [[ 9.68929646e-01 2.47024731e-01 1.24146623e-02 3.01884793e+02] [-2.47006521e-01 9.69009163e-01 -3.00342364e-03 -4.87809197e+01] [-1.27718415e-02 -1.56396347e-04 9.99918424e-01 -4.06843226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.92, Y:-48.79, Z:-4.07 [[ 9.68703453e-01 2.47892813e-01 1.27582366e-02 3.01917104e+02] [-2.47873624e-01 9.68787451e-01 -3.08902711e-03 -4.87873412e+01] [-1.31257671e-02 -1.70079103e-04 9.99913839e-01 -4.06866453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.95, Y:-48.79, Z:-4.07 [[ 9.68623255e-01 2.48196833e-01 1.29353112e-02 3.01948124e+02] [-2.48177100e-01 9.68709606e-01 -3.13455980e-03 -4.87935706e+01] [-1.33085481e-02 -1.74040512e-04 9.99911422e-01 -4.06893055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.98, Y:-48.80, Z:-4.07 [[ 9.69394946e-01 2.45067495e-01 1.46752012e-02 3.01980008e+02] [-2.45041690e-01 9.69506009e-01 -3.55930864e-03 -4.88010450e+01] [-1.50999666e-02 -1.45660299e-04 9.99885978e-01 -4.06932744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.01, Y:-48.81, Z:-4.07 [[ 9.70163756e-01 2.41994405e-01 1.48658621e-02 3.02010346e+02] [-2.41967518e-01 9.70277640e-01 -3.60853400e-03 -4.88104988e+01] [-1.52972586e-02 -9.61868420e-05 9.99882985e-01 -4.06974478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.04, Y:-48.82, Z:-4.07 [[ 9.71094899e-01 2.38235731e-01 1.47795387e-02 3.02041025e+02] [-2.38208677e-01 9.71207360e-01 -3.59033729e-03 -4.88209819e+01] [-1.52093434e-02 -3.40561442e-05 9.99884331e-01 -4.07014651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.07, Y:-48.84, Z:-4.07 [[ 9.73041531e-01 2.30203659e-01 1.40162378e-02 3.02072018e+02] [-2.30178460e-01 9.73142470e-01 -3.40721624e-03 -4.88350623e+01] [-1.44241499e-02 8.91268751e-05 9.99895963e-01 -4.07072295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.10, Y:-48.85, Z:-4.07 [[ 9.73736650e-01 2.27284740e-01 1.33635506e-02 3.02102353e+02] [-2.27261541e-01 9.73828337e-01 -3.24977751e-03 -4.88459617e+01] [-1.37524291e-02 1.27406351e-04 9.99905423e-01 -4.07193187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.13, Y:-48.86, Z:-4.07 [[ 9.74662679e-01 2.23420052e-01 1.07769240e-02 3.02132974e+02] [-2.23404712e-01 9.74722247e-01 -2.62227882e-03 -4.88614251e+01] [-1.10903772e-02 1.48221704e-04 9.99938489e-01 -4.07329260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.16, Y:-48.87, Z:-4.07 [[ 9.74940903e-01 2.22234150e-01 1.01102588e-02 3.02163878e+02] [-2.22220566e-01 9.74993312e-01 -2.46194600e-03 -4.88730015e+01] [-1.04045632e-02 1.53544420e-04 9.99945859e-01 -4.07368622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0957692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:302.19, Y:-48.88, Z:-4.07 [[ 9.75063198e-01 2.21692679e-01 1.02037329e-02 3.02194447e+02] [-2.21678788e-01 9.75116572e-01 -2.48707031e-03 -4.88842643e+01] [-1.05011943e-02 1.63099591e-04 9.99944848e-01 -4.07378174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.22, Y:-48.90, Z:-4.07 [[ 9.75061537e-01 2.21559784e-01 1.28942468e-02 3.02224606e+02] [-2.21537560e-01 9.75146767e-01 -3.14505468e-03 -4.89001796e+01] [-1.32706007e-02 2.10061875e-04 9.99911920e-01 -4.07277025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.26, Y:-48.91, Z:-4.07 [[ 9.75011990e-01 2.21707628e-01 1.40480100e-02 3.02255139e+02] [-2.21681222e-01 9.75113160e-01 -3.42942456e-03 -4.89126363e+01] [-1.44587290e-02 2.29550054e-04 9.99895441e-01 -4.07268654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.28, Y:-48.93, Z:-4.08 [[ 9.75221170e-01 2.20883947e-01 1.24076981e-02 3.02283971e+02] [-2.20863253e-01 9.75300075e-01 -3.03112673e-03 -4.89310065e+01] [-1.27707561e-02 2.15614387e-04 9.99918427e-01 -4.07527736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.31, Y:-48.94, Z:-4.08 [[ 9.75417858e-01 2.20138236e-01 9.95791362e-03 3.02314175e+02] [-2.20124855e-01 9.75468669e-01 -2.43399511e-03 -4.89443969e+01] [-1.02494481e-02 1.82178002e-04 9.99947456e-01 -4.07695234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.34, Y:-48.96, Z:-4.08 [[ 9.75580996e-01 2.19490612e-01 8.09879547e-03 3.02343504e+02] [-2.19481727e-01 9.75614600e-01 -1.98103547e-03 -4.89576072e+01] [-8.33612179e-03 1.55122947e-04 9.99965242e-01 -4.07845763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.37, Y:-48.97, Z:-4.08 [[ 9.75713581e-01 2.18914985e-01 7.69655137e-03 3.02374274e+02] [-2.18906938e-01 9.75743924e-01 -1.88318883e-03 -4.89709134e+01] [-7.92212149e-03 1.52624426e-04 9.99968608e-01 -4.07858287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.40, Y:-48.99, Z:-4.08 [[ 9.75799890e-01 2.18378616e-01 1.11961594e-02 3.02404137e+02] [-2.18361513e-01 9.75864092e-01 -2.74282048e-03 -4.89889817e+01] [-1.15249033e-02 2.31633616e-04 9.99933559e-01 -4.07583819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.43, Y:-49.00, Z:-4.08 [[ 9.75736033e-01 2.18696487e-01 1.05375278e-02 3.02434078e+02] [-2.18638341e-01 9.75784975e-01 -6.39983022e-03 -4.89992254e+01] [-1.16819817e-02 3.94063734e-03 9.99923998e-01 -4.07593606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.46, Y:-49.02, Z:-4.08 [[ 9.75278613e-01 2.20605473e-01 1.28394578e-02 3.02463055e+02] [-2.20633599e-01 9.75356435e-01 7.99325668e-04 -4.90167479e+01] [-1.23467122e-02 -3.61238102e-03 9.99917251e-01 -4.07649752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.50, Y:-49.02, Z:-4.08 [[ 9.75251313e-01 2.20777402e-01 1.19254117e-02 3.02495841e+02] [-2.20758121e-01 9.75324197e-01 -2.92616212e-03 -4.90235339e+01] [-1.22771730e-02 2.21111982e-04 9.99924608e-01 -4.07802261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.53, Y:-49.04, Z:-4.08 [[ 9.74712415e-01 2.23192150e-01 1.09987011e-02 3.02526781e+02] [-2.23175888e-01 9.74774452e-01 -2.70003790e-03 -4.90358631e+01] [-1.13238801e-02 1.77115581e-04 9.99935867e-01 -4.07981167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.56, Y:-49.05, Z:-4.08 [[ 9.74149483e-01 2.25651150e-01 1.06931597e-02 3.02556302e+02] [-2.25635904e-01 9.74208159e-01 -2.62718145e-03 -4.90478870e+01] [-1.10101899e-02 1.46506699e-04 9.99939375e-01 -4.08049305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.59, Y:-49.06, Z:-4.08 [[ 9.73081186e-01 2.30201122e-01 1.09748963e-02 3.02585209e+02] [-2.30185325e-01 9.73143069e-01 -2.69856624e-03 -4.90626163e+01] [-1.13013572e-02 9.96639716e-05 9.99936133e-01 -4.08020554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.62, Y:-49.07, Z:-4.08 [[ 9.72431238e-01 2.32905441e-01 1.15127622e-02 3.02616379e+02] [-2.32888221e-01 9.72499383e-01 -2.83308720e-03 -4.90733659e+01] [-1.18559955e-02 7.37957953e-05 9.99929712e-01 -4.08016145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.65, Y:-49.09, Z:-4.08 [[ 9.71300056e-01 2.37530500e-01 1.24684643e-02 3.02645449e+02] [-2.37510648e-01 9.71380081e-01 -3.07100359e-03 -4.90871517e+01] [-1.28410748e-02 2.14729429e-05 9.99917550e-01 -4.08053589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.68, Y:-49.10, Z:-4.08 [[ 9.70880597e-01 2.39256360e-01 1.21351105e-02 3.02676149e+02] [-2.39237662e-01 9.70956433e-01 -2.99113326e-03 -4.90987296e+01] [-1.24983113e-02 8.57771548e-07 9.99921893e-01 -4.08133841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.71, Y:-49.11, Z:-4.08 [[ 9.70447054e-01 2.41019583e-01 1.19195503e-02 3.02706655e+02] [-2.41001648e-01 9.70520252e-01 -2.94035570e-03 -4.91102919e+01] [-1.22768483e-02 -1.91717389e-05 9.99924636e-01 -4.08127816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.74, Y:-49.12, Z:-4.08 [[ 9.69400270e-01 2.45141811e-01 1.29849590e-02 3.02736111e+02] [-2.45120861e-01 9.69487229e-01 -3.20575907e-03 -4.91234515e+01] [-1.33746175e-02 -7.52206235e-05 9.99910553e-01 -4.08141727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.77, Y:-49.13, Z:-4.08 [[ 9.68678611e-01 2.47974545e-01 1.30527423e-02 3.02767469e+02] [-2.47953610e-01 9.68766542e-01 -3.22415292e-03 -4.91332259e+01] [-1.34445679e-02 -1.13306609e-04 9.99909611e-01 -4.08182937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.80, Y:-49.14, Z:-4.08 [[ 9.67020988e-01 2.54419256e-01 1.18848683e-02 3.02797664e+02] [-2.54402360e-01 9.67094002e-01 -2.93778156e-03 -4.91427360e+01] [-1.22412130e-02 -1.82642109e-04 9.99925057e-01 -4.08247892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.83, Y:-49.15, Z:-4.08 [[ 9.66100721e-01 2.57922515e-01 1.11970054e-02 3.02830086e+02] [-2.57907732e-01 9.66165582e-01 -2.76964000e-03 -4.91507681e+01] [-1.15325138e-02 -2.12043068e-04 9.99933476e-01 -4.08306060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.86, Y:-49.16, Z:-4.08 [[ 9.65238242e-01 2.61153254e-01 1.06824296e-02 3.02862077e+02] [-2.61139975e-01 9.65297323e-01 -2.64429625e-03 -4.91577330e+01] [-1.10022873e-02 -2.37233524e-04 9.99939445e-01 -4.08335892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.90, Y:-49.16, Z:-4.08 [[ 9.63418189e-01 2.67771283e-01 1.11325696e-02 3.02895258e+02] [-2.67757274e-01 9.63482452e-01 -2.75804272e-03 -4.91620687e+01] [-1.14645601e-02 -3.23677962e-04 9.99934227e-01 -4.08320263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.93, Y:-49.17, Z:-4.08 [[ 9.62591147e-01 2.70721808e-01 1.13131237e-02 3.02926441e+02] [-2.70707518e-01 9.62657557e-01 -2.80508341e-03 -4.91674139e+01] [-1.16500613e-02 -3.62399196e-04 9.99932070e-01 -4.08363509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.96, Y:-49.17, Z:-4.08 [[ 9.61768812e-01 2.73689162e-01 9.74652437e-03 3.02960492e+02] [-2.73678693e-01 9.61818135e-01 -2.41812557e-03 -4.91690271e+01] [-1.00361987e-02 -3.41738299e-04 9.99949578e-01 -4.08425773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.99, Y:-49.17, Z:-4.08 [[ 9.61613922e-01 2.74244956e-01 9.40050818e-03 3.02993427e+02] [-2.74235227e-01 9.61659811e-01 -2.33400395e-03 -4.91728567e+01] [-9.68017973e-03 -3.33539797e-04 9.99953090e-01 -4.08495589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.03, Y:-49.18, Z:-4.09 [[ 9.61549304e-01 2.74453769e-01 9.90276008e-03 3.03026915e+02] [-2.74442963e-01 9.61600231e-01 -2.46072043e-03 -4.91765546e+01] [-1.01978504e-02 -3.51638796e-04 9.99947939e-01 -4.08536761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.06, Y:-49.18, Z:-4.08 [[ 9.61546843e-01 2.74390832e-01 1.17192251e-02 3.03059749e+02] [-2.74375660e-01 9.61618168e-01 -2.91483748e-03 -4.91763662e+01] [-1.20692245e-02 -4.12717356e-04 9.99927079e-01 -4.08392642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.09, Y:-49.18, Z:-4.08 [[ 9.61900426e-01 2.73126192e-01 1.22332656e-02 3.03092984e+02] [-2.73109529e-01 9.61978125e-01 -3.04502672e-03 -4.91805625e+01] [-1.25998104e-02 -4.12008886e-04 9.99920534e-01 -4.08415263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.13, Y:-49.18, Z:-4.09 [[ 9.62813300e-01 2.69936797e-01 1.11657810e-02 3.03126275e+02] [-2.69922677e-01 9.62877984e-01 -2.78130839e-03 -4.91802113e+01] [-1.15020622e-02 -3.36016786e-04 9.99933793e-01 -4.08511595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.16, Y:-49.18, Z:-4.09 [[ 9.63065107e-01 2.69047659e-01 1.09067261e-02 3.03159202e+02] [-2.69034108e-01 9.63126813e-01 -2.71871358e-03 -4.91846650e+01] [-1.12360239e-02 -3.15983147e-04 9.99936824e-01 -4.08539301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.19, Y:-49.19, Z:-4.09 [[ 9.63033161e-01 2.69139824e-01 1.14405420e-02 3.03191455e+02] [-2.69124893e-01 9.63101057e-01 -2.85413517e-03 -4.91892517e+01] [-1.17865595e-02 -3.30307823e-04 9.99930482e-01 -4.08551408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.08576923100003 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:303.22, Y:-49.19, Z:-4.09 [[ 9.62666832e-01 2.70420823e-01 1.20477559e-02 3.03224482e+02] [-2.70404336e-01 9.62742150e-01 -3.00793789e-03 -4.91893103e+01] [-1.24122914e-02 -3.62123385e-04 9.99922899e-01 -4.08502215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.11576923100006 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:303.26, Y:-49.19, Z:-4.09 [[ 9.62568936e-01 2.70765028e-01 1.21384637e-02 3.03257114e+02] [-2.70748301e-01 9.62645399e-01 -3.03206049e-03 -4.91930093e+01] [-1.25060122e-02 -3.67901187e-04 9.99921729e-01 -4.08566715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14576923100003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:303.29, Y:-49.19, Z:-4.09 [[ 9.62771540e-01 2.70091583e-01 1.10226772e-02 3.03290850e+02] [-2.70077724e-01 9.62834582e-01 -2.75524061e-03 -4.91945273e+01] [-1.13571821e-02 -3.24312312e-04 9.99935453e-01 -4.08683270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.17576923100006 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:303.32, Y:-49.20, Z:-4.09 [[ 9.62919973e-01 2.69590354e-01 1.03037505e-02 3.03322272e+02] [-2.69578194e-01 9.62975054e-01 -2.57747723e-03 -4.92001346e+01] [-1.06171177e-02 -2.95762141e-04 9.99943593e-01 -4.08738008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20576923100003 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:303.35, Y:-49.21, Z:-4.09 [[ 9.63074434e-01 2.69060433e-01 9.70149140e-03 3.03354625e+02] [-2.69049610e-01 9.63123258e-01 -2.42849308e-03 -4.92054679e+01] [-9.99714340e-03 -2.71362877e-04 9.99949990e-01 -4.08860807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.23576923100006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:303.39, Y:-49.21, Z:-4.09 [[ 9.63491307e-01 2.67594561e-01 8.81200849e-03 3.03387787e+02] [-2.67585556e-01 9.63531576e-01 -2.20737835e-03 -4.92057682e+01] [-9.08133087e-03 -2.31176340e-04 9.99958737e-01 -4.08993183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26576923100004 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:303.42, Y:-49.21, Z:-4.09 [[ 9.63821824e-01 2.66407211e-01 8.64229674e-03 3.03420484e+02] [-2.66398489e-01 9.63860546e-01 -2.16631611e-03 -4.92095885e+01] [-8.90709109e-03 -2.14352045e-04 9.99960308e-01 -4.09019548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.29576923100007 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:303.45, Y:-49.21, Z:-4.09 [[ 9.64675891e-01 2.63284803e-01 9.02986796e-03 3.03453533e+02] [-2.63275126e-01 9.64718133e-01 -2.26545810e-03 -4.92098518e+01] [-9.30773805e-03 -1.91906810e-04 9.99956664e-01 -4.09016442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32576923100004 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:303.49, Y:-49.21, Z:-4.09 [[ 9.65173490e-01 2.61458351e-01 8.92554673e-03 3.03485456e+02] [-2.61448803e-01 9.65214744e-01 -2.24096581e-03 -4.92137460e+01] [-9.20098853e-03 -1.70652720e-04 9.99957655e-01 -4.09021325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.35576923100007 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:303.52, Y:-49.22, Z:-4.09 [[ 9.65709647e-01 2.59474003e-01 8.83849294e-03 3.03518050e+02] [-2.59464543e-01 9.65750081e-01 -2.22067777e-03 -4.92174735e+01] [-9.11198343e-03 -1.48745586e-04 9.99958474e-01 -4.09115969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38576923100004 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:303.55, Y:-49.22, Z:-4.09 [[ 9.66927274e-01 2.54933541e-01 7.78052745e-03 3.03550592e+02] [-2.54926052e-01 9.66958573e-01 -1.95612257e-03 -4.92188505e+01] [-8.02212897e-03 -9.20308835e-05 9.99967818e-01 -4.09223969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.41576923100007 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:303.58, Y:-49.23, Z:-4.09 [[ 9.67745387e-01 2.51827477e-01 7.19641394e-03 3.03583302e+02] [-2.51820976e-01 9.67772142e-01 -1.81050542e-03 -4.92251382e+01] [-7.42042394e-03 -6.00997119e-05 9.99972466e-01 -4.09297784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44576923100004 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:303.61, Y:-49.23, Z:-4.09 [[ 9.69888117e-01 2.43459321e-01 6.67823032e-03 3.03614880e+02] [-2.43453513e-01 9.69911109e-01 -1.68170220e-03 -4.92308947e+01] [-6.88671585e-03 5.22435143e-06 9.99976286e-01 -4.09312129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.4757692310001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:303.65, Y:-49.24, Z:-4.09 [[ 9.70935498e-01 2.39233612e-01 7.17899624e-03 3.03646536e+02] [-2.39226780e-01 9.70962037e-01 -1.80842056e-03 -4.92383335e+01] [-7.40316780e-03 3.84515636e-05 9.99972595e-01 -4.09304102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50576923100004 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:303.68, Y:-49.25, Z:-4.09 [[ 9.71862700e-01 2.35393416e-01 8.53413442e-03 3.03678672e+02] [-2.35383594e-01 9.71900166e-01 -2.15195389e-03 -4.92463425e+01] [-8.80088243e-03 8.26084947e-05 9.99961268e-01 -4.09337234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5357692310001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:303.71, Y:-49.26, Z:-4.09 [[ 9.73279572e-01 2.29346074e-01 1.12806241e-02 3.03709283e+02] [-2.29328470e-01 9.73344926e-01 -2.84755934e-03 -4.92562192e+01] [-1.16330148e-02 1.84503059e-04 9.99932317e-01 -4.09277979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56576923100005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:303.74, Y:-49.27, Z:-4.09 [[ 9.73871875e-01 2.26811121e-01 1.14142787e-02 3.03740649e+02] [-2.26792898e-01 9.73938739e-01 -2.88345137e-03 -4.92666026e+01] [-1.17708070e-02 2.19434864e-04 9.99930698e-01 -4.09272003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5957692310001 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:303.77, Y:-49.28, Z:-4.09 [[ 9.74389178e-01 2.24607313e-01 1.08298084e-02 3.03771109e+02] [-2.24590749e-01 9.74449331e-01 -2.73791174e-03 -4.92774067e+01] [-1.11680546e-02 2.35516785e-04 9.99937608e-01 -4.09368576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62576923100005 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:303.80, Y:-49.29, Z:-4.09 [[ 9.74668007e-01 2.23471199e-01 9.10494170e-03 3.03801305e+02] [-2.23459429e-01 9.74710510e-01 -2.30316128e-03 -4.92906617e+01] [-9.38937258e-03 2.10232547e-04 9.99955897e-01 -4.09465191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6557692310001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:303.83, Y:-49.30, Z:-4.09 [[ 9.74309294e-01 2.25036781e-01 8.93572991e-03 3.03832856e+02] [-2.25025494e-01 9.74350250e-01 -2.26216102e-03 -4.93021245e+01] [-9.21560011e-03 1.93277466e-04 9.99957517e-01 -4.09488079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68576923100005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:303.86, Y:-49.32, Z:-4.09 [[ 9.73081022e-01 2.30291744e-01 8.89032130e-03 3.03862897e+02] [-2.30280773e-01 9.73121622e-01 -2.25251454e-03 -4.93163076e+01] [-9.17009939e-03 1.44609088e-04 9.99957943e-01 -4.09448172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.715769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:303.89, Y:-49.33, Z:-4.09 [[ 9.72250349e-01 2.33776034e-01 8.83317609e-03 3.03893516e+02] [-2.33765328e-01 9.72290468e-01 -2.24012333e-03 -4.93259535e+01] [-9.11210006e-03 1.13070380e-04 9.99958478e-01 -4.09451319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74576923100005 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:303.92, Y:-49.33, Z:-4.09 [[ 9.71307677e-01 2.37665730e-01 8.74060153e-03 3.03923887e+02] [-2.37655395e-01 9.71347000e-01 -2.21777754e-03 -4.93344815e+01] [-9.01724680e-03 7.68932418e-05 9.99959341e-01 -4.09413823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.775769231 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:303.96, Y:-49.34, Z:-4.09 [[ 9.69538170e-01 2.44731369e-01 1.01140688e-02 3.03955528e+02] [-2.44717900e-01 9.69590922e-01 -2.56758780e-03 -4.93431016e+01] [-1.04348785e-02 1.42807132e-05 9.99945555e-01 -4.09403624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80576923100006 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:303.99, Y:-49.35, Z:-4.09 [[ 9.68893126e-01 2.47249441e-01 1.06688548e-02 3.03986308e+02] [-2.47234580e-01 9.68951864e-01 -2.71082071e-03 -4.93509015e+01] [-1.10078557e-02 -1.12142881e-05 9.99939412e-01 -4.09433727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.83576923100003 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:304.02, Y:-49.36, Z:-4.09 [[ 9.68074231e-01 2.50406827e-01 1.13447512e-02 3.04018295e+02] [-2.50390223e-01 9.68140702e-01 -2.88400326e-03 -4.93588253e+01] [-1.17054895e-02 -4.86855393e-05 9.99931487e-01 -4.09415760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86576923100006 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:304.05, Y:-49.37, Z:-4.09 [[ 9.67929190e-01 2.50958805e-01 1.15222090e-02 3.04050319e+02] [-2.50941688e-01 9.67997766e-01 -2.93150863e-03 -4.93672277e+01] [-1.18891605e-02 -5.39097954e-05 9.99929320e-01 -4.09495295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.89576923100003 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:304.08, Y:-49.38, Z:-4.10 [[ 9.68056212e-01 2.50483894e-01 1.11798294e-02 3.04082421e+02] [-2.50467723e-01 9.68120766e-01 -2.84659743e-03 -4.93758410e+01] [-1.15364518e-02 -4.45200782e-05 9.99933452e-01 -4.09544014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92576923100006 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:304.11, Y:-49.38, Z:-4.10 [[ 9.68563717e-01 2.48528634e-01 1.08556214e-02 3.04113414e+02] [-2.48513240e-01 9.68624550e-01 -2.76618742e-03 -4.93834481e+01] [-1.12024982e-02 -1.85368869e-05 9.99937250e-01 -4.09684636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.95576923100003 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:304.15, Y:-49.39, Z:-4.10 [[ 9.68746278e-01 2.47839678e-01 1.03025263e-02 3.04145878e+02] [-2.47825753e-01 9.68801060e-01 -2.62726960e-03 -4.93908155e+01] [-1.06322400e-02 -8.07367781e-06 9.99943476e-01 -4.09682260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98576923100006 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:304.18, Y:-49.39, Z:-4.10 [[ 9.68565535e-01 2.48680379e-01 6.23478982e-03 3.04177757e+02] [-2.48642814e-01 9.68575253e-01 -6.22330273e-03 -4.93944978e+01] [-7.58647641e-03 4.47744086e-03 9.99961198e-01 -4.09770703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01576923100004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:304.21, Y:-49.40, Z:-4.10 [[ 9.68322098e-01 2.49547352e-01 8.85629346e-03 3.04208730e+02] [-2.49576990e-01 9.68351989e-01 2.39830173e-03 -4.94042124e+01] [-7.97751953e-03 -4.53265563e-03 9.99957906e-01 -4.09676046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04576923100007 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:304.24, Y:-49.41, Z:-4.10 [[ 9.67786774e-01 2.51756140e-01 2.75804146e-03 3.04240193e+02] [-2.51715865e-01 9.67745588e-01 -1.03730652e-02 -4.94060892e+01] [-5.28056530e-03 9.34467246e-03 9.99942395e-01 -4.09861821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07576923100004 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:304.27, Y:-49.42, Z:-4.09 [[ 9.67235178e-01 2.53615870e-01 1.16232890e-02 3.04271539e+02] [-2.53703118e-01 9.67258585e-01 6.74962476e-03 -4.94184111e+01] [-9.53091413e-03 -9.47733918e-03 9.99909667e-01 -4.09458143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10576923100007 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:304.30, Y:-49.42, Z:-4.10 [[ 9.66959214e-01 2.54732154e-01 1.00701631e-02 3.04304023e+02] [-2.54719165e-01 9.67011646e-01 -2.57347949e-03 -4.94225951e+01] [-1.03935130e-02 -7.66138298e-05 9.99945983e-01 -4.09678726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13576923100004 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:304.34, Y:-49.43, Z:-4.10 [[ 9.66612988e-01 2.56051100e-01 9.85725500e-03 3.04335815e+02] [-2.56038704e-01 9.66663244e-01 -2.52097480e-03 -4.94281634e+01] [-1.01741445e-02 -8.70318135e-05 9.99948238e-01 -4.09684352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16576923100007 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:304.37, Y:-49.43, Z:-4.10 [[ 9.66583756e-01 2.56169427e-01 9.64717149e-03 3.04368281e+02] [-2.56157544e-01 9.66631893e-01 -2.46892438e-03 -4.94341998e+01] [-9.95772659e-03 -8.47735522e-05 9.99950417e-01 -4.09751230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19576923100004 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:304.40, Y:-49.44, Z:-4.10 [[ 9.66651506e-01 2.55921684e-01 9.43171992e-03 3.04401302e+02] [-2.55910296e-01 9.66697515e-01 -2.41552326e-03 -4.94399207e+01] [-9.73580499e-03 -7.87050451e-05 9.99952603e-01 -4.09805320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2257692310001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:304.43, Y:-49.44, Z:-4.10 [[ 9.66792416e-01 2.55368689e-01 9.96274782e-03 3.04432983e+02] [-2.55355930e-01 9.66843745e-01 -2.55377289e-03 -4.94449109e+01] [-1.02845740e-02 -7.50784698e-05 9.99947110e-01 -4.09822932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.25576923100004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:304.47, Y:-49.45, Z:-4.10 [[ 9.66910853e-01 2.54880417e-01 1.09258617e-02 3.04465403e+02] [-2.54865015e-01 9.66972578e-01 -2.80301313e-03 -4.94522672e+01] [-1.12794418e-02 -7.43560836e-05 9.99936382e-01 -4.09851137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2857692310001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:304.50, Y:-49.46, Z:-4.10 [[ 9.66878691e-01 2.55002421e-01 1.09253351e-02 3.04497791e+02] [-2.54987003e-01 9.66940412e-01 -2.80506425e-03 -4.94607563e+01] [-1.12794462e-02 -7.36616026e-05 9.99936382e-01 -4.09893133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.31576923100005 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:304.53, Y:-49.47, Z:-4.10 [[ 9.67421372e-01 2.52914301e-01 1.14125185e-02 3.04530836e+02] [-2.52897313e-01 9.67488684e-01 -2.93171333e-03 -4.94657402e+01] [-1.17829547e-02 -4.99931360e-05 9.99930577e-01 -4.09955531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3457692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:304.56, Y:-49.47, Z:-4.10 [[ 9.67898684e-01 2.51118473e-01 1.05664656e-02 3.04562569e+02] [-2.51103782e-01 9.67956358e-01 -2.71635450e-03 -4.94722274e+01] [-1.09100044e-02 -2.41235413e-05 9.99940484e-01 -4.10084544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.37576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:304.59, Y:-49.48, Z:-4.10 [[ 9.68309771e-01 2.49582067e-01 9.21837282e-03 3.04594714e+02] [-2.49570810e-01 9.68353650e-01 -2.37050419e-03 -4.94803129e+01] [-9.51828030e-03 -5.25439596e-06 9.99954700e-01 -4.10173645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.4057692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:304.63, Y:-49.49, Z:-4.10 [[ 9.68947846e-01 2.47108736e-01 8.79460431e-03 3.04626342e+02] [-2.47098373e-01 9.68987757e-01 -2.26313804e-03 -4.94900918e+01] [-9.08110508e-03 1.97303161e-05 9.99958766e-01 -4.10128693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.43576923100005 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:304.66, Y:-49.50, Z:-4.10 [[ 9.68958007e-01 2.47050605e-01 9.29407540e-03 3.04657603e+02] [-2.47039010e-01 9.69002579e-01 -2.39364792e-03 -4.94980809e+01] [-9.59733520e-03 2.33451297e-05 9.99953944e-01 -4.10122101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.465769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:304.69, Y:-49.50, Z:-4.10 [[ 9.68589932e-01 2.48502346e-01 8.95138615e-03 3.04689931e+02] [-2.48491638e-01 9.68631294e-01 -2.30691192e-03 -4.95035539e+01] [-9.24386578e-03 1.01070497e-05 9.99957275e-01 -4.10234153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.49576923100005 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:304.72, Y:-49.51, Z:-4.10 [[ 9.68309492e-01 2.49624501e-01 8.02104061e-03 3.04720862e+02] [-2.49615931e-01 9.68342712e-01 -2.06847663e-03 -4.95111280e+01] [-8.28345867e-03 7.46034237e-07 9.99965692e-01 -4.10262588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.525769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:304.75, Y:-49.52, Z:-4.10 [[ 9.68016530e-01 2.50768644e-01 7.68667540e-03 3.04751707e+02] [-2.50760797e-01 9.68047048e-01 -1.98379200e-03 -4.95194125e+01] [-7.93853626e-03 -7.17340474e-06 9.99968489e-01 -4.10297589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.55576923100006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:304.78, Y:-49.53, Z:-4.10 [[ 9.67348453e-01 2.53317608e-01 8.19514595e-03 3.04783298e+02] [-2.53308774e-01 9.67383165e-01 -2.11571585e-03 -4.95278353e+01] [-8.46379431e-03 -2.92679263e-05 9.99964181e-01 -4.10307046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.58576923100003 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:304.81, Y:-49.54, Z:-4.10 [[ 9.66871523e-01 2.55101443e-01 9.09460923e-03 3.04814306e+02] [-2.55090622e-01 9.66914294e-01 -2.35008549e-03 -4.95353643e+01] [-9.39321786e-03 -4.77187868e-05 9.99955882e-01 -4.10352172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.61576923100006 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:304.85, Y:-49.54, Z:-4.10 [[ 9.66252702e-01 2.57451723e-01 8.62128334e-03 3.04846113e+02] [-2.57442080e-01 9.66291160e-01 -2.22924070e-03 -4.95423935e+01] [-8.90459174e-03 -6.54712603e-05 9.99960351e-01 -4.10404246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64576923100003 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:304.88, Y:-49.55, Z:-4.10 [[ 9.66077191e-01 2.58159502e-01 6.96652303e-03 3.04876721e+02] [-2.58153217e-01 9.66102307e-01 -1.80236959e-03 -4.95497805e+01] [-7.19567281e-03 -5.72021769e-05 9.99974109e-01 -4.10442748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.67576923100006 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:304.91, Y:-49.56, Z:-4.10 [[ 9.65930205e-01 2.58745002e-01 5.46480619e-03 3.04908446e+02] [-2.58741141e-01 9.65945662e-01 -1.41426181e-03 -4.95569450e+01] [-5.64463901e-03 -4.78919907e-05 9.99984068e-01 -4.10465539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70576923100003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:304.94, Y:-49.56, Z:-4.11 [[ 9.65802685e-01 2.59211490e-01 5.88027765e-03 3.04940938e+02] [-2.59207020e-01 9.65820584e-01 -1.52328215e-03 -4.95609730e+01] [-6.07414543e-03 -5.30192523e-05 9.99981551e-01 -4.10538240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.73576923100006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:304.97, Y:-49.56, Z:-4.11 [[ 9.65449342e-01 2.60470588e-01 7.91458142e-03 3.04973819e+02] [-2.60462513e-01 9.65481779e-01 -2.05255748e-03 -4.95649531e+01] [-8.17601500e-03 -7.98114949e-05 9.99966573e-01 -4.10590265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76576923100004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:305.01, Y:-49.57, Z:-4.11 [[ 9.65131544e-01 2.61630378e-01 8.40528614e-03 3.05005444e+02] [-2.61621298e-01 9.65168139e-01 -2.18173491e-03 -4.95705107e+01] [-8.68332252e-03 -9.33406855e-05 9.99962295e-01 -4.10591921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.79576923100007 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:305.04, Y:-49.57, Z:-4.11 [[ 9.64810545e-01 2.62803876e-01 8.64494050e-03 3.05037066e+02] [-2.62794302e-01 9.64849269e-01 -2.24568660e-03 -4.95748597e+01] [-8.93123967e-03 -1.05178992e-04 9.99960110e-01 -4.10591590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:305.07, Y:-49.58, Z:-4.11 [[ 9.64498033e-01 2.63941344e-01 8.86071308e-03 3.05070046e+02] [-2.63931319e-01 9.64538726e-01 -2.30333204e-03 -4.95789785e+01] [-9.15444545e-03 -1.17060472e-04 9.99958090e-01 -4.10631888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.85576923100007 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:305.10, Y:-49.58, Z:-4.11 [[ 9.64395128e-01 2.64296724e-01 9.44878241e-03 3.05104185e+02] [-2.64285322e-01 9.64441406e-01 -2.45826418e-03 -4.95785772e+01] [-9.76250816e-03 -1.26436501e-04 9.99952338e-01 -4.10735665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88576923100004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:305.14, Y:-49.58, Z:-4.11 [[ 9.64557519e-01 2.63719537e-01 8.98878639e-03 3.05136988e+02] [-2.63709177e-01 9.64599395e-01 -2.34030296e-03 -4.95837837e+01] [-9.28776153e-03 -1.13068640e-04 9.99956861e-01 -4.10786607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.91576923100007 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:305.17, Y:-49.59, Z:-4.11 [[ 9.65290772e-01 2.61052450e-01 8.08353969e-03 3.05169266e+02] [-2.61043966e-01 9.65324615e-01 -2.10607839e-03 -4.95854287e+01] [-8.35303676e-03 -7.71812271e-05 9.99965110e-01 -4.10829012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94576923100004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:305.20, Y:-49.59, Z:-4.11 [[ 9.65701393e-01 2.59514870e-01 8.53530398e-03 3.05200291e+02] [-2.59505330e-01 9.65739110e-01 -2.22613836e-03 -4.95898955e+01] [-8.82059287e-03 -6.51719637e-05 9.99961096e-01 -4.10872758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.9757692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:305.23, Y:-49.59, Z:-4.11 [[ 9.66437524e-01 2.56684790e-01 1.05560682e-02 3.05231165e+02] [-2.56670025e-01 9.66495171e-01 -2.75354674e-03 -4.95909932e+01] [-1.09091825e-02 -4.82954043e-05 9.99940492e-01 -4.10843912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00576923100004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:305.26, Y:-49.60, Z:-4.11 [[ 9.66769575e-01 2.55413609e-01 1.09762069e-02 3.05262332e+02] [-2.55397562e-01 9.66831881e-01 -2.86327032e-03 -4.95966960e+01] [-1.13434650e-02 -3.51738600e-05 9.99935660e-01 -4.10883228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0357692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:305.29, Y:-49.60, Z:-4.11 [[ 9.67251269e-01 2.53610206e-01 1.03365934e-02 3.05291866e+02] [-2.53595869e-01 9.67306499e-01 -2.69668750e-03 -4.96023538e+01] [-1.06825614e-02 -1.29429621e-05 9.99942940e-01 -4.11000431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06576923100005 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:305.32, Y:-49.61, Z:-4.11 [[ 9.68444969e-01 2.49111032e-01 7.61811564e-03 3.05321592e+02] [-2.49103104e-01 9.68474932e-01 -1.98752746e-03 -4.96077177e+01] [-7.87306904e-03 2.71147203e-05 9.99969007e-01 -4.11231807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0957692310001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:305.35, Y:-49.62, Z:-4.11 [[ 9.69083221e-01 2.46635480e-01 6.97504086e-03 3.05349619e+02] [-2.46628769e-01 9.69108321e-01 -1.81995578e-03 -4.96152598e+01] [-7.20843580e-03 4.34428674e-05 9.99974018e-01 -4.11283555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12576923100005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:305.38, Y:-49.62, Z:-4.11 [[ 9.70139035e-01 2.42470055e-01 6.20691660e-03 3.05378940e+02] [-2.42464656e-01 9.70158888e-01 -1.61939869e-03 -4.96246428e+01] [-6.41435100e-03 6.60839848e-05 9.99979426e-01 -4.11222896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1557692310001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:305.41, Y:-49.63, Z:-4.11 [[ 9.70563963e-01 2.40772368e-01 5.85330229e-03 3.05408777e+02] [-2.40767536e-01 9.70581610e-01 -1.52713991e-03 -4.96323224e+01] [-6.04880065e-03 7.29017951e-05 9.99981703e-01 -4.11269257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18576923100005 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:305.44, Y:-49.64, Z:-4.11 [[ 9.70986750e-01 2.39044442e-01 6.51816635e-03 3.05437883e+02] [-2.39038411e-01 9.71008623e-01 -1.70067403e-03 -4.96394988e+01] [-6.73573241e-03 9.32398243e-05 9.99977310e-01 -4.11349285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.215769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:305.47, Y:-49.65, Z:-4.11 [[ 9.71232858e-01 2.37936948e-01 9.63036628e-03 3.05465124e+02] [-2.37923728e-01 9.71280591e-01 -2.51255437e-03 -4.96467208e+01] [-9.95161737e-03 1.48982712e-04 9.99950470e-01 -4.11285848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:305.49, Y:-49.65, Z:-4.11 [[ 9.71148704e-01 2.38262455e-01 1.00596429e-02 3.05492698e+02] [-2.38248052e-01 9.71200793e-01 -2.62414997e-03 -4.96542960e+01] [-1.03951695e-02 1.51749524e-04 9.99945957e-01 -4.11280335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.275769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:305.52, Y:-49.66, Z:-4.11 [[ 9.70888238e-01 2.39408003e-01 7.73553608e-03 3.05523307e+02] [-2.39399531e-01 9.70919048e-01 -2.01685422e-03 -4.96634828e+01] [-7.99343036e-03 1.06256333e-04 9.99968046e-01 -4.11406800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:305.55, Y:-49.67, Z:-4.12 [[ 9.70780420e-01 2.39892417e-01 6.08305911e-03 3.05552685e+02] [-2.39887179e-01 9.70799475e-01 -1.58737617e-03 -4.96708751e+01] [-6.28623010e-03 8.17458175e-05 9.99980238e-01 -4.11525939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.33576923100003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:305.58, Y:-49.68, Z:-4.12 [[ 9.70587155e-01 2.40696477e-01 5.07756137e-03 3.05581242e+02] [-2.40692834e-01 9.70600434e-01 -1.32576832e-03 -4.96779424e+01] [-5.24739103e-03 6.46410692e-05 9.99986230e-01 -4.11661652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36576923100006 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:305.61, Y:-49.69, Z:-4.12 [[ 9.69930514e-01 2.43317597e-01 5.59861526e-03 3.05611230e+02] [-2.43313215e-01 9.69946671e-01 -1.46132408e-03 -4.96859550e+01] [-5.78592410e-03 5.51657440e-05 9.99983260e-01 -4.11591272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.39576923100003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:305.64, Y:-49.69, Z:-4.11 [[ 9.69494208e-01 2.45013404e-01 7.02943876e-03 3.05640245e+02] [-2.45006538e-01 9.69519690e-01 -1.83512397e-03 -4.96935995e+01] [-7.26480926e-03 5.68836022e-05 9.99973609e-01 -4.11488135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42576923100006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:305.67, Y:-49.70, Z:-4.11 [[ 9.68700371e-01 2.48015664e-01 1.03837344e-02 3.05670718e+02] [-2.48000853e-01 9.68756021e-01 -2.71099444e-03 -4.97002391e+01] [-1.07316743e-02 5.09663279e-05 9.99942413e-01 -4.11338994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.45576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:305.70, Y:-49.71, Z:-4.11 [[ 9.68572056e-01 2.48479720e-01 1.12250346e-02 3.05700973e+02] [-2.48462439e-01 9.68637097e-01 -2.93089225e-03 -4.97082932e+01] [-1.16012522e-02 4.97808661e-05 9.99932702e-01 -4.11471444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:305.73, Y:-49.72, Z:-4.12 [[ 9.68660156e-01 2.48145592e-01 1.10121123e-02 3.05730571e+02] [-2.48128927e-01 9.68722748e-01 -2.87635245e-03 -4.97176853e+01] [-1.13814378e-02 5.37844183e-05 9.99935228e-01 -4.11596769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:305.76, Y:-49.73, Z:-4.12 [[ 9.69188565e-01 2.46122212e-01 9.86823101e-03 3.05760287e+02] [-2.46108710e-01 9.69238800e-01 -2.57896498e-03 -4.97291924e+01] [-1.01994129e-02 7.08457693e-05 9.99947982e-01 -4.11697864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:305.79, Y:-49.74, Z:-4.12 [[ 9.69453996e-01 2.45084733e-01 9.61367933e-03 3.05788261e+02] [-2.45071845e-01 9.69501659e-01 -2.51475798e-03 -4.97375337e+01] [-9.93680685e-03 8.19000430e-05 9.99950625e-01 -4.11698234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:305.82, Y:-49.75, Z:-4.12 [[ 9.69689142e-01 2.44191792e-01 8.56363821e-03 3.05817698e+02] [-2.44181534e-01 9.69726952e-01 -2.23974583e-03 -4.97478098e+01] [-8.85131833e-03 8.07749024e-05 9.99960823e-01 -4.11775533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:305.85, Y:-49.76, Z:-4.12 [[ 9.69518511e-01 2.44885301e-01 8.06511981e-03 3.05846590e+02] [-2.44876226e-01 9.69552053e-01 -2.10941143e-03 -4.97574400e+01] [-8.33611732e-03 7.01573317e-05 9.99965252e-01 -4.11743289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:305.88, Y:-49.77, Z:-4.12 [[ 9.68810924e-01 2.47656370e-01 8.46851847e-03 3.05875839e+02] [-2.47646464e-01 9.68847934e-01 -2.21565792e-03 -4.97655716e+01] [-8.75342842e-03 4.93549396e-05 9.99961687e-01 -4.11628783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66576923100007 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:305.91, Y:-49.77, Z:-4.12 [[ 9.68263037e-01 2.49784764e-01 8.61760350e-03 3.05908085e+02] [-2.49774597e-01 9.68301384e-01 -2.25392233e-03 -4.97729229e+01] [-8.90743286e-03 2.99312377e-05 9.99960328e-01 -4.11662820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:305.94, Y:-49.78, Z:-4.12 [[ 9.67736110e-01 2.51832903e-01 8.18603246e-03 3.05938205e+02] [-2.51823786e-01 9.67770732e-01 -2.14281253e-03 -4.97804917e+01] [-8.46183332e-03 1.22393700e-05 9.99964198e-01 -4.11734044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7257692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:305.97, Y:-49.79, Z:-4.12 [[ 9.67154020e-01 2.54011929e-01 9.54154819e-03 3.05968002e+02] [-2.53999626e-01 9.67201086e-01 -2.49997980e-03 -4.97898406e+01] [-9.86362046e-03 -5.68416296e-06 9.99951353e-01 -4.11691474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.75576923100004 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:306.00, Y:-49.80, Z:-4.12 [[ 9.66875431e-01 2.55012299e-01 1.09830939e-02 3.05998179e+02] [-2.54996061e-01 9.66937809e-01 -2.87785003e-03 -4.97974031e+01] [-1.13538559e-02 -1.81231920e-05 9.99935543e-01 -4.11685340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7857692310001 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:306.03, Y:-49.80, Z:-4.12 [[ 9.66276020e-01 2.57279980e-01 1.08473717e-02 3.06027508e+02] [-2.57264261e-01 9.66336903e-01 -2.84431798e-03 -4.98018380e+01] [-1.12140016e-02 -4.22447937e-05 9.99937120e-01 -4.11784008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.81576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:306.05, Y:-49.81, Z:-4.12 [[ 9.65860034e-01 2.58895078e-01 9.36659276e-03 3.06054933e+02] [-2.58883435e-01 9.65905449e-01 -2.45588344e-03 -4.98082938e+01] [-9.68305912e-03 -5.28160500e-05 9.99953117e-01 -4.11943154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8457692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:306.08, Y:-49.82, Z:-4.12 [[ 9.65365190e-01 2.60779409e-01 8.00939728e-03 3.06084871e+02] [-2.60770963e-01 9.65398413e-01 -2.09965447e-03 -4.98162278e+01] [-8.27980607e-03 -6.16849068e-05 9.99965720e-01 -4.11728019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.87576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:306.11, Y:-49.82, Z:-4.12 [[ 9.64528388e-01 2.63845342e-01 8.40385018e-03 3.06112471e+02] [-2.63836159e-01 9.64564994e-01 -2.20320155e-03 -4.98222576e+01] [-8.68736416e-03 -9.21891095e-05 9.99962260e-01 -4.11888044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.9057692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:306.14, Y:-49.83, Z:-4.12 [[ 9.64172081e-01 2.65141848e-01 8.48518218e-03 3.06141997e+02] [-2.65132540e-01 9.64209412e-01 -2.22414927e-03 -4.98283528e+01] [-8.77120756e-03 -1.05235272e-04 9.99961527e-01 -4.11856190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.93576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:306.17, Y:-49.83, Z:-4.12 [[ 9.63680341e-01 2.66956442e-01 7.37964356e-03 3.06170053e+02] [-2.66949456e-01 9.63708590e-01 -1.93427567e-03 -4.98328958e+01] [-7.62819324e-03 -1.05968398e-04 9.99970899e-01 -4.11912009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.965769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:306.20, Y:-49.84, Z:-4.12 [[ 9.63562528e-01 2.67398288e-01 6.73866789e-03 3.06197497e+02] [-2.67392474e-01 9.63586086e-01 -1.76618449e-03 -4.98383759e+01] [-6.96556133e-03 -1.00039884e-04 9.99975735e-01 -4.12037174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.99576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:306.23, Y:-49.84, Z:-4.12 [[ 9.63380360e-01 2.68061229e-01 6.43885237e-03 3.06226576e+02] [-2.68055938e-01 9.63401872e-01 -1.68717293e-03 -4.98413159e+01] [-6.65546807e-03 -1.00583349e-04 9.99977847e-01 -4.12176310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.025769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:306.25, Y:-49.85, Z:-4.12 [[ 9.63164832e-01 2.68820922e-01 6.98693098e-03 3.06254676e+02] [-2.68814715e-01 9.63190167e-01 -1.83044684e-03 -4.98455940e+01] [-7.22180563e-03 -1.15167836e-04 9.99973916e-01 -4.12126567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.05576923100006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:306.28, Y:-49.85, Z:-4.12 [[ 9.62785330e-01 2.70151133e-01 7.92300353e-03 3.06283127e+02] [-2.70143201e-01 9.62817919e-01 -2.07502993e-03 -4.98502415e+01] [-8.18898146e-03 -1.42537157e-04 9.99966460e-01 -4.12108912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.08576923100003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:306.31, Y:-49.85, Z:-4.12 [[ 9.62235634e-01 2.72064004e-01 9.15211800e-03 3.06312370e+02] [-2.72053513e-01 9.62279140e-01 -2.39638378e-03 -4.98512690e+01] [-9.45886201e-03 -1.83979979e-04 9.99955247e-01 -4.12112118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.11576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:306.34, Y:-49.85, Z:-4.12 [[ 9.62276799e-01 2.71926443e-01 8.90908373e-03 3.06340297e+02] [-2.71916499e-01 9.62318023e-01 -2.33235500e-03 -4.98543037e+01] [-9.20760084e-03 -1.78155748e-04 9.99957593e-01 -4.12192200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:306.37, Y:-49.85, Z:-4.12 [[ 9.62707143e-01 2.70400668e-01 8.85642436e-03 3.06370063e+02] [-2.70390781e-01 9.62747865e-01 -2.31805208e-03 -4.98528224e+01] [-9.15330648e-03 -1.63090202e-04 9.99958094e-01 -4.12372170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.17576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:306.40, Y:-49.86, Z:-4.12 [[ 9.63139005e-01 2.68859185e-01 8.83156103e-03 3.06398623e+02] [-2.68849295e-01 9.63179483e-01 -2.31090578e-03 -4.98561311e+01] [-9.12768663e-03 -1.48635463e-04 9.99958331e-01 -4.12390044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:306.43, Y:-49.86, Z:-4.12 [[ 9.63154432e-01 2.68803908e-01 8.83172930e-03 3.06426228e+02] [-2.68794021e-01 9.63194911e-01 -2.31026247e-03 -4.98632164e+01] [-9.12768430e-03 -1.48776491e-04 9.99958331e-01 -4.12425740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.23576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:306.45, Y:-49.87, Z:-4.12 [[ 9.63666317e-01 2.66963969e-01 8.80164030e-03 3.06454653e+02] [-2.66954077e-01 9.63706502e-01 -2.30189676e-03 -4.98664374e+01] [-9.09672148e-03 -1.31373389e-04 9.99958615e-01 -4.12351131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:306.48, Y:-49.87, Z:-4.12 [[ 9.65055317e-01 2.61869127e-01 9.63302032e-03 3.06482773e+02] [-2.61857032e-01 9.65103389e-01 -2.51855964e-03 -4.98666942e+01] [-9.95639357e-03 -9.19247399e-05 9.99950430e-01 -4.12317022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.29576923100007 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:306.51, Y:-49.87, Z:-4.12 [[ 9.65787201e-01 2.59139486e-01 1.00900300e-02 3.06510832e+02] [-2.59126076e-01 9.65839905e-01 -2.63710856e-03 -4.98707820e+01] [-1.04287325e-02 -6.77041760e-05 9.99945617e-01 -4.12335490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:306.54, Y:-49.87, Z:-4.12 [[ 9.66702020e-01 2.55725061e-01 9.58635945e-03 3.06539910e+02] [-2.55712796e-01 9.66749550e-01 -2.50474705e-03 -4.98715030e+01] [-9.90813528e-03 -3.00107412e-05 9.99950913e-01 -4.12440116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.35576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:306.57, Y:-49.88, Z:-4.13 [[ 9.67043400e-01 2.54434257e-01 9.50111817e-03 3.06566410e+02] [-2.54422152e-01 9.67090073e-01 -2.48193296e-03 -4.98753207e+01] [-9.81992583e-03 -1.71580454e-05 9.99951783e-01 -4.12516201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:306.59, Y:-49.88, Z:-4.13 [[ 9.67344568e-01 2.53267982e-01 9.99081047e-03 3.06594059e+02] [-2.53254545e-01 9.67396159e-01 -2.60891041e-03 -4.98799420e+01] [-1.03258252e-02 -6.50284025e-06 9.99946687e-01 -4.12537205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.41576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.62, Y:-49.88, Z:-4.13 [[ 9.67883167e-01 2.51168724e-01 1.07910547e-02 3.06620669e+02] [-2.51152927e-01 9.67943320e-01 -2.81702530e-03 -4.98833744e+01] [-1.11526780e-02 1.63463977e-05 9.99937807e-01 -4.12516967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:306.65, Y:-49.89, Z:-4.13 [[ 9.68328940e-01 2.49459959e-01 1.04303646e-02 3.06648335e+02] [-2.49445111e-01 9.68385113e-01 -2.72198073e-03 -4.98889186e+01] [-1.07796350e-02 3.39692644e-05 9.99941897e-01 -4.12568730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.68, Y:-49.89, Z:-4.13 [[ 9.69541387e-01 2.44748993e-01 9.35040317e-03 3.06675146e+02] [-2.44736846e-01 9.69586471e-01 -2.43967160e-03 -4.98941617e+01] [-9.66313158e-03 7.69744105e-05 9.99953308e-01 -4.12710430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.70, Y:-49.90, Z:-4.13 [[ 9.70180884e-01 2.42235984e-01 8.41307762e-03 3.06702769e+02] [-2.42226064e-01 9.70217357e-01 -2.19410006e-03 -4.99008641e+01] [-8.69400392e-03 9.08072620e-05 9.99962202e-01 -4.12794477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.73, Y:-49.91, Z:-4.13 [[ 9.70630627e-01 2.40471630e-01 7.04137889e-03 3.06729970e+02] [-2.40464637e-01 9.70656163e-01 -1.83603520e-03 -4.99081120e+01] [-7.27627220e-03 8.89093766e-05 9.99973524e-01 -4.12885119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.76, Y:-49.92, Z:-4.13 [[ 9.71175177e-01 2.38295198e-01 5.84587569e-03 3.06757062e+02] [-2.38290340e-01 9.71192767e-01 -1.52413746e-03 -4.99157712e+01] [-6.04066683e-03 8.71887657e-05 9.99981751e-01 -4.12935371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.78, Y:-49.92, Z:-4.13 [[ 9.71250503e-01 2.37958471e-01 6.94445726e-03 3.06783488e+02] [-2.37951611e-01 9.71275324e-01 -1.81001998e-03 -4.99226254e+01] [-7.17568956e-03 1.05538025e-04 9.99974249e-01 -4.12945699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.81, Y:-49.93, Z:-4.13 [[ 9.71370364e-01 2.37370153e-01 9.74815895e-03 3.06809564e+02] [-2.37356621e-01 9.71419264e-01 -2.53915111e-03 -4.99287639e+01] [-1.00722681e-02 1.52666069e-04 9.99949262e-01 -4.12809651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.84, Y:-49.94, Z:-4.13 [[ 9.71451364e-01 2.37014435e-01 1.03152569e-02 3.06836409e+02] [-2.36999276e-01 9.71506115e-01 -2.68557572e-03 -4.99353403e+01] [-1.06578553e-02 1.64197783e-04 9.99943190e-01 -4.12795897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.86, Y:-49.94, Z:-4.13 [[ 9.71634749e-01 2.36265992e-01 1.02125476e-02 3.06863331e+02] [-2.36251100e-01 9.71688403e-01 -2.65805065e-03 -4.99429653e+01] [-1.05514211e-02 1.69928766e-04 9.99944318e-01 -4.12891108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.715769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:306.89, Y:-49.95, Z:-4.13 [[ 9.72022031e-01 2.34722028e-01 8.87361885e-03 3.06888611e+02] [-2.34710725e-01 9.72062520e-01 -2.30916678e-03 -4.99519856e+01] [-9.16772462e-03 1.61827469e-04 9.99957962e-01 -4.13038220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:306.91, Y:-49.96, Z:-4.13 [[ 9.72426598e-01 2.33097804e-01 7.20591648e-03 3.06914819e+02] [-2.33090309e-01 9.72453286e-01 -1.87472355e-03 -4.99612138e+01] [-7.44441110e-03 1.43401738e-04 9.99972280e-01 -4.13141522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.775769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:306.94, Y:-49.97, Z:-4.13 [[ 9.72753445e-01 2.31740301e-01 6.86793241e-03 3.06940960e+02] [-2.31733462e-01 9.72777678e-01 -1.78641605e-03 -4.99691420e+01] [-7.09495593e-03 1.46212613e-04 9.99974820e-01 -4.13237585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80576923100006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:306.97, Y:-49.98, Z:-4.13 [[ 9.72989686e-01 2.30747528e-01 6.82997401e-03 3.06968072e+02] [-2.30740745e-01 9.73013646e-01 -1.77584652e-03 -4.99778651e+01] [-7.05543010e-03 1.51927062e-04 9.99975099e-01 -4.13206985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.83576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:306.99, Y:-49.99, Z:-4.13 [[ 9.73074042e-01 2.30385937e-01 7.01637341e-03 3.06994352e+02] [-2.30378771e-01 9.73099324e-01 -1.82401717e-03 -4.99871907e+01] [-7.24785613e-03 1.58480279e-04 9.99973721e-01 -4.13143524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:307.02, Y:-49.99, Z:-4.13 [[ 9.73062287e-01 2.30430960e-01 7.16647358e-03 3.07021328e+02] [-2.30423489e-01 9.73088663e-01 -1.86250473e-03 -4.99944037e+01] [-7.40279295e-03 1.61009262e-04 9.99972586e-01 -4.13134023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.89576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.05, Y:-50.00, Z:-4.13 [[ 9.73126075e-01 2.30158442e-01 7.26174799e-03 3.07047733e+02] [-2.30150767e-01 9.73153156e-01 -1.88680903e-03 -5.00021380e+01] [-7.50105800e-03 1.64806197e-04 9.99971853e-01 -4.13169598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.07, Y:-50.01, Z:-4.13 [[ 9.73194302e-01 2.29866340e-01 7.36992758e-03 3.07074244e+02] [-2.29858429e-01 9.73222193e-01 -1.91451870e-03 -5.00107062e+01] [-7.61266049e-03 1.69158711e-04 9.99971009e-01 -4.13156790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.95576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.10, Y:-50.02, Z:-4.13 [[ 9.73355078e-01 2.29212115e-01 6.45746436e-03 3.07101054e+02] [-2.29206031e-01 9.73376486e-01 -1.67699423e-03 -5.00219711e+01] [-6.66993136e-03 1.52221073e-04 9.99977744e-01 -4.13179272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.13, Y:-50.03, Z:-4.13 [[ 9.73489918e-01 2.28658518e-01 5.71498082e-03 3.07128236e+02] [-2.28653744e-01 9.73506684e-01 -1.48396140e-03 -5.00300469e+01] [-5.90289244e-03 1.37869701e-04 9.99982568e-01 -4.13176492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:307.16, Y:-50.04, Z:-4.13 [[ 9.73567492e-01 2.28323898e-01 5.87674339e-03 3.07155167e+02] [-2.28318846e-01 9.73585218e-01 -1.52572309e-03 -5.00382425e+01] [-6.06986954e-03 1.43623131e-04 9.99981568e-01 -4.13252381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.18, Y:-50.05, Z:-4.13 [[ 9.73408492e-01 2.28922699e-01 8.38479176e-03 3.07181245e+02] [-2.28912443e-01 9.73444584e-01 -2.17599892e-03 -5.00487907e+01] [-8.66026567e-03 1.98752667e-04 9.99962479e-01 -4.13222254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.21, Y:-50.06, Z:-4.13 [[ 9.73078713e-01 2.30268260e-01 9.71326959e-03 3.07208716e+02] [-2.30254571e-01 9.73127166e-01 -2.52000793e-03 -5.00575991e+01] [-1.00325244e-02 2.15641343e-04 9.99949650e-01 -4.13204364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:307.24, Y:-50.07, Z:-4.13 [[ 9.71908146e-01 2.35146365e-01 1.00371129e-02 3.07235061e+02] [-2.35132013e-01 9.71959957e-01 -2.60352424e-03 -5.00654435e+01] [-1.03678811e-02 1.70339847e-04 9.99946238e-01 -4.13131284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.26, Y:-50.07, Z:-4.13 [[ 9.71181943e-01 2.38163110e-01 9.16327640e-03 3.07263109e+02] [-2.38151288e-01 9.71225163e-01 -2.37626001e-03 -5.00722076e+01] [-9.46554209e-03 1.25534733e-04 9.99955193e-01 -4.13186929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:307.29, Y:-50.08, Z:-4.13 [[ 9.70478675e-01 2.41047386e-01 8.20365727e-03 3.07291237e+02] [-2.41038016e-01 9.70513344e-01 -2.12707274e-03 -5.00791775e+01] [-8.47448417e-03 8.68854558e-05 9.99964087e-01 -4.13255594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.32, Y:-50.09, Z:-4.13 [[ 9.69542204e-01 2.44793540e-01 8.00227639e-03 3.07319330e+02] [-2.44784756e-01 9.69575227e-01 -2.07447333e-03 -5.00867908e+01] [-8.26662662e-03 5.24541783e-05 9.99965829e-01 -4.13342096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:307.35, Y:-50.09, Z:-4.13 [[ 9.69365278e-01 2.45482060e-01 8.33758711e-03 3.07346264e+02] [-2.45472553e-01 9.69401133e-01 -2.16098597e-03 -5.00932166e+01] [-8.61294968e-03 4.81359781e-05 9.99962907e-01 -4.13388207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.37, Y:-50.10, Z:-4.13 [[ 9.69478682e-01 2.45016988e-01 8.81817246e-03 3.07374732e+02] [-2.45006340e-01 9.69518784e-01 -2.28488853e-03 -5.00993153e+01] [-9.10922034e-03 5.46425616e-05 9.99958509e-01 -4.13407548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.40, Y:-50.11, Z:-4.14 [[ 9.69593924e-01 2.44573953e-01 8.43822552e-03 3.07401281e+02] [-2.44564189e-01 9.69630640e-01 -2.18607863e-03 -5.01061646e+01] [-8.71661991e-03 5.59207679e-05 9.99962008e-01 -4.13510239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.43, Y:-50.11, Z:-4.14 [[ 9.69828671e-01 2.43696363e-01 6.66572821e-03 3.07427843e+02] [-2.43690251e-01 9.69851576e-01 -1.72671742e-03 -5.01112922e+01] [-6.88556177e-03 5.02470782e-05 9.99976293e-01 -4.13561639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.46, Y:-50.12, Z:-4.14 [[ 9.69762413e-01 2.43960988e-01 6.62566453e-03 3.07456380e+02] [-2.43954960e-01 9.69785045e-01 -1.71562295e-03 -5.01171581e+01] [-6.84401545e-03 4.73829221e-05 9.99976578e-01 -4.13543954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.48, Y:-50.12, Z:-4.14 [[ 9.69258718e-01 2.45911316e-01 8.07230964e-03 3.07483089e+02] [-2.45902439e-01 9.69292331e-01 -2.08990491e-03 -5.01211828e+01] [-8.33835909e-03 4.06579204e-05 9.99965234e-01 -4.13577730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.51, Y:-50.13, Z:-4.14 [[ 9.68950604e-01 2.47119980e-01 8.15125922e-03 3.07509187e+02] [-2.47110979e-01 9.68984889e-01 -2.10933728e-03 -5.01264955e+01] [-8.41970639e-03 2.95779848e-05 9.99964553e-01 -4.13558236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.54, Y:-50.13, Z:-4.14 [[ 9.68733193e-01 2.47990143e-01 7.54254934e-03 3.07535373e+02] [-2.47982467e-01 9.68762555e-01 -1.95124129e-03 -5.01316642e+01] [-7.79082798e-03 1.98122072e-05 9.99969651e-01 -4.13627479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.56, Y:-50.14, Z:-4.14 [[ 9.68563887e-01 2.48672912e-01 6.76608648e-03 3.07562410e+02] [-2.48666755e-01 9.68587519e-01 -1.74990992e-03 -5.01363076e+01] [-6.98870211e-03 1.23987847e-05 9.99975579e-01 -4.13727177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.59, Y:-50.14, Z:-4.14 [[ 9.68763299e-01 2.47864997e-01 7.78546096e-03 3.07589900e+02] [-2.47856826e-01 9.68794582e-01 -2.01274749e-03 -5.01427995e+01] [-8.04140205e-03 2.01962534e-05 9.99967667e-01 -4.13728917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.62, Y:-50.15, Z:-4.14 [[ 9.69535763e-01 2.44789003e-01 8.87397634e-03 3.07616874e+02] [-2.44778265e-01 9.69576372e-01 -2.29332613e-03 -5.01489426e+01] [-9.16537880e-03 5.13051618e-05 9.99957996e-01 -4.13741987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.64, Y:-50.16, Z:-4.14 [[ 9.69883110e-01 2.43440609e-01 7.96379392e-03 3.07643641e+02] [-2.43431919e-01 9.69915804e-01 -2.05774903e-03 -5.01556725e+01] [-8.22514926e-03 5.71343978e-05 9.99966171e-01 -4.13793598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.67, Y:-50.16, Z:-4.14 [[ 9.70127090e-01 2.42509010e-01 6.54288056e-03 3.07670422e+02] [-2.42503126e-01 9.70149152e-01 -1.69022132e-03 -5.01631685e+01] [-6.75746393e-03 5.30604974e-05 9.99977167e-01 -4.13808139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.70, Y:-50.17, Z:-4.14 [[ 9.70073042e-01 2.42724827e-01 6.55374188e-03 3.07698211e+02] [-2.42718932e-01 9.70095179e-01 -1.69249029e-03 -5.01701880e+01] [-6.76856282e-03 5.11219761e-05 9.99977092e-01 -4.13806727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.73, Y:-50.18, Z:-4.14 [[ 9.69876680e-01 2.43496998e-01 6.95972373e-03 3.07725487e+02] [-2.43490372e-01 9.69901650e-01 -1.79699356e-03 -5.01772403e+01] [-7.18781006e-03 4.82364296e-05 9.99974166e-01 -4.13886949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.75, Y:-50.19, Z:-4.14 [[ 9.69771606e-01 2.43843115e-01 9.14150784e-03 3.07752197e+02] [-2.43831707e-01 9.69814689e-01 -2.35949754e-03 -5.01864642e+01] [-9.44091582e-03 5.91842574e-05 9.99955432e-01 -4.13868647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.78, Y:-50.20, Z:-4.14 [[ 9.69889553e-01 2.43335182e-01 1.01115649e-02 3.07779400e+02] [-2.43321205e-01 9.69942258e-01 -2.60899876e-03 -5.01957978e+01] [-1.04424953e-02 7.00824870e-05 9.99945473e-01 -4.13895526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.81, Y:-50.21, Z:-4.14 [[ 9.70189175e-01 2.42194153e-01 8.65776480e-03 3.07805040e+02] [-2.42183863e-01 9.70227802e-01 -2.23357546e-03 -5.02058674e+01] [-8.94096302e-03 7.02198021e-05 9.99960026e-01 -4.14009575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.83, Y:-50.21, Z:-4.14 [[ 9.70401601e-01 2.41369238e-01 7.85007111e-03 3.07831251e+02] [-2.41360756e-01 9.70433350e-01 -2.02476272e-03 -5.02137005e+01] [-8.10668624e-03 7.01338905e-05 9.99967138e-01 -4.14127794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.86, Y:-50.22, Z:-4.14 [[ 9.70427671e-01 2.41249102e-01 8.30699953e-03 3.07858415e+02] [-2.41239604e-01 9.70463222e-01 -2.14202427e-03 -5.02232724e+01] [-8.57839896e-03 7.47023519e-05 9.99963202e-01 -4.14037714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.88, Y:-50.23, Z:-4.14 [[ 9.70216051e-01 2.42068655e-01 9.14228279e-03 3.07884887e+02] [-2.42057192e-01 9.70259120e-01 -2.35692928e-03 -5.02309337e+01] [-9.44092196e-03 7.37753224e-05 9.99955431e-01 -4.14014156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.91, Y:-50.24, Z:-4.14 [[ 9.69952493e-01 2.43107219e-01 9.54150963e-03 3.07912868e+02] [-2.43094790e-01 9.69999420e-01 -2.45914167e-03 -5.02387210e+01] [-9.85309390e-03 6.57593176e-05 9.99951455e-01 -4.13997883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.94, Y:-50.24, Z:-4.14 [[ 9.69241100e-01 2.45928534e-01 9.53131473e-03 3.07940450e+02] [-2.45916272e-01 9.69287963e-01 -2.45606466e-03 -5.02440306e+01] [-9.84260502e-03 3.66134233e-05 9.99951560e-01 -4.14084689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.97, Y:-50.25, Z:-4.14 [[ 9.68813213e-01 2.47602902e-01 9.68300654e-03 3.07968302e+02] [-2.47590336e-01 9.68861601e-01 -2.49455916e-03 -5.02497057e+01] [-9.99915331e-03 1.93430338e-05 9.99950007e-01 -4.14230220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.00, Y:-50.26, Z:-4.14 [[ 9.68475827e-01 2.48923118e-01 9.58402189e-03 3.07995530e+02] [-2.48910880e-01 9.68523248e-01 -2.46832517e-03 -5.02555120e+01] [-9.89677121e-03 4.94594407e-06 9.99951026e-01 -4.14313656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.02, Y:-50.26, Z:-4.14 [[ 9.68688469e-01 2.48107316e-01 9.24173605e-03 3.08022875e+02] [-2.48095904e-01 9.68732553e-01 -2.37966593e-03 -5.02626626e+01] [-9.54318309e-03 1.23180847e-05 9.99954463e-01 -4.14365949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.05, Y:-50.27, Z:-4.14 [[ 9.69017614e-01 2.46824841e-01 9.07530036e-03 3.08050258e+02] [-2.46813787e-01 9.69060110e-01 -2.33616150e-03 -5.02696187e+01] [-9.37113426e-03 2.38723940e-05 9.99956090e-01 -4.14371809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.08, Y:-50.28, Z:-4.14 [[ 9.69953609e-01 2.43116682e-01 9.18010932e-03 3.08076653e+02] [-2.43105211e-01 9.69997049e-01 -2.36245832e-03 -5.02766722e+01] [-9.47903198e-03 5.97425647e-05 9.99955071e-01 -4.14409861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:308.10, Y:-50.29, Z:-4.14 [[ 9.70622274e-01 2.40395492e-01 1.01196696e-02 3.08102510e+02] [-2.40381413e-01 9.70675022e-01 -2.60339894e-03 -5.02861910e+01] [-1.04487559e-02 9.43365090e-05 9.99945406e-01 -4.14377985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0957692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:308.13, Y:-50.29, Z:-4.14 [[ 9.70630427e-01 2.40362567e-01 1.01198292e-02 3.08130939e+02] [-2.40348492e-01 9.70683176e-01 -2.60277854e-03 -5.02934121e+01] [-1.04487585e-02 9.40503555e-05 9.99945406e-01 -4.14414725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.16, Y:-50.30, Z:-4.14 [[ 9.70702713e-01 2.40090156e-01 9.64162911e-03 3.08158798e+02] [-2.40077370e-01 9.70750590e-01 -2.47948950e-03 -5.03014003e+01] [-9.95491817e-03 9.21102315e-05 9.99950444e-01 -4.14424153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.19, Y:-50.31, Z:-4.15 [[ 9.70542920e-01 2.40766740e-01 8.82141918e-03 3.08186565e+02] [-2.40756069e-01 9.70583006e-01 -2.26818411e-03 -5.03085921e+01] [-9.10802283e-03 7.75598315e-05 9.99958518e-01 -4.14514236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:308.21, Y:-50.32, Z:-4.15 [[ 9.70010183e-01 2.42944236e-01 7.63829751e-03 3.08213576e+02] [-2.42936304e-01 9.70040255e-01 -1.96379589e-03 -5.03151332e+01] [-7.88654895e-03 4.92822391e-05 9.99968899e-01 -4.14599428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.215769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:308.24, Y:-50.32, Z:-4.15 [[ 9.68518896e-01 2.48835058e-01 7.22920645e-03 3.08239969e+02] [-2.48828119e-01 9.68545876e-01 -1.85831197e-03 -5.03213548e+01] [-7.46423126e-03 9.80417654e-07 9.99972142e-01 -4.14578458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:308.27, Y:-50.33, Z:-4.15 [[ 9.67779379e-01 2.51669439e-01 8.09728673e-03 3.08265284e+02] [-2.51660842e-01 9.67813253e-01 -2.08035499e-03 -5.03298325e+01] [-8.36022318e-03 -2.44453364e-05 9.99965052e-01 -4.14568868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.275769231 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:308.29, Y:-50.34, Z:-4.15 [[ 9.67740089e-01 2.51790953e-01 8.96858602e-03 3.08291731e+02] [-2.51780419e-01 9.67781646e-01 -2.30336287e-03 -5.03372864e+01] [-9.25959888e-03 -2.90577541e-05 9.99957129e-01 -4.14574349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30576923100006 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:308.32, Y:-50.34, Z:-4.15 [[ 9.67901210e-01 2.51144694e-01 9.67420919e-03 3.08318679e+02] [-2.51132414e-01 9.67949556e-01 -2.48369452e-03 -5.03445230e+01] [-9.98791318e-03 -2.55365713e-05 9.99950119e-01 -4.14633376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.33576923100003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:308.35, Y:-50.35, Z:-4.15 [[ 9.68256527e-01 2.49762589e-01 9.89686761e-03 3.08345239e+02] [-2.49749671e-01 9.68307105e-01 -2.54017070e-03 -5.03513803e+01] [-1.02176468e-02 -1.22025748e-05 9.99947798e-01 -4.14780571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36576923100006 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:308.37, Y:-50.36, Z:-4.15 [[ 9.69199325e-01 2.46114494e-01 8.96233532e-03 3.08372406e+02] [-2.46103752e-01 9.69240762e-01 -2.29957160e-03 -5.03609007e+01] [-9.25261861e-03 2.30788995e-05 9.99957193e-01 -4.14934330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.39576923100003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:308.40, Y:-50.37, Z:-4.15 [[ 9.69884199e-01 2.43396373e-01 9.10194730e-03 3.08398488e+02] [-2.43385178e-01 9.69926906e-01 -2.33496636e-03 -5.03716017e+01] [-9.39654593e-03 4.93679237e-05 9.99955850e-01 -4.14963914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:308.43, Y:-50.38, Z:-4.15 [[ 9.70021846e-01 2.42837114e-01 9.36776955e-03 3.08425725e+02] [-2.42825235e-01 9.70067077e-01 -2.40252136e-03 -5.03807013e+01] [-9.67078617e-03 5.57673609e-05 9.99953235e-01 -4.14960174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.45576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:308.45, Y:-50.39, Z:-4.15 [[ 9.70088655e-01 2.42572121e-01 9.31486004e-03 3.08452408e+02] [-2.42560369e-01 9.70133374e-01 -2.38847999e-03 -5.03892898e+01] [-9.61603525e-03 5.76214579e-05 9.99953763e-01 -4.14998374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:308.48, Y:-50.40, Z:-4.15 [[ 9.70132709e-01 2.42397520e-01 9.27198199e-03 3.08478997e+02] [-2.42385871e-01 9.70177014e-01 -2.37707118e-03 -5.03982017e+01] [-9.57165996e-03 5.86770719e-05 9.99954189e-01 -4.15043924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:308.50, Y:-50.41, Z:-4.15 [[ 9.70153562e-01 2.42358622e-01 8.02277263e-03 3.08504884e+02] [-2.42349903e-01 9.70186733e-01 -2.05632351e-03 -5.04090721e+01] [-8.28195529e-03 5.06314081e-05 9.99965703e-01 -4.15112493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54576923100007 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:308.53, Y:-50.42, Z:-4.15 [[ 9.70023990e-01 2.42901934e-01 7.21860934e-03 3.08533270e+02] [-2.42894895e-01 9.70050848e-01 -1.84971409e-03 -5.04176573e+01] [-7.45171724e-03 4.09036840e-05 9.99972235e-01 -4.15155106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:308.56, Y:-50.43, Z:-4.15 [[ 9.69191559e-01 2.46142566e-01 9.03097220e-03 3.08560447e+02] [-2.46131690e-01 9.69233634e-01 -2.31393093e-03 -5.04252872e+01] [-9.32267890e-03 1.98338742e-05 9.99956543e-01 -4.15152999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:308.59, Y:-50.43, Z:-4.15 [[ 9.68634171e-01 2.48243537e-01 1.10900657e-02 3.08588876e+02] [-2.48227284e-01 9.68697655e-01 -2.84063349e-03 -5.04317948e+01] [-1.14480895e-02 -1.32222298e-06 9.99934468e-01 -4.15110111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:308.62, Y:-50.44, Z:-4.15 [[ 9.67555662e-01 2.52371982e-01 1.20176716e-02 3.08616599e+02] [-2.52353222e-01 9.67630291e-01 -3.07759699e-03 -5.04370462e+01] [-1.24053623e-02 -5.49517473e-05 9.99923049e-01 -4.15098397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:308.64, Y:-50.44, Z:-4.15 [[ 9.67207608e-01 2.53761069e-01 1.07127774e-02 3.08644274e+02] [-2.53746253e-01 9.67266931e-01 -2.74283984e-03 -5.04435131e+01] [-1.10581413e-02 -6.54315726e-05 9.99938855e-01 -4.15200835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:308.67, Y:-50.45, Z:-4.15 [[ 9.67077530e-01 2.54328350e-01 8.83977736e-03 3.08672273e+02] [-2.54318289e-01 9.67117928e-01 -2.26296444e-03 -5.04503669e+01] [-9.12464317e-03 -5.96549996e-05 9.99958368e-01 -4.15332742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7257692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:308.70, Y:-50.46, Z:-4.15 [[ 9.67351439e-01 2.53333922e-01 7.28820747e-03 3.08700319e+02] [-2.53327057e-01 9.67378893e-01 -1.86551800e-03 -5.04571644e+01] [-7.52305707e-03 -4.16886279e-05 9.99971701e-01 -4.15432714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.75576923100004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:308.73, Y:-50.46, Z:-4.15 [[ 9.67616945e-01 2.52304026e-01 7.75407355e-03 3.08728418e+02] [-2.52296225e-01 9.67648013e-01 -1.98436453e-03 -5.04639838e+01] [-8.00387702e-03 -3.62187351e-05 9.99967968e-01 -4.15449978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7857692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:308.76, Y:-50.47, Z:-4.15 [[ 9.68175687e-01 2.50125970e-01 8.53458441e-03 3.08757622e+02] [-2.50116440e-01 9.68213302e-01 -2.18353459e-03 -5.04709603e+01] [-8.80945687e-03 -2.05947712e-05 9.99961196e-01 -4.15422155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.81576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:308.79, Y:-50.48, Z:-4.15 [[ 9.68249711e-01 2.49827514e-01 8.87190237e-03 3.08785861e+02] [-2.49817205e-01 9.68290356e-01 -2.26963714e-03 -5.04781084e+01] [-9.15759531e-03 -1.87783480e-05 9.99958068e-01 -4.15444631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8457692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:308.81, Y:-50.49, Z:-4.16 [[ 9.68273195e-01 2.49719580e-01 9.33548492e-03 3.08813839e+02] [-2.49708164e-01 9.68318197e-01 -2.38784898e-03 -5.04851071e+01] [-9.63601257e-03 -1.90566449e-05 9.99953572e-01 -4.15504561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.87576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:308.84, Y:-50.49, Z:-4.15 [[ 9.67988727e-01 2.50751653e-01 1.10196234e-02 3.08842026e+02] [-2.50735819e-01 9.68051449e-01 -2.81813165e-03 -5.04914407e+01] [-1.13742136e-02 -3.50946362e-05 9.99935311e-01 -4.15495267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.9057692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:308.87, Y:-50.50, Z:-4.15 [[ 9.67739107e-01 2.51694779e-01 1.14349532e-02 3.08869610e+02] [-2.51677801e-01 9.67806662e-01 -2.92377253e-03 -5.04975806e+01] [-1.18027222e-02 -4.84748562e-05 9.99930344e-01 -4.15477739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.93576923100005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.90, Y:-50.50, Z:-4.15 [[ 9.67165023e-01 2.53920394e-01 1.07820126e-02 3.08897962e+02] [-2.53905445e-01 9.67225118e-01 -2.75619625e-03 -5.05028414e+01] [-1.11284878e-02 -7.19150977e-05 9.99938074e-01 -4.15499950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.965769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.93, Y:-50.51, Z:-4.16 [[ 9.66955608e-01 2.54741823e-01 1.01713539e-02 3.08925523e+02] [-2.54728569e-01 9.67009099e-01 -2.59965185e-03 -5.05082042e+01] [-1.04980319e-02 -7.71865019e-05 9.99944891e-01 -4.15586702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.99576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:308.95, Y:-50.51, Z:-4.16 [[ 9.66863614e-01 2.55078370e-01 1.04774739e-02 3.08953520e+02] [-2.55064336e-01 9.66920378e-01 -2.67706810e-03 -5.05135120e+01] [-1.08137452e-02 -8.40701962e-05 9.99941526e-01 -4.15692224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.025769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:308.98, Y:-50.52, Z:-4.16 [[ 9.67118729e-01 2.54066790e-01 1.14642727e-02 3.08980279e+02] [-2.54049923e-01 9.67186673e-01 -2.92857970e-03 -5.05207672e+01] [-1.18321466e-02 -8.02133237e-05 9.99929994e-01 -4.15728132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.05576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:309.01, Y:-50.53, Z:-4.16 [[ 9.67511571e-01 2.52542043e-01 1.19948292e-02 3.09008210e+02] [-2.52523472e-01 9.67585920e-01 -3.06332904e-03 -5.05285854e+01] [-1.23796472e-02 -6.51696165e-05 9.99923367e-01 -4.15823531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.08576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:309.04, Y:-50.54, Z:-4.16 [[ 9.68096259e-01 2.50330498e-01 1.11478785e-02 3.09036051e+02] [-2.50314316e-01 9.68160442e-01 -2.84649593e-03 -5.05374541e+01] [-1.15054997e-02 -3.47915173e-05 9.99933809e-01 -4.15856676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.11576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:309.06, Y:-50.54, Z:-4.16 [[ 9.68160499e-01 2.50110083e-01 1.04973848e-02 3.09063459e+02] [-2.50095724e-01 9.68217406e-01 -2.68016595e-03 -5.05447059e+01] [-1.08340872e-02 -3.05202547e-05 9.99941309e-01 -4.15898579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:309.09, Y:-50.55, Z:-4.16 [[ 9.67586639e-01 2.52356223e-01 9.61417330e-03 3.09091629e+02] [-2.52344293e-01 9.67634401e-01 -2.45435967e-03 -5.05527999e+01] [-9.92237776e-03 -5.12761422e-05 9.99950771e-01 -4.15935538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.17576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:309.12, Y:-50.56, Z:-4.16 [[ 9.66817663e-01 2.55262187e-01 1.02383172e-02 3.09118710e+02] [-2.55248826e-01 9.66871867e-01 -2.61317746e-03 -5.05595286e+01] [-1.05661863e-02 -8.68523281e-05 9.99944173e-01 -4.15966478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:309.15, Y:-50.57, Z:-4.16 [[ 9.65921425e-01 2.58619165e-01 1.05796462e-02 3.09146664e+02] [-2.58605106e-01 9.65979353e-01 -2.69961480e-03 -5.05656841e+01] [-1.09178920e-02 -1.28334765e-04 9.99940390e-01 -4.15913460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.23576923100006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:309.18, Y:-50.57, Z:-4.16 [[ 9.64151110e-01 2.65154437e-01 1.02840395e-02 3.09175144e+02] [-2.65141530e-01 9.64205935e-01 -2.62368390e-03 -5.05697899e+01] [-1.06116134e-02 -1.97098221e-04 9.99943676e-01 -4.16010769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:309.20, Y:-50.58, Z:-4.16 [[ 9.63345893e-01 2.68091436e-01 9.57457168e-03 3.09202406e+02] [-2.68080397e-01 9.63393448e-01 -2.44226510e-03 -5.05751039e+01] [-9.87882999e-03 -2.14008921e-04 9.99951180e-01 -4.16059790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.29576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:309.23, Y:-50.58, Z:-4.16 [[ 9.62463303e-01 2.71295607e-01 7.94258886e-03 3.09229984e+02] [-2.71288122e-01 9.62496053e-01 -2.02565528e-03 -5.05793130e+01] [-8.19426181e-03 -2.05111144e-04 9.99966405e-01 -4.16205013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:309.26, Y:-50.58, Z:-4.16 [[ 9.62539777e-01 2.71044139e-01 7.22853908e-03 3.09257035e+02] [-2.71037936e-01 9.62566902e-01 -1.84301998e-03 -5.05844742e+01] [-7.45749223e-03 -1.85228276e-04 9.99972175e-01 -4.16305575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.35576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:309.28, Y:-50.59, Z:-4.16 [[ 9.62910047e-01 2.69738552e-01 6.73460401e-03 3.09284536e+02] [-2.69733138e-01 9.62933584e-01 -1.71678957e-03 -5.05891941e+01] [-6.94806071e-03 -1.63431951e-04 9.99975849e-01 -4.16303028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38576923100004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:309.31, Y:-50.59, Z:-4.16 [[ 9.64117882e-01 2.65350853e-01 8.10151653e-03 3.09312811e+02] [-2.65342871e-01 9.64151907e-01 -2.06434995e-03 -5.05941402e+01] [-8.35886963e-03 -1.59402956e-04 9.99965051e-01 -4.16400918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.41576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:309.34, Y:-50.60, Z:-4.16 [[ 9.64823434e-01 2.62732783e-01 9.33948580e-03 3.09339297e+02] [-2.62722058e-01 9.64868623e-01 -2.37925319e-03 -5.06010801e+01] [-9.63648462e-03 -1.58129691e-04 9.99953556e-01 -4.16467682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:309.37, Y:-50.61, Z:-4.16 [[ 9.66248394e-01 2.57410532e-01 1.01911286e-02 3.09367133e+02] [-2.57397473e-01 9.66302129e-01 -2.59545312e-03 -5.06083755e+01] [-1.05158063e-02 -1.15318339e-04 9.99944701e-01 -4.16494158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.4757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.40, Y:-50.61, Z:-4.17 [[ 9.66908446e-01 2.54915962e-01 1.02912065e-02 3.09395237e+02] [-2.54902509e-01 9.66963207e-01 -2.62041948e-03 -5.06149371e+01] [-1.06192048e-02 -8.95486293e-05 9.99943611e-01 -4.16524928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:309.42, Y:-50.62, Z:-4.17 [[ 9.67428832e-01 2.52942407e-01 1.00794102e-02 3.09422795e+02] [-2.52929400e-01 9.67481335e-01 -2.56599159e-03 -5.06216487e+01] [-1.04006894e-02 -6.69649333e-05 9.99945909e-01 -4.16585062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5357692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:309.45, Y:-50.63, Z:-4.17 [[ 9.68130892e-01 2.50263681e-01 9.52188797e-03 3.09449857e+02] [-2.50251947e-01 9.68177716e-01 -2.42366666e-03 -5.06288944e+01] [-9.82543548e-03 -3.64444354e-05 9.99951729e-01 -4.16694943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:309.48, Y:-50.64, Z:-4.17 [[ 9.68277983e-01 2.49720231e-01 8.80647785e-03 3.09477842e+02] [-2.49710178e-01 9.68318029e-01 -2.24094015e-03 -5.06365256e+01] [-9.08707936e-03 -2.92141445e-05 9.99958711e-01 -4.16830488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5957692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:309.51, Y:-50.64, Z:-4.17 [[ 9.68278127e-01 2.49745190e-01 8.05039792e-03 3.09505157e+02] [-2.49736792e-01 9.68311592e-01 -2.04823805e-03 -5.06434208e+01] [-8.30683123e-03 -2.72164529e-05 9.99965497e-01 -4.16926542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:309.53, Y:-50.65, Z:-4.17 [[ 9.68239322e-01 2.49871823e-01 8.75710500e-03 3.09532661e+02] [-2.49861898e-01 9.68278922e-01 -2.22737026e-03 -5.06503025e+01] [-9.03587726e-03 -3.14394037e-05 9.99959175e-01 -4.16926368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6557692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.56, Y:-50.66, Z:-4.17 [[ 9.68294065e-01 2.49622590e-01 9.75534444e-03 3.09560848e+02] [-2.49610265e-01 9.68343204e-01 -2.48071236e-03 -5.06579127e+01] [-1.00657633e-02 -3.29750598e-05 9.99949338e-01 -4.16956096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.59, Y:-50.67, Z:-4.17 [[ 9.68844435e-01 2.47483923e-01 9.60047157e-03 3.09588288e+02] [-2.47471887e-01 9.68892000e-01 -2.44085815e-03 -5.06665448e+01] [-9.90589325e-03 -1.10349734e-05 9.99950935e-01 -4.17065329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.715769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:309.61, Y:-50.67, Z:-4.17 [[ 9.69165131e-01 2.46261568e-01 8.61335126e-03 3.09614663e+02] [-2.46251834e-01 9.69203405e-01 -2.18955915e-03 -5.06741090e+01] [-8.88729364e-03 9.90835099e-07 9.99960507e-01 -4.17248225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:309.64, Y:-50.68, Z:-4.17 [[ 9.69774293e-01 2.43902344e-01 7.03330248e-03 3.09641143e+02] [-2.43895794e-01 9.69799797e-01 -1.78763582e-03 -5.06844817e+01] [-7.25690388e-03 1.82103764e-05 9.99973668e-01 -4.17428190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.775769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:309.67, Y:-50.69, Z:-4.17 [[ 9.69995463e-01 2.43017668e-01 7.15647937e-03 3.09668911e+02] [-2.43010867e-01 9.70021862e-01 -1.81831739e-03 -5.06936889e+01] [-7.38382469e-03 2.46573632e-05 9.99972739e-01 -4.17423641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:309.70, Y:-50.70, Z:-4.17 [[ 9.70320261e-01 2.41712762e-01 7.31658840e-03 3.09695434e+02] [-2.41705618e-01 9.70347845e-01 -1.85868197e-03 -5.07036917e+01] [-7.54890294e-03 3.50562535e-05 9.99971506e-01 -4.17430088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.83576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:309.72, Y:-50.71, Z:-4.18 [[ 9.70491448e-01 2.41048658e-01 6.47248637e-03 3.09723343e+02] [-2.41043056e-01 9.70513031e-01 -1.64373655e-03 -5.07128945e+01] [-6.67785285e-03 3.50843688e-05 9.99977702e-01 -4.17532396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:309.75, Y:-50.72, Z:-4.18 [[ 9.70746326e-01 2.40021256e-01 6.43179793e-03 3.09750813e+02] [-2.40015703e-01 9.70767632e-01 -1.63325553e-03 -5.07218108e+01] [-6.63579729e-03 4.17443092e-05 9.99977982e-01 -4.17641685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.89576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.78, Y:-50.73, Z:-4.18 [[ 9.70916828e-01 2.39276411e-01 8.20441498e-03 3.09776671e+02] [-2.39267350e-01 9.70951490e-01 -2.08318031e-03 -5.07330881e+01] [-8.46454486e-03 5.95461873e-05 9.99964173e-01 -4.17541941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.80, Y:-50.74, Z:-4.18 [[ 9.70871339e-01 2.39446991e-01 8.60130087e-03 3.09803131e+02] [-2.39437044e-01 9.70909437e-01 -2.18339622e-03 -5.07422572e+01] [-8.87389184e-03 6.03267538e-05 9.99960624e-01 -4.17567392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.95576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:309.83, Y:-50.76, Z:-4.18 [[ 9.70766639e-01 2.39842171e-01 9.37372046e-03 3.09831951e+02] [-2.39830384e-01 9.70811892e-01 -2.37861000e-03 -5.07573943e+01] [-9.67061028e-03 6.09722602e-05 9.99953237e-01 -4.17631905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:309.86, Y:-50.77, Z:-4.18 [[ 9.70846787e-01 2.39479445e-01 1.03010486e-02 3.09860547e+02] [-2.39465189e-01 9.70901432e-01 -2.61395922e-03 -5.07695876e+01] [-1.06272924e-02 7.10113562e-05 9.99943526e-01 -4.17633949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:309.89, Y:-50.78, Z:-4.18 [[ 9.70849438e-01 2.39468717e-01 1.03005645e-02 3.09889794e+02] [-2.39454441e-01 9.70904078e-01 -2.61586561e-03 -5.07769724e+01] [-1.06272781e-02 7.30957483e-05 9.99943526e-01 -4.17671769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:309.92, Y:-50.79, Z:-4.18 [[ 9.70910889e-01 2.39176124e-01 1.12617817e-02 3.09918302e+02] [-2.39159041e-01 9.70976197e-01 -2.85981370e-03 -5.07894314e+01] [-1.16189211e-02 8.32673508e-05 9.99932495e-01 -4.17653292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.95, Y:-50.81, Z:-4.18 [[ 9.70911469e-01 2.39105335e-01 1.26316685e-02 3.09947151e+02] [-2.39083836e-01 9.70993630e-01 -3.20769401e-03 -5.08050820e+01] [-1.30322464e-02 9.43591386e-05 9.99915072e-01 -4.17734446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.98, Y:-50.82, Z:-4.18 [[ 9.70665096e-01 2.40078129e-01 1.31058739e-02 3.09976864e+02] [-2.40055069e-01 9.70753565e-01 -3.32856143e-03 -5.08160988e+01] [-1.35216886e-02 8.47869510e-05 9.99908574e-01 -4.17800212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:-50.83, Z:-4.18 [[ 9.69772008e-01 2.43660535e-01 1.31071056e-02 3.10005045e+02] [-2.43637772e-01 9.69860579e-01 -3.33076052e-03 -5.08310758e+01] [-1.35236400e-02 3.66923001e-05 9.99908551e-01 -4.17844501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:-50.84, Z:-4.18 [[ 9.69212687e-01 2.45900461e-01 1.26384299e-02 3.10034869e+02] [-2.45879482e-01 9.69295086e-01 -3.21201438e-03 -5.08428924e+01] [-1.30402038e-02 5.59449780e-06 9.99914973e-01 -4.17898958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.07, Y:-50.85, Z:-4.18 [[ 9.68637633e-01 2.48200781e-01 1.17263869e-02 3.10065458e+02] [-2.48182868e-01 9.68708610e-01 -2.98199506e-03 -5.08537621e+01] [-1.20995855e-02 -2.18157025e-05 9.99926797e-01 -4.17943570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.09, Y:-50.87, Z:-4.18 [[ 9.67393320e-01 2.53095690e-01 9.63001095e-03 3.10094325e+02] [-2.53083839e-01 9.67441248e-01 -2.45014190e-03 -5.08660123e+01] [-9.93659016e-03 -6.69492288e-05 9.99950629e-01 -4.18169051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.25576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.13, Y:-50.88, Z:-4.18 [[ 9.66662267e-01 2.55875047e-01 9.59286591e-03 3.10125805e+02] [-2.55863410e-01 9.66709859e-01 -2.44203297e-03 -5.08764990e+01] [-9.89837335e-03 -9.38422565e-05 9.99951005e-01 -4.18257898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.16, Y:-50.89, Z:-4.18 [[ 9.65268992e-01 2.61024270e-01 1.10500073e-02 3.10156577e+02] [-2.61009139e-01 9.65332224e-01 -2.81545237e-03 -5.08891133e+01] [-1.14018296e-02 -1.66484028e-04 9.99934983e-01 -4.18145404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.19, Y:-50.90, Z:-4.18 [[ 9.64540365e-01 2.63668044e-01 1.18763221e-02 3.10187879e+02] [-2.63650735e-01 9.64613456e-01 -3.02847760e-03 -5.08979688e+01] [-1.22545728e-02 -2.10112147e-04 9.99924888e-01 -4.18148478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3457692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:310.22, Y:-50.91, Z:-4.18 [[ 9.63800933e-01 2.66355363e-01 1.19407803e-02 3.10218503e+02] [-2.66338042e-01 9.63874868e-01 -3.04729112e-03 -5.09054756e+01] [-1.23210803e-02 -2.43302008e-04 9.99924063e-01 -4.18170968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.25, Y:-50.91, Z:-4.18 [[ 9.62172276e-01 2.72218255e-01 1.10332870e-02 3.10250026e+02] [-2.72203830e-01 9.62235489e-01 -2.81755287e-03 -5.09135032e+01] [-1.13836096e-02 -2.92331720e-04 9.99935162e-01 -4.18353876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.28, Y:-50.92, Z:-4.18 [[ 9.61509708e-01 2.74571662e-01 1.04634469e-02 3.10281477e+02] [-2.74558807e-01 9.61566592e-01 -2.67392976e-03 -5.09219133e+01] [-1.07954863e-02 -3.01822062e-04 9.99941681e-01 -4.18434599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:-50.93, Z:-4.19 [[ 9.60974503e-01 2.76429673e-01 1.07070333e-02 3.10313304e+02] [-2.76416304e-01 9.61034093e-01 -2.73839104e-03 -5.09305534e+01] [-1.10467966e-02 -3.28074598e-04 9.99938928e-01 -4.18549635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.34, Y:-50.94, Z:-4.19 [[ 9.61052660e-01 2.76130254e-01 1.13959186e-02 3.10343945e+02] [-2.76115059e-01 9.61120162e-01 -2.91705018e-03 -5.09389000e+01] [-1.17583330e-02 -3.43145913e-04 9.99930810e-01 -4.18551697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.38, Y:-50.95, Z:-4.19 [[ 9.61200683e-01 2.75602174e-01 1.16913671e-02 3.10375287e+02] [-2.75586114e-01 9.61271722e-01 -2.99494622e-03 -5.09477242e+01] [-1.20639943e-02 -3.43234083e-04 9.99927168e-01 -4.18595951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:-50.96, Z:-4.19 [[ 9.61435024e-01 2.74788627e-01 1.15717248e-02 3.10407213e+02] [-2.74772809e-01 9.61504604e-01 -2.96649917e-03 -5.09574397e+01] [-1.19414270e-02 -3.27499138e-04 9.99928645e-01 -4.18637968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.44, Y:-50.97, Z:-4.19 [[ 9.61471427e-01 2.74638605e-01 1.20967717e-02 3.10438274e+02] [-2.74621276e-01 9.61547462e-01 -3.10360791e-03 -5.09652344e+01] [-1.24839906e-02 -3.38000539e-04 9.99922015e-01 -4.18725311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.47, Y:-50.97, Z:-4.19 [[ 9.61142578e-01 2.75730458e-01 1.33289014e-02 3.10469791e+02] [-2.75709487e-01 9.61234917e-01 -3.42242863e-03 -5.09716552e+01] [-1.37558732e-02 -3.85462681e-04 9.99905309e-01 -4.18721441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.50, Y:-50.98, Z:-4.19 [[ 9.60852068e-01 2.76745932e-01 1.32284785e-02 3.10501159e+02] [-2.76725340e-01 9.60943044e-01 -3.39894017e-03 -5.09794517e+01] [-1.36524573e-02 -3.94776529e-04 9.99906723e-01 -4.18739450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.53, Y:-50.99, Z:-4.19 [[ 9.60611685e-01 2.77592861e-01 1.29381145e-02 3.10533190e+02] [-2.77573219e-01 9.60698728e-01 -3.32590367e-03 -5.09872991e+01] [-1.33528773e-02 -3.96372173e-04 9.99910768e-01 -4.18757743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.56, Y:-50.99, Z:-4.19 [[ 9.60527492e-01 2.77953109e-01 1.13581270e-02 3.10564775e+02] [-2.77937973e-01 9.60594580e-01 -2.92170942e-03 -5.09921681e+01] [-1.17226535e-02 -3.50472585e-04 9.99931226e-01 -4.18756303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.60, Y:-51.00, Z:-4.19 [[ 9.60517183e-01 2.77990695e-01 1.13099446e-02 3.10596531e+02] [-2.77975666e-01 9.60583704e-01 -2.91139049e-03 -5.09976825e+01] [-1.16734880e-02 -3.47448803e-04 9.99931802e-01 -4.18797693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.63, Y:-51.00, Z:-4.19 [[ 9.60588250e-01 2.77683138e-01 1.27392872e-02 3.10628711e+02] [-2.77664010e-01 9.60672643e-01 -3.28184668e-03 -5.10000891e+01] [-1.31495982e-02 -3.84738216e-04 9.99913466e-01 -4.18847813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.66, Y:-51.00, Z:-4.19 [[ 9.60642733e-01 2.77423754e-01 1.41985924e-02 3.10659889e+02] [-2.77399959e-01 9.60747563e-01 -3.65816503e-03 -5.10049482e+01] [-1.46561249e-02 -4.24499290e-04 9.99892503e-01 -4.18887721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.69, Y:-51.01, Z:-4.19 [[ 9.60722512e-01 2.77103031e-01 1.50387751e-02 3.10691414e+02] [-2.77076291e-01 9.60840108e-01 -3.87501254e-03 -5.10086577e+01] [-1.55236361e-02 -4.44076255e-04 9.99879402e-01 -4.18937682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.73, Y:-51.01, Z:-4.19 [[ 9.60770277e-01 2.76957836e-01 1.46571559e-02 3.10725551e+02] [-2.76932407e-01 9.60881976e-01 -3.77749296e-03 -5.10077359e+01] [-1.51300032e-02 -4.29738498e-04 9.99885443e-01 -4.19056507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.76, Y:-51.01, Z:-4.19 [[ 9.60859407e-01 2.76683836e-01 1.39733696e-02 3.10758098e+02] [-2.76660656e-01 9.60960921e-01 -3.60403875e-03 -5.10113924e+01] [-1.44250414e-02 -4.02907067e-04 9.99895873e-01 -4.19120338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.79, Y:-51.01, Z:-4.19 [[ 9.61897378e-01 2.73081914e-01 1.34052956e-02 3.10789284e+02] [-2.73060199e-01 9.61990726e-01 -3.45975822e-03 -5.10099387e+01] [-1.38405675e-02 -3.32520339e-04 9.99904159e-01 -4.19172945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:-51.01, Z:-4.19 [[ 9.62802481e-01 2.69880957e-01 1.32533404e-02 3.10816960e+02] [-2.69859433e-01 9.62893654e-01 -3.42018059e-03 -5.10121778e+01] [-1.36845990e-02 -2.83580578e-04 9.99906321e-01 -4.19226464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.84, Y:-51.02, Z:-4.19 [[ 9.63694322e-01 2.66692359e-01 1.29784205e-02 3.10844438e+02] [-2.66671440e-01 9.63781682e-01 -3.34846362e-03 -5.10153127e+01] [-1.34013736e-02 -2.34078702e-04 9.99910170e-01 -4.19265561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.87, Y:-51.02, Z:-4.19 [[ 9.65521813e-01 2.60044781e-01 1.20142029e-02 3.10872405e+02] [-2.60026348e-01 9.65596549e-01 -3.09904035e-03 -5.10172316e+01] [-1.24067621e-02 -1.31818236e-04 9.99923024e-01 -4.19431309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:-51.02, Z:-4.20 [[ 9.66434211e-01 2.56657271e-01 1.14874215e-02 3.10900970e+02] [-2.56640186e-01 9.66502477e-01 -2.96251091e-03 -5.10224472e+01] [-1.18629713e-02 -8.50620930e-05 9.99929629e-01 -4.19517296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.93, Y:-51.03, Z:-4.20 [[ 9.67209469e-01 2.53725256e-01 1.13726331e-02 3.10929795e+02] [-2.53708315e-01 9.67276327e-01 -2.93238152e-03 -5.10275933e+01] [-1.17444980e-02 -4.91044021e-05 9.99931030e-01 -4.19558837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.96, Y:-51.03, Z:-4.20 [[ 9.68133483e-01 2.50095345e-01 1.30337257e-02 3.10957004e+02] [-2.50072774e-01 9.68221213e-01 -3.35998188e-03 -5.10325315e+01] [-1.34598455e-02 -6.46898022e-06 9.99909412e-01 -4.19643139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:310.99, Y:-51.04, Z:-4.20 [[ 9.68649662e-01 2.47978309e-01 1.49863208e-02 3.10985903e+02] [-2.47948228e-01 9.68765584e-01 -3.86245526e-03 -5.10412630e+01] [-1.54760369e-02 2.55343017e-05 9.99880239e-01 -4.19611137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.01, Y:-51.05, Z:-4.20 [[ 9.68892390e-01 2.47078784e-01 1.41283911e-02 3.11014592e+02] [-2.47051958e-01 9.68995394e-01 -3.64102254e-03 -5.10496769e+01] [-1.45899653e-02 3.73123572e-05 9.99893560e-01 -4.19659070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1557692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.04, Y:-51.06, Z:-4.20 [[ 9.69079759e-01 2.46440906e-01 1.23004380e-02 3.11042222e+02] [-2.46420523e-01 9.69157819e-01 -3.16979960e-03 -5.10583182e+01] [-1.27022340e-02 4.07082627e-05 9.99919323e-01 -4.19803541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:-51.07, Z:-4.20 [[ 9.69186610e-01 2.46078783e-01 1.10701417e-02 3.11068294e+02] [-2.46062255e-01 9.69249829e-01 -2.85231304e-03 -5.10670407e+01] [-1.14316267e-02 4.04795629e-05 9.99934656e-01 -4.19911507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.10, Y:-51.08, Z:-4.20 [[ 9.69344793e-01 2.45372826e-01 1.27612184e-02 3.11096491e+02] [-2.45350812e-01 9.69428787e-01 -3.28721506e-03 -5.10764912e+01] [-1.31776857e-02 5.54695090e-05 9.99913169e-01 -4.19929252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.12, Y:-51.08, Z:-4.20 [[ 9.69589655e-01 2.44338292e-01 1.39534652e-02 3.11124751e+02] [-2.44311870e-01 9.69690050e-01 -3.59397457e-03 -5.10842683e+01] [-1.44086820e-02 7.56833862e-05 9.99896187e-01 -4.19909964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.275769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:311.15, Y:-51.10, Z:-4.20 [[ 9.70020306e-01 2.42632932e-01 1.37792084e-02 3.11153002e+02] [-2.42606996e-01 9.70118163e-01 -3.54894166e-03 -5.10954392e+01] [-1.42285505e-02 9.96131198e-05 9.99898764e-01 -4.19991736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:311.18, Y:-51.11, Z:-4.20 [[ 9.70108559e-01 2.42301902e-01 1.33855233e-02 3.11181637e+02] [-2.42277395e-01 9.70200896e-01 -3.44756048e-03 -5.11061849e+01] [-1.38219972e-02 1.01498198e-04 9.99904466e-01 -4.20068921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.33576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.21, Y:-51.12, Z:-4.20 [[ 9.70292147e-01 2.41601523e-01 1.27221521e-02 3.11208617e+02] [-2.41579324e-01 9.70375542e-01 -3.27681884e-03 -5.11155199e+01] [-1.31369497e-02 1.06062681e-04 9.99913701e-01 -4.20106734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:311.24, Y:-51.13, Z:-4.20 [[ 9.70616981e-01 2.40369146e-01 1.11959663e-02 3.11238694e+02] [-2.40351877e-01 9.70681545e-01 -2.88322017e-03 -5.11250726e+01] [-1.15607550e-02 1.07530934e-04 9.99933166e-01 -4.20244734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.39576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:311.27, Y:-51.13, Z:-4.20 [[ 9.70641207e-01 2.40276628e-01 1.10810297e-02 3.11267627e+02] [-2.40259703e-01 9.70704451e-01 -2.85390342e-03 -5.11330585e+01] [-1.14421311e-02 1.07791365e-04 9.99934531e-01 -4.20296777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.30, Y:-51.14, Z:-4.20 [[ 9.70452348e-01 2.40948149e-01 1.28929876e-02 3.11296954e+02] [-2.40925293e-01 9.70537983e-01 -3.32076203e-03 -5.11439275e+01] [-1.33132657e-02 1.16394489e-04 9.99911368e-01 -4.20189083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.45576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:311.33, Y:-51.15, Z:-4.20 [[ 9.70425046e-01 2.41026812e-01 1.34650011e-02 3.11327544e+02] [-2.41001883e-01 9.70518450e-01 -3.46863644e-03 -5.11533498e+01] [-1.39040664e-02 1.20961064e-04 9.99903326e-01 -4.20187442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:311.36, Y:-51.16, Z:-4.20 [[ 9.70451612e-01 2.40940820e-01 1.30839679e-02 3.11356269e+02] [-2.40918734e-01 9.70539809e-01 -3.26224702e-03 -5.11623460e+01] [-1.34845202e-02 1.36798880e-05 9.99909080e-01 -4.20276293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:311.39, Y:-51.17, Z:-4.21 [[ 9.71723832e-01 2.35797151e-01 1.23490210e-02 3.11388429e+02] [-2.35774684e-01 9.71802261e-01 -3.26544260e-03 -5.11741267e+01] [-1.27707886e-02 2.61521867e-04 9.99918416e-01 -4.20588183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:311.42, Y:-51.19, Z:-4.21 [[ 9.72631877e-01 2.32017892e-01 1.24470637e-02 3.11419821e+02] [-2.31995756e-01 9.72711489e-01 -3.21374922e-03 -5.11863887e+01] [-1.28530492e-02 2.38128993e-04 9.99917368e-01 -4.20653555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.45, Y:-51.20, Z:-4.21 [[ 9.74607794e-01 2.23742444e-01 8.88637480e-03 3.11449543e+02] [-2.23673717e-01 9.74630372e-01 -8.10597731e-03 -5.12013544e+01] [-1.04745819e-02 5.91250017e-03 9.99927660e-01 -4.20667588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.48, Y:-51.22, Z:-4.21 [[ 9.75213759e-01 2.20910336e-01 1.25198938e-02 3.11477818e+02] [-2.20959333e-01 9.75279399e-01 2.65834528e-03 -5.12176844e+01] [-1.16231385e-02 -5.35884227e-03 9.99918089e-01 -4.20577845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.51, Y:-51.23, Z:-4.21 [[ 9.75531271e-01 2.19596058e-01 1.07847630e-02 3.11508885e+02] [-2.19578631e-01 9.75590820e-01 -2.78883032e-03 -5.12282278e+01] [-1.11339319e-02 3.52487694e-04 9.99937954e-01 -4.20746165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:311.54, Y:-51.24, Z:-4.21 [[ 9.75194046e-01 2.21083615e-01 1.08906757e-02 3.11538202e+02] [-2.21065914e-01 9.75254797e-01 -2.81830679e-03 -5.12446154e+01] [-1.12442652e-02 3.40838821e-04 9.99936723e-01 -4.20758176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.57, Y:-51.26, Z:-4.21 [[ 9.73948224e-01 2.26527790e-01 1.04889222e-02 3.11568280e+02] [-2.26511664e-01 9.74004665e-01 -2.71638018e-03 -5.12600170e+01] [-1.08315948e-02 2.69750429e-04 9.99941300e-01 -4.20815563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7257692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.60, Y:-51.27, Z:-4.21 [[ 9.73144594e-01 2.29952420e-01 1.05585952e-02 3.11598449e+02] [-2.29936256e-01 9.73201844e-01 -2.73659019e-03 -5.12716042e+01] [-1.09049299e-02 2.35294084e-04 9.99940512e-01 -4.20848788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.63, Y:-51.28, Z:-4.21 [[ 9.72356129e-01 2.33239278e-01 1.10903943e-02 3.11629905e+02] [-2.33221633e-01 9.72419351e-01 -2.87662713e-03 -5.12833315e+01] [-1.14554565e-02 2.10586143e-04 9.99934362e-01 -4.20849300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7857692310001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.66, Y:-51.30, Z:-4.21 [[ 9.71199642e-01 2.37940821e-01 1.24667970e-02 3.11660726e+02] [-2.37918876e-01 9.71279638e-01 -3.23639515e-03 -5.12977637e+01] [-1.28788166e-02 1.77099495e-04 9.99917049e-01 -4.20896479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.81576923100005 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:311.69, Y:-51.31, Z:-4.21 [[ 9.70716430e-01 2.39881808e-01 1.28969599e-02 3.11690775e+02] [-2.39858457e-01 9.70802087e-01 -3.35081196e-03 -5.13087914e+01] [-1.33241944e-02 1.59243328e-04 9.99911216e-01 -4.20928973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8457692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:311.72, Y:-51.32, Z:-4.21 [[ 9.69745493e-01 2.43717029e-01 1.39888943e-02 3.11720785e+02] [-2.43689913e-01 9.69846377e-01 -3.63740868e-03 -5.13234131e+01] [-1.44535769e-02 1.18408251e-04 9.99895535e-01 -4.20893419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.87576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:311.75, Y:-51.33, Z:-4.21 [[ 9.69243067e-01 2.45725179e-01 1.36753010e-02 3.11751567e+02] [-2.45699428e-01 9.69339532e-01 -3.55848219e-03 -5.13330745e+01] [-1.41304186e-02 8.90205500e-05 9.99900157e-01 -4.20898275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.9057692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:311.78, Y:-51.34, Z:-4.21 [[ 9.69224865e-01 2.45796993e-01 1.36747294e-02 3.11783937e+02] [-2.45771218e-01 9.69321324e-01 -3.56067755e-03 -5.13416597e+01] [-1.41304107e-02 9.02423070e-05 9.99900157e-01 -4.20940264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.93576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:311.81, Y:-51.35, Z:-4.21 [[ 9.68749255e-01 2.47713786e-01 1.27577688e-02 3.11814887e+02] [-2.47691504e-01 9.68833255e-01 -3.32291774e-03 -5.13496401e+01] [-1.31832832e-02 5.90831337e-05 9.99913095e-01 -4.21104888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.965769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:311.85, Y:-51.36, Z:-4.21 [[ 9.67482371e-01 2.52714906e-01 1.06319198e-02 3.11847372e+02] [-2.52699718e-01 9.67540788e-01 -2.77061063e-03 -5.13556900e+01] [-1.09869907e-02 -6.16618282e-06 9.99939641e-01 -4.21272242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.99576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:311.88, Y:-51.36, Z:-4.21 [[ 9.66658690e-01 2.55807627e-01 1.15514294e-02 3.11878169e+02] [-2.55789888e-01 9.66727705e-01 -3.01281630e-03 -5.13625245e+01] [-1.19377882e-02 -4.23737652e-05 9.99928741e-01 -4.21219384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.91, Y:-51.37, Z:-4.21 [[ 9.65312561e-01 2.60699865e-01 1.43958532e-02 3.11910312e+02] [-2.60672808e-01 9.65419890e-01 -3.75799519e-03 -5.13676342e+01] [-1.48777518e-02 -1.24967505e-04 9.99889312e-01 -4.20969202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.05576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.94, Y:-51.37, Z:-4.21 [[ 9.64859434e-01 2.62380411e-01 1.42405313e-02 3.11942676e+02] [-2.62354078e-01 9.64964506e-01 -3.72010178e-03 -5.13729606e+01] [-1.47176891e-02 -1.46686174e-04 9.99891678e-01 -4.21079276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.08576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.98, Y:-51.38, Z:-4.21 [[ 9.64611140e-01 2.63336456e-01 1.33887830e-02 3.11975268e+02] [-2.63313235e-01 9.64704042e-01 -3.50019405e-03 -5.13775859e+01] [-1.38379418e-02 -1.49117599e-04 9.99904240e-01 -4.21282291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.11576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:312.01, Y:-51.38, Z:-4.22 [[ 9.64767313e-01 2.62890718e-01 1.06067024e-02 3.12007776e+02] [-2.62876099e-01 9.64825610e-01 -2.77458284e-03 -5.13783934e+01] [-1.09630302e-02 -1.11421737e-04 9.99939898e-01 -4.21533865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:312.04, Y:-51.38, Z:-4.22 [[ 9.65095274e-01 2.61723559e-01 9.58600280e-03 3.12039839e+02] [-2.61711545e-01 9.65142876e-01 -2.50921571e-03 -5.13833702e+01] [-9.90858318e-03 -8.71353759e-05 9.99950905e-01 -4.21530928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.17576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:312.07, Y:-51.39, Z:-4.21 [[ 9.65629048e-01 2.59762139e-01 9.17457361e-03 3.12072427e+02] [-2.59751031e-01 9.65672629e-01 -2.40312218e-03 -5.13884651e+01] [-9.48387478e-03 -6.25803721e-05 9.99955025e-01 -4.21479444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:312.10, Y:-51.39, Z:-4.21 [[ 9.66973631e-01 2.54677607e-01 1.00654510e-02 3.12104633e+02] [-2.54663936e-01 9.67026016e-01 -2.63881392e-03 -5.13902347e+01] [-1.04055998e-02 -1.16438792e-05 9.99945860e-01 -4.21371779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:312.14, Y:-51.40, Z:-4.21 [[ 9.67486803e-01 2.52672039e-01 1.12306211e-02 3.12136772e+02] [-2.52654856e-01 9.67551983e-01 -2.94671761e-03 -5.13955122e+01] [-1.16107629e-02 1.34394326e-05 9.99932593e-01 -4.21386453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:312.17, Y:-51.40, Z:-4.21 [[ 9.67818426e-01 2.51301822e-01 1.32245235e-02 3.12169866e+02] [-2.51277828e-01 9.67908773e-01 -3.47277093e-03 -5.13963409e+01] [-1.36728460e-02 3.79821585e-05 9.99906522e-01 -4.21420851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.29576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:312.20, Y:-51.40, Z:-4.22 [[ 9.67839320e-01 2.51207810e-01 1.34791323e-02 3.12202594e+02] [-2.51182839e-01 9.67933177e-01 -3.54218304e-03 -5.14015848e+01] [-1.39367234e-02 4.25372968e-05 9.99902878e-01 -4.21509973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.23, Y:-51.41, Z:-4.22 [[ 9.67985730e-01 2.50630845e-01 1.37042640e-02 3.12233673e+02] [-2.50604935e-01 9.68082732e-01 -3.60416395e-03 -5.14078346e+01] [-1.41701760e-02 5.44230838e-05 9.99899597e-01 -4.21562467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.35576923100007 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:312.26, Y:-51.41, Z:-4.22 [[ 9.69001482e-01 2.46598756e-01 1.50060414e-02 3.12264711e+02] [-2.46567158e-01 9.69117659e-01 -3.94960241e-03 -5.14148432e+01] [-1.55165868e-02 1.27173601e-04 9.99879602e-01 -4.21553272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38576923100004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:312.30, Y:-51.42, Z:-4.22 [[ 9.69690706e-01 2.43899707e-01 1.45900088e-02 3.12296164e+02] [-2.43869490e-01 9.69800446e-01 -3.84281899e-03 -5.14230019e+01] [-1.50866595e-02 1.68287854e-04 9.99886176e-01 -4.21634413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.41576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:312.33, Y:-51.43, Z:-4.22 [[ 9.71018961e-01 2.38659634e-01 1.27967166e-02 3.12326938e+02] [-2.38635903e-01 9.71103254e-01 -3.37278811e-03 -5.14343341e+01] [-1.32318815e-02 2.21285196e-04 9.99912430e-01 -4.21827513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:312.36, Y:-51.45, Z:-4.22 [[ 9.71681209e-01 2.35944469e-01 1.28776947e-02 3.12357837e+02] [-2.35920162e-01 9.71766504e-01 -3.39683006e-03 -5.14458929e+01] [-1.33155756e-02 2.62528139e-04 9.99911309e-01 -4.21874013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.4757692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:312.39, Y:-51.46, Z:-4.22 [[ 9.72308542e-01 2.33302078e-01 1.36469612e-02 3.12388342e+02] [-2.33274478e-01 9.72404257e-01 -3.60274846e-03 -5.14573346e+01] [-1.41108918e-02 3.19495363e-04 9.99900385e-01 -4.21860464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:312.42, Y:-51.47, Z:-4.22 [[ 9.73372733e-01 2.28844676e-01 1.32527943e-02 3.12419228e+02] [-2.28818199e-01 9.73462877e-01 -3.50122925e-03 -5.14711724e+01] [-1.37023409e-02 3.75520559e-04 9.99906048e-01 -4.21938525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:312.45, Y:-51.48, Z:-4.22 [[ 9.73622384e-01 2.27855556e-01 1.18869341e-02 3.12449850e+02] [-2.27834155e-01 9.73694881e-01 -3.14257958e-03 -5.14839859e+01] [-1.22903011e-02 3.51436243e-04 9.99924410e-01 -4.22061353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56576923100005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:312.48, Y:-51.50, Z:-4.22 [[ 9.73649132e-01 2.27824069e-01 1.01764852e-02 3.12479118e+02] [-2.27808364e-01 9.73702265e-01 -2.69216943e-03 -5.14975466e+01] [-1.05222077e-02 3.02939984e-04 9.99944594e-01 -4.22152973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5957692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.51, Y:-51.51, Z:-4.22 [[ 9.72959290e-01 2.30811041e-01 8.74549577e-03 3.12508311e+02] [-2.30799550e-01 9.72998566e-01 -2.31495028e-03 -5.15146826e+01] [-9.04367093e-03 2.33895893e-04 9.99959078e-01 -4.22090949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.54, Y:-51.52, Z:-4.22 [[ 9.72188666e-01 2.34003388e-01 9.57137046e-03 3.12538803e+02] [-2.33989758e-01 9.72235755e-01 -2.53574691e-03 -5.15249432e+01] [-9.89900196e-03 2.25621755e-04 9.99950978e-01 -4.22046151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6557692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:312.57, Y:-51.54, Z:-4.22 [[ 9.70368645e-01 2.41331785e-01 1.19859047e-02 3.12569927e+02] [-2.41310932e-01 9.70442648e-01 -3.17825542e-03 -5.15357241e+01] [-1.23986472e-02 1.91749556e-04 9.99923115e-01 -4.21840021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.60, Y:-51.55, Z:-4.22 [[ 9.69459338e-01 2.44957861e-01 1.20098976e-02 3.12600054e+02] [-2.44937172e-01 9.69533715e-01 -3.18709722e-03 -5.15459165e+01] [-1.24247052e-02 1.48090797e-04 9.99922799e-01 -4.22075726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.715769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:312.63, Y:-51.56, Z:-4.22 [[ 9.68275682e-01 2.49633604e-01 1.11922972e-02 3.12630054e+02] [-2.49615924e-01 9.68340362e-01 -2.97211134e-03 -5.15565881e+01] [-1.15798920e-02 8.40475268e-05 9.99932947e-01 -4.22082118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:312.66, Y:-51.57, Z:-4.22 [[ 9.68022193e-01 2.50646253e-01 1.04637433e-02 3.12661236e+02] [-2.50630840e-01 9.68078742e-01 -2.78045167e-03 -5.15660124e+01] [-1.08266372e-02 6.90021516e-05 9.99941388e-01 -4.22193909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.775769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:312.69, Y:-51.58, Z:-4.22 [[ 9.68025781e-01 2.50641327e-01 1.02476018e-02 3.12692701e+02] [-2.50626523e-01 9.68080018e-01 -2.72501427e-03 -5.15755877e+01] [-1.06034997e-02 6.95632650e-05 9.99943779e-01 -4.22296442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:312.72, Y:-51.59, Z:-4.22 [[ 9.68657616e-01 2.48159086e-01 1.09311594e-02 3.12724307e+02] [-2.48142056e-01 9.68719287e-01 -2.90912116e-03 -5.15852598e+01] [-1.13111498e-02 1.05461998e-04 9.99936021e-01 -4.22317400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.83576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.76, Y:-51.59, Z:-4.22 [[ 9.68825945e-01 2.47462140e-01 1.17803495e-02 3.12755069e+02] [-2.47442278e-01 9.68897556e-01 -3.13775416e-03 -5.15933767e+01] [-1.21904272e-02 1.24981136e-04 9.99925686e-01 -4.22269849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:312.79, Y:-51.60, Z:-4.22 [[ 9.68535446e-01 2.48483150e-01 1.39718896e-02 3.12785913e+02] [-2.48455273e-01 9.68636209e-01 -3.72447996e-03 -5.16006189e+01] [-1.44591487e-02 1.35901216e-04 9.99895452e-01 -4.22010201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.89576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:312.82, Y:-51.61, Z:-4.22 [[ 9.68105388e-01 2.50114664e-01 1.46496375e-02 3.12817670e+02] [-2.50084171e-01 9.68216216e-01 -3.90724763e-03 -5.16079923e+01] [-1.51612765e-02 1.18985033e-04 9.99885054e-01 -4.21960705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:312.85, Y:-51.61, Z:-4.22 [[ 9.67509490e-01 2.52390354e-01 1.49831677e-02 3.12848979e+02] [-2.52358685e-01 9.67625496e-01 -3.99909628e-03 -5.16145779e+01] [-1.55074284e-02 8.80311136e-05 9.99879749e-01 -4.22035692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.95576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.88, Y:-51.62, Z:-4.22 [[ 9.66442791e-01 2.56475302e-01 1.44482336e-02 3.12880645e+02] [-2.56446281e-01 9.66550784e-01 -3.85823772e-03 -5.16198793e+01] [-1.49544943e-02 2.35702389e-05 9.99888175e-01 -4.22216336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:312.91, Y:-51.63, Z:-4.22 [[ 9.66106848e-01 2.57778869e-01 1.36971561e-02 3.12913125e+02] [-2.57752883e-01 9.66203941e-01 -3.66014496e-03 -5.16275099e+01] [-1.41777542e-02 5.60965121e-06 9.99899491e-01 -4.22319305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.94, Y:-51.63, Z:-4.22 [[ 9.65970245e-01 2.58386010e-01 1.17540022e-02 3.12944589e+02] [-2.58366895e-01 9.66041754e-01 -3.14290066e-03 -5.16323403e+01] [-1.21669385e-02 -8.96530347e-07 9.99925980e-01 -4.22384143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:312.98, Y:-51.64, Z:-4.22 [[ 9.65858532e-01 2.58848772e-01 1.07055512e-02 3.12976463e+02] [-2.58832923e-01 9.65917861e-01 -2.86434696e-03 -5.16383553e+01] [-1.10821158e-02 -4.39514352e-06 9.99938591e-01 -4.22433864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:313.01, Y:-51.64, Z:-4.22 [[ 9.65514942e-01 2.60196783e-01 8.86174473e-03 3.13010082e+02] [-2.60185970e-01 9.65555609e-01 -2.37224112e-03 -5.16416031e+01] [-9.17375684e-03 -1.52674010e-05 9.99957920e-01 -4.22457995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10576923100007 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:313.04, Y:-51.65, Z:-4.23 [[ 9.65301960e-01 2.60984237e-01 8.90813490e-03 3.13041437e+02] [-2.60973324e-01 9.65343062e-01 -2.38674101e-03 -5.16466821e+01] [-9.22230800e-03 -2.08598046e-05 9.99957473e-01 -4.22570997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:313.07, Y:-51.65, Z:-4.23 [[ 9.65189015e-01 2.61378946e-01 9.55052012e-03 3.13073242e+02] [-2.61366413e-01 9.65236264e-01 -2.55965927e-03 -5.16523532e+01] [-9.88754940e-03 -2.56301839e-05 9.99951117e-01 -4.22637626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:313.11, Y:-51.66, Z:-4.23 [[ 9.65398138e-01 2.60533620e-01 1.13432137e-02 3.13105045e+02] [-2.60515854e-01 9.65464776e-01 -3.04254027e-03 -5.16562112e+01] [-1.17441573e-02 -1.78242835e-05 9.99931035e-01 -4.22668827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.14, Y:-51.66, Z:-4.23 [[ 9.65594280e-01 2.59802012e-01 1.14280787e-02 3.13136232e+02] [-2.59783926e-01 9.65661905e-01 -3.06548490e-03 -5.16629852e+01] [-1.18320794e-02 -8.81646386e-06 9.99929998e-01 -4.22719592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2257692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:313.17, Y:-51.67, Z:-4.23 [[ 9.66039579e-01 2.58217847e-01 9.54328426e-03 3.13166028e+02] [-2.58205141e-01 9.66086716e-01 -2.56157357e-03 -5.16676947e+01] [-9.88108416e-03 1.04563890e-05 9.99951181e-01 -4.22789069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.20, Y:-51.67, Z:-4.23 [[ 9.66198181e-01 2.57639701e-01 9.10271887e-03 3.13195943e+02] [-2.57628114e-01 9.66241059e-01 -2.44345665e-03 -5.16738350e+01] [-9.42495217e-03 1.57470739e-05 9.99955584e-01 -4.22918766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.23, Y:-51.68, Z:-4.23 [[ 9.66218890e-01 2.57562990e-01 9.07541713e-03 3.13225350e+02] [-2.57551469e-01 9.66261510e-01 -2.43616413e-03 -5.16799310e+01] [-9.39669198e-03 1.64807885e-05 9.99955850e-01 -4.22989137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.26, Y:-51.68, Z:-4.23 [[ 9.65940818e-01 2.58579300e-01 9.75102356e-03 3.13255484e+02] [-2.58566053e-01 9.65990034e-01 -2.61742105e-03 -5.16837447e+01] [-1.00962025e-02 6.99015856e-06 9.99949032e-01 -4.22979758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3457692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:313.28, Y:-51.69, Z:-4.23 [[ 9.65784205e-01 2.59148244e-01 1.01516828e-02 3.13283597e+02] [-2.59133919e-01 9.65837558e-01 -2.72476110e-03 -5.16889220e+01] [-1.05109935e-02 8.85899270e-07 9.99944758e-01 -4.22967471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.37576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:313.31, Y:-51.69, Z:-4.23 [[ 9.65518811e-01 2.60132950e-01 1.02115107e-02 3.13312712e+02] [-2.60118516e-01 9.65572808e-01 -2.74033285e-03 -5.16925053e+01] [-1.05728079e-02 -1.03600822e-05 9.99944106e-01 -4.23017075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.4057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.34, Y:-51.70, Z:-4.23 [[ 9.65586381e-01 2.59907314e-01 9.54616270e-03 3.13340081e+02] [-2.59894692e-01 9.65633568e-01 -2.56139755e-03 -5.16980253e+01] [-9.88382111e-03 -7.74642620e-06 9.99951154e-01 -4.23120684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.43576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.37, Y:-51.70, Z:-4.23 [[ 9.65756193e-01 2.59303949e-01 8.74281203e-03 3.13368274e+02] [-2.59293343e-01 9.65795766e-01 -2.34535264e-03 -5.17047671e+01] [-9.05193004e-03 -1.91412147e-06 9.99959030e-01 -4.23239490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.40, Y:-51.71, Z:-4.23 [[ 9.66576914e-01 2.56228396e-01 8.72229388e-03 3.13395216e+02] [-2.56217717e-01 9.66616267e-01 -2.33948074e-03 -5.17103553e+01] [-9.03055255e-03 2.64818506e-05 9.99959223e-01 -4.23226504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.49576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.42, Y:-51.72, Z:-4.23 [[ 9.66958567e-01 2.54729225e-01 1.02054636e-02 3.13424015e+02] [-2.54714530e-01 9.67012420e-01 -2.73651523e-03 -5.17169012e+01] [-1.05658805e-02 4.66169735e-05 9.99944178e-01 -4.23163707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.525769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:313.45, Y:-51.72, Z:-4.23 [[ 9.67772529e-01 2.51530049e-01 1.22051593e-02 3.13451884e+02] [-2.51508780e-01 9.67849485e-01 -3.27236209e-03 -5.17242921e+01] [-1.26358546e-02 9.71974064e-05 9.99920160e-01 -4.23042887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.55576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:313.48, Y:-51.73, Z:-4.23 [[ 9.68105734e-01 2.50238733e-01 1.23233189e-02 3.13479874e+02] [-2.50216951e-01 9.68184158e-01 -3.30359645e-03 -5.17325018e+01] [-1.27579299e-02 1.14727390e-04 9.99918608e-01 -4.23076493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.58576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:313.51, Y:-51.74, Z:-4.23 [[ 9.68420659e-01 2.49027730e-01 1.21085735e-02 3.13507026e+02] [-2.49006608e-01 9.68496347e-01 -3.24588485e-03 -5.17401950e+01] [-1.25354245e-02 1.28267141e-04 9.99921420e-01 -4.23208013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.61576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:313.53, Y:-51.75, Z:-4.23 [[ 9.68729429e-01 2.47846881e-01 1.16282701e-02 3.13534008e+02] [-2.47827322e-01 9.68799208e-01 -3.11674094e-03 -5.17477062e+01] [-1.20379333e-02 1.37475652e-04 9.99927532e-01 -4.23317250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:313.56, Y:-51.75, Z:-4.23 [[ 9.68744285e-01 2.47794784e-01 1.15002140e-02 3.13563414e+02] [-2.47775658e-01 9.68812534e-01 -3.08173416e-03 -5.17549117e+01] [-1.19051892e-02 1.35939258e-04 9.99929121e-01 -4.23349851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.67576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:313.59, Y:-51.76, Z:-4.23 [[ 9.68821193e-01 2.47553309e-01 1.01417472e-02 3.13592100e+02] [-2.47538420e-01 9.68874267e-01 -2.71772714e-03 -5.17613819e+01] [-1.04988602e-02 1.22519570e-04 9.99944878e-01 -4.23322887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:313.62, Y:-51.77, Z:-4.23 [[ 9.69004746e-01 2.46863670e-01 9.38777155e-03 3.13621084e+02] [-2.46850881e-01 9.69050212e-01 -2.51560994e-03 -5.17689324e+01] [-9.71823472e-03 1.20258291e-04 9.99952770e-01 -4.23445299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.65, Y:-51.78, Z:-4.24 [[ 9.69339638e-01 2.45549653e-01 9.27550228e-03 3.13650379e+02] [-2.45537111e-01 9.69384006e-01 -2.48530357e-03 -5.17760699e+01] [-9.60178899e-03 1.31623236e-04 9.99953893e-01 -4.23539886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.68, Y:-51.78, Z:-4.24 [[ 9.70116669e-01 2.42434312e-01 9.96253615e-03 3.13680198e+02] [-2.42419682e-01 9.70167807e-01 -2.66902024e-03 -5.17841494e+01] [-1.03123939e-02 1.74146182e-04 9.99946811e-01 -4.23609875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.79576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.71, Y:-51.79, Z:-4.24 [[ 9.70493532e-01 2.40918441e-01 1.00304047e-02 3.13709080e+02] [-2.40903527e-01 9.70545346e-01 -2.68747915e-03 -5.17938820e+01] [-1.03824259e-02 1.91821256e-04 9.99946083e-01 -4.23617305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.74, Y:-51.80, Z:-4.24 [[ 9.70496160e-01 2.40907857e-01 1.00303613e-02 3.13738228e+02] [-2.40892941e-01 9.70547973e-01 -2.68764114e-03 -5.18016495e+01] [-1.03824207e-02 1.92102164e-04 9.99946083e-01 -4.23655087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.85576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.77, Y:-51.81, Z:-4.24 [[ 9.71275798e-01 2.37800124e-01 8.62699484e-03 3.13766860e+02] [-2.37788969e-01 9.71314091e-01 -2.31148663e-03 -5.18130852e+01] [-8.92919346e-03 1.93686817e-04 9.99960115e-01 -4.23573930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.80, Y:-51.82, Z:-4.24 [[ 9.71402145e-01 2.37304004e-01 8.04252637e-03 3.13795555e+02] [-2.37294292e-01 9.71435420e-01 -2.15488621e-03 -5.18220774e+01] [-8.32415811e-03 1.84815482e-04 9.99965337e-01 -4.23621081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.91576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.83, Y:-51.83, Z:-4.24 [[ 9.71284046e-01 2.37757296e-01 8.87530969e-03 3.13827424e+02] [-2.37745493e-01 9.71324574e-01 -2.37734819e-03 -5.18319505e+01] [-9.18603829e-03 1.99015489e-04 9.99957788e-01 -4.23656819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.86, Y:-51.84, Z:-4.24 [[ 9.70603896e-01 2.40397677e-01 1.17061301e-02 3.13858203e+02] [-2.40377297e-01 9.70674458e-01 -3.13886224e-03 -5.18422579e+01] [-1.21174167e-02 2.32704008e-04 9.99926554e-01 -4.23624481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.9757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.89, Y:-51.85, Z:-4.24 [[ 9.70324278e-01 2.41515861e-01 1.18695169e-02 3.13886468e+02] [-2.41494962e-01 9.70396846e-01 -3.18505450e-03 -5.18498870e+01] [-1.22873830e-02 2.24107173e-04 9.99924482e-01 -4.23662848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:313.92, Y:-51.86, Z:-4.24 [[ 9.70184595e-01 2.42184497e-01 9.40861027e-03 3.13917630e+02] [-2.42171403e-01 9.70230200e-01 -2.52411623e-03 -5.18584694e+01] [-9.73981964e-03 1.70362339e-04 9.99952552e-01 -4.23807167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0357692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:313.95, Y:-51.87, Z:-4.24 [[ 9.70333487e-01 2.41610899e-01 8.78054742e-03 3.13948398e+02] [-2.41599458e-01 9.70373199e-01 -2.35700752e-03 -5.18680199e+01] [-9.08988660e-03 1.65707826e-04 9.99958672e-01 -4.23880348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:313.98, Y:-51.88, Z:-4.24 [[ 9.70960306e-01 2.39039693e-01 9.80355616e-03 3.13978919e+02] [-2.39025280e-01 9.71009773e-01 -2.63368639e-03 -5.18792769e+01] [-1.01489044e-02 2.13907189e-04 9.99948476e-01 -4.23858429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:314.01, Y:-51.89, Z:-4.24 [[ 9.71207952e-01 2.37987040e-01 1.08297201e-02 3.14010503e+02] [-2.37969370e-01 9.71268298e-01 -2.91076800e-03 -5.18890690e+01] [-1.12112889e-02 2.49819361e-04 9.99937120e-01 -4.23888402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.04, Y:-51.90, Z:-4.24 [[ 9.71280224e-01 2.37650081e-01 1.17117711e-02 3.14041547e+02] [-2.37629360e-01 9.71350793e-01 -3.15038441e-03 -5.18988756e+01] [-1.21249272e-02 2.76845412e-04 9.99926452e-01 -4.23954339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.1557692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:314.07, Y:-51.91, Z:-4.24 [[ 9.71009756e-01 2.38753719e-01 1.16925121e-02 3.14072019e+02] [-2.38733118e-01 9.71080116e-01 -3.14754353e-03 -5.19112510e+01] [-1.21058538e-02 2.64905602e-04 9.99926686e-01 -4.24017667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.10, Y:-51.92, Z:-4.24 [[ 9.70735909e-01 2.39914586e-01 1.06201165e-02 3.14103081e+02] [-2.39897639e-01 9.70793973e-01 -2.86075989e-03 -5.19220213e+01] [-1.09962831e-02 2.29301485e-04 9.99939513e-01 -4.24107902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.215769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.13, Y:-51.93, Z:-4.24 [[ 9.70155828e-01 2.42377853e-01 7.11655453e-03 3.14133242e+02] [-2.42370305e-01 9.70181920e-01 -1.91769005e-03 -5.19347882e+01] [-7.36915814e-03 1.35616683e-04 9.99972838e-01 -4.24255814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.16, Y:-51.95, Z:-4.24 [[ 9.69834117e-01 2.43686075e-01 6.23562776e-03 3.14164751e+02] [-2.43680301e-01 9.69854156e-01 -1.68112192e-03 -5.19464705e+01] [-6.45731550e-03 1.10909738e-04 9.99979145e-01 -4.24353621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.275769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.19, Y:-51.96, Z:-4.24 [[ 9.69601605e-01 2.44590348e-01 6.94909794e-03 3.14194178e+02] [-2.44583188e-01 9.69626499e-01 -1.87511629e-03 -5.19626981e+01] [-7.19666486e-03 1.18483234e-04 9.99974097e-01 -4.24348007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.22, Y:-51.98, Z:-4.24 [[ 9.69598946e-01 2.44582399e-01 7.57187648e-03 3.14224495e+02] [-2.44573886e-01 9.69628503e-01 -2.04482152e-03 -5.19759135e+01] [-7.84203461e-03 1.30773533e-04 9.99969242e-01 -4.24335010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.33576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:314.25, Y:-51.99, Z:-4.24 [[ 9.69168953e-01 2.46209647e-01 9.60990187e-03 3.14254460e+02] [-2.46195988e-01 9.69216584e-01 -2.59784952e-03 -5.19933391e+01] [-9.95369187e-03 1.51835812e-04 9.99950449e-01 -4.24293437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.28, Y:-52.01, Z:-4.24 [[ 9.68592525e-01 2.48431896e-01 1.04935087e-02 3.14284001e+02] [-2.48415713e-01 9.68649355e-01 -2.83912055e-03 -5.20050079e+01] [-1.08698585e-02 1.43198493e-04 9.99940911e-01 -4.24249125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.31, Y:-52.02, Z:-4.24 [[ 9.67759062e-01 2.51644083e-01 1.08468210e-02 3.14313877e+02] [-2.51626970e-01 9.67819840e-01 -2.93687813e-03 -5.20156797e+01] [-1.12368165e-02 1.12837736e-04 9.99936859e-01 -4.24250232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42576923100006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:314.34, Y:-52.03, Z:-4.24 [[ 9.65629530e-01 2.59745508e-01 9.58551080e-03 3.14344322e+02] [-2.59732528e-01 9.65677105e-01 -2.59678092e-03 -5.20281119e+01] [-9.93101050e-03 1.78593816e-05 9.99950686e-01 -4.24008273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.37, Y:-52.04, Z:-4.24 [[ 9.64751277e-01 2.62993426e-01 9.45677374e-03 3.14374887e+02] [-2.62980931e-01 9.64797625e-01 -2.56371384e-03 -5.20379422e+01] [-9.79811274e-03 -1.36049564e-05 9.99951997e-01 -4.24409361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.40, Y:-52.05, Z:-4.24 [[ 9.63533389e-01 2.67376634e-01 1.06369251e-02 3.14404690e+02] [-2.67361068e-01 9.63592098e-01 -2.88580251e-03 -5.20494844e+01] [-1.10212531e-02 -6.33325806e-05 9.99939262e-01 -4.24338419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.44, Y:-52.06, Z:-4.24 [[ 9.63099816e-01 2.68918125e-01 1.10356633e-02 3.14436351e+02] [-2.68901448e-01 9.63163037e-01 -2.99598083e-03 -5.20593508e+01] [-1.14348166e-02 -8.20772657e-05 9.99934617e-01 -4.24339293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.47, Y:-52.07, Z:-4.24 [[ 9.62809885e-01 2.69921121e-01 1.18200568e-02 3.14467709e+02] [-2.69902036e-01 9.62882432e-01 -3.21128221e-03 -5.20686893e+01] [-1.22481179e-02 -9.84031277e-05 9.99924984e-01 -4.24424053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.50, Y:-52.08, Z:-4.24 [[ 9.62053242e-01 2.72593245e-01 1.21030135e-02 3.14499750e+02] [-2.72573418e-01 9.62129360e-01 -3.29044830e-03 -5.20775359e+01] [-1.25416186e-02 -1.33373312e-04 9.99921342e-01 -4.24449921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.53, Y:-52.09, Z:-4.24 [[ 9.61504668e-01 2.74567738e-01 1.10149958e-02 3.14532088e+02] [-2.74551424e-01 9.61567749e-01 -2.99645762e-03 -5.20854584e+01] [-1.14143953e-02 -1.43074783e-04 9.99934843e-01 -4.24407930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.56, Y:-52.09, Z:-4.24 [[ 9.60080859e-01 2.79566488e-01 9.34467848e-03 3.14564641e+02] [-2.79554969e-01 9.60126320e-01 -2.54359556e-03 -5.20905870e+01] [-9.68317584e-03 -1.70293891e-04 9.99953102e-01 -4.24479771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.60, Y:-52.10, Z:-4.24 [[ 9.59429830e-01 2.81777389e-01 9.79304133e-03 3.14595704e+02] [-2.81764831e-01 9.59479788e-01 -2.66777999e-03 -5.20969228e+01] [-1.01479453e-02 -1.99786939e-04 9.99948488e-01 -4.24495647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.63, Y:-52.10, Z:-4.25 [[ 9.58644869e-01 2.84389681e-01 1.10690912e-02 3.14626244e+02] [-2.84373782e-01 9.58708738e-01 -3.01782901e-03 -5.21014347e+01] [-1.14702739e-02 -2.54733047e-04 9.99934182e-01 -4.24609390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.66, Y:-52.11, Z:-4.25 [[ 9.58624347e-01 2.84471266e-01 1.07452520e-02 3.14657997e+02] [-2.84456273e-01 9.58684535e-01 -2.93106719e-03 -5.21086702e+01] [-1.11351114e-02 -2.46761976e-04 9.99937972e-01 -4.24682630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.75576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.69, Y:-52.12, Z:-4.25 [[ 9.58686919e-01 2.84292036e-01 9.87061826e-03 3.14688883e+02] [-2.84279354e-01 9.58737706e-01 -2.69447507e-03 -5.21162240e+01] [-1.02293517e-02 -2.22854982e-04 9.99947654e-01 -4.24835660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.72, Y:-52.12, Z:-4.25 [[ 9.59319978e-01 2.82202532e-01 8.17993564e-03 3.14718117e+02] [-2.82193736e-01 9.59354837e-01 -2.23426943e-03 -5.21214935e+01] [-8.47797731e-03 -1.64947299e-04 9.99964048e-01 -4.24974198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.75, Y:-52.13, Z:-4.25 [[ 9.59732144e-01 2.80811903e-01 7.67382768e-03 3.14750642e+02] [-2.80804125e-01 9.59762811e-01 -2.09499623e-03 -5.21286362e+01] [-7.95335431e-03 -1.44207247e-04 9.99968361e-01 -4.25031123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.78, Y:-52.13, Z:-4.25 [[ 9.60463073e-01 2.78303092e-01 7.62067680e-03 3.14782488e+02] [-2.78295330e-01 9.60493297e-01 -2.08210166e-03 -5.21342090e+01] [-7.89906432e-03 -1.21017007e-04 9.99968795e-01 -4.25059541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.81, Y:-52.14, Z:-4.25 [[ 9.60767370e-01 2.77270282e-01 6.87396020e-03 3.14812606e+02] [-2.77263931e-01 9.60791955e-01 -1.87937292e-03 -5.21412532e+01] [-7.12553992e-03 -1.00261054e-04 9.99974608e-01 -4.25111922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.9057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.84, Y:-52.15, Z:-4.25 [[ 9.61045691e-01 2.76324565e-01 5.99284235e-03 3.14844657e+02] [-2.76319717e-01 9.61064373e-01 -1.63886917e-03 -5.21489554e+01] [-6.21236708e-03 -8.09123465e-05 9.99980700e-01 -4.25261670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.88, Y:-52.16, Z:-4.25 [[ 9.61426860e-01 2.75007180e-01 5.42625688e-03 3.14877199e+02] [-2.75003179e-01 9.61442170e-01 -1.48479654e-03 -5.21568127e+01] [-5.62536191e-03 -6.47146192e-05 9.99984175e-01 -4.25314606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.91, Y:-52.16, Z:-4.25 [[ 9.62334089e-01 2.71781937e-01 6.90500529e-03 3.14910002e+02] [-2.71775361e-01 9.62358860e-01 -1.89150266e-03 -5.21636916e+01] [-7.15916928e-03 -5.63528160e-05 9.99974371e-01 -4.25291114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.94, Y:-52.17, Z:-4.25 [[ 9.63193854e-01 2.68652911e-01 9.12209136e-03 3.14941658e+02] [-2.68641268e-01 9.63237049e-01 -2.50151342e-03 -5.21715911e+01] [-9.45877522e-03 -4.11278339e-05 9.99955264e-01 -4.25191759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.97, Y:-52.18, Z:-4.25 [[ 9.63554528e-01 2.67350048e-01 9.30717820e-03 3.14972512e+02] [-2.67337845e-01 9.63599477e-01 -2.55446596e-03 -5.21815110e+01] [-9.65132864e-03 -2.67937224e-05 9.99953424e-01 -4.25256913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.00, Y:-52.19, Z:-4.25 [[ 9.64002909e-01 2.65743899e-01 8.86402807e-03 3.15002825e+02] [-2.65732755e-01 9.64043661e-01 -2.43371140e-03 -5.21918895e+01] [-9.19205403e-03 -9.35772721e-06 9.99957752e-01 -4.25283068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.03, Y:-52.20, Z:-4.25 [[ 9.64527224e-01 2.63842941e-01 8.61030211e-03 3.15034187e+02] [-2.63832336e-01 9.64565655e-01 -2.36559226e-03 -5.22021607e+01] [-8.92934651e-03 1.00020179e-05 9.99960133e-01 -4.25362408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.06, Y:-52.22, Z:-4.25 [[ 9.65356950e-01 2.60707337e-01 1.08463744e-02 3.15063572e+02] [-2.60690278e-01 9.65417879e-01 -2.98278289e-03 -5.22152914e+01] [-1.12489172e-02 5.19058273e-05 9.99936728e-01 -4.25342024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.09, Y:-52.23, Z:-4.25 [[ 9.65731468e-01 2.59161761e-01 1.40682067e-02 3.15094086e+02] [-2.59132849e-01 9.65833926e-01 -3.87216997e-03 -5.22305273e+01] [-1.45910697e-02 9.39419094e-05 9.99893540e-01 -4.25152709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.12, Y:-52.24, Z:-4.25 [[ 9.65765926e-01 2.59060564e-01 1.35572809e-02 3.15124001e+02] [-2.59033667e-01 9.65861074e-01 -3.73420588e-03 -5.22414840e+01] [-1.40618354e-02 9.45766207e-05 9.99901123e-01 -4.25203427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.15, Y:-52.25, Z:-4.25 [[ 9.65627532e-01 2.59621767e-01 1.26494407e-02 3.15153926e+02] [-2.59598370e-01 9.65710377e-01 -3.48641352e-03 -5.22518022e+01] [-1.31208449e-02 8.28027097e-05 9.99913915e-01 -4.25358626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.18, Y:-52.27, Z:-4.25 [[ 9.64705327e-01 2.63076059e-01 1.16025688e-02 3.15184162e+02] [-2.63056601e-01 9.64775096e-01 -3.19984409e-03 -5.22650936e+01] [-1.20356718e-02 3.47743320e-05 9.99927568e-01 -4.25496134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.21, Y:-52.28, Z:-4.25 [[ 9.63971926e-01 2.65769075e-01 1.11769846e-02 3.15213766e+02] [-2.65751174e-01 9.64036721e-01 -3.08466948e-03 -5.22764793e+01] [-1.15948333e-02 3.23800605e-06 9.99932778e-01 -4.25403995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.24, Y:-52.29, Z:-4.25 [[ 9.62696449e-01 2.70410173e-01 9.68942432e-03 3.15244016e+02] [-2.70396939e-01 9.62745209e-01 -2.67563315e-03 -5.22903331e+01] [-1.00519653e-02 -4.41681348e-05 9.99949477e-01 -4.25364810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.27, Y:-52.30, Z:-4.25 [[ 9.62320260e-01 2.71757967e-01 9.34473136e-03 3.15274443e+02] [-2.71745704e-01 9.62365629e-01 -2.58228151e-03 -5.23006157e+01] [-9.69480385e-03 -5.44087879e-05 9.99953003e-01 -4.25434927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.30, Y:-52.31, Z:-4.26 [[ 9.62135362e-01 2.72405971e-01 9.51485091e-03 3.15304400e+02] [-2.72393271e-01 9.62182406e-01 -2.63112374e-03 -5.23113229e+01] [-9.87175596e-03 -6.02841709e-05 9.99951271e-01 -4.25531515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.33, Y:-52.33, Z:-4.26 [[ 9.62330884e-01 2.71712503e-01 9.57007132e-03 3.15334551e+02] [-2.71699603e-01 9.62378467e-01 -2.64816492e-03 -5.23266883e+01] [-9.92957009e-03 -5.17736893e-05 9.99950699e-01 -4.25665891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.36, Y:-52.34, Z:-4.26 [[ 9.62536569e-01 2.70977952e-01 9.71100662e-03 3.15364949e+02] [-2.70964612e-01 9.62585553e-01 -2.68910072e-03 -5.23389329e+01] [-1.00763617e-02 -4.29813643e-05 9.99949231e-01 -4.25716141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.40, Y:-52.35, Z:-4.26 [[ 9.62870221e-01 2.69812998e-01 9.04892195e-03 3.15395113e+02] [-2.69801349e-01 9.62912740e-01 -2.50737597e-03 -5.23543154e+01] [-9.38984486e-03 -2.71336853e-05 9.99955914e-01 -4.25805907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.42, Y:-52.37, Z:-4.26 [[ 9.62964040e-01 2.69505937e-01 8.17359042e-03 3.15424493e+02] [-2.69496409e-01 9.62998728e-01 -2.26625744e-03 -5.23665674e+01] [-8.48192701e-03 -2.04288541e-05 9.99964028e-01 -4.25858624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.46, Y:-52.38, Z:-4.26 [[ 9.63039509e-01 2.69261299e-01 7.29779665e-03 3.15455576e+02] [-2.69253689e-01 9.63067159e-01 -2.02447345e-03 -5.23795008e+01] [-7.57338064e-03 -1.53107484e-05 9.99971321e-01 -4.25877604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.49, Y:-52.40, Z:-4.26 [[ 9.63123951e-01 2.68989885e-01 6.05776943e-03 3.15485032e+02] [-2.68984631e-01 9.63143002e-01 -1.68125136e-03 -5.23969976e+01] [-6.28673784e-03 -1.01934244e-05 9.99980238e-01 -4.25893298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.51, Y:-52.41, Z:-4.26 [[ 9.62959813e-01 2.69564118e-01 6.60189845e-03 3.15514457e+02] [-2.69557880e-01 9.62982443e-01 -1.83386163e-03 -5.24101647e+01] [-6.85185559e-03 -1.36586988e-05 9.99976526e-01 -4.25920720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.54, Y:-52.43, Z:-4.26 [[ 9.62214936e-01 2.72200927e-01 7.00522698e-03 3.15544339e+02] [-2.72193964e-01 9.62240435e-01 -1.94721003e-03 -5.24262422e+01] [-7.27074503e-03 -3.31459283e-05 9.99973567e-01 -4.25928243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.57, Y:-52.44, Z:-4.26 [[ 9.61433813e-01 2.74959675e-01 6.49624163e-03 3.15574099e+02] [-2.74953742e-01 9.61455758e-01 -1.80696827e-03 -5.24373968e+01] [-6.74269233e-03 -4.88855522e-05 9.99977267e-01 -4.25941353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.61, Y:-52.45, Z:-4.26 [[ 9.59291206e-01 2.82384383e-01 4.40939125e-03 3.15605224e+02] [-2.82381727e-01 9.59301337e-01 -1.22651096e-03 -5.24491264e+01] [-4.57628246e-03 -6.85503344e-05 9.99989526e-01 -4.25963859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.64, Y:-52.46, Z:-4.26 [[ 9.58056245e-01 2.86535532e-01 5.06157502e-03 3.15635671e+02] [-2.86532083e-01 9.58069611e-01 -1.40941919e-03 -5.24588797e+01] [-5.25318988e-03 -1.00000777e-04 9.99986197e-01 -4.25960239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.67, Y:-52.47, Z:-4.26 [[ 9.58032728e-01 2.86614161e-01 5.06114281e-03 3.15667886e+02] [-2.86610705e-01 9.58046091e-01 -1.41096893e-03 -5.24680040e+01] [-5.25321176e-03 -9.88232923e-05 9.99986197e-01 -4.26002233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.70, Y:-52.48, Z:-4.26 [[ 9.56904893e-01 2.90325758e-01 6.63172099e-03 3.15698935e+02] [-2.90319911e-01 9.56927860e-01 -1.84919779e-03 -5.24770817e+01] [-6.88294833e-03 -1.55814234e-04 9.99976300e-01 -4.25963405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.73, Y:-52.48, Z:-4.26 [[ 9.54850842e-01 2.96916657e-01 1.00183451e-02 3.15731961e+02] [-2.96903643e-01 9.54903349e-01 -2.79655752e-03 -5.24832623e+01] [-1.03968958e-02 -3.04187856e-04 9.99945905e-01 -4.25711448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.76, Y:-52.49, Z:-4.26 [[ 9.53707382e-01 3.00549246e-01 1.06009102e-02 3.15764178e+02] [-3.00534874e-01 9.53766229e-01 -2.96139083e-03 -5.24894395e+01] [-1.10008340e-02 -3.61642920e-04 9.99939424e-01 -4.25700926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.80, Y:-52.49, Z:-4.26 [[ 9.51542038e-01 3.07282692e-01 1.20456048e-02 3.15797019e+02] [-3.07264639e-01 9.51618148e-01 -3.36767260e-03 -5.24914585e+01] [-1.24976436e-02 -4.96706351e-04 9.99921778e-01 -4.25737840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.83, Y:-52.50, Z:-4.26 [[ 9.50687856e-01 3.09854723e-01 1.35148660e-02 3.15828533e+02] [-3.09832217e-01 9.50783729e-01 -3.78120034e-03 -5.24958185e+01] [-1.40213375e-02 -5.92599660e-04 9.99901521e-01 -4.25741540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.86, Y:-52.50, Z:-4.26 [[ 9.49566905e-01 3.13182621e-01 1.54705559e-02 3.15862642e+02] [-3.13153520e-01 9.49692640e-01 -4.33153472e-03 -5.24968221e+01] [-1.60488345e-02 -7.31577011e-04 9.99870942e-01 -4.25756415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.90, Y:-52.50, Z:-4.26 [[ 9.49401923e-01 3.13722745e-01 1.46296931e-02 3.15895545e+02] [-3.13696745e-01 9.49514377e-01 -4.09878909e-03 -5.25024219e+01] [-1.51769873e-02 -6.97888868e-04 9.99884579e-01 -4.25835714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.93, Y:-52.51, Z:-4.26 [[ 9.49506473e-01 3.13454400e-01 1.35571936e-02 3.15926910e+02] [-3.13432011e-01 9.49603038e-01 -3.80073540e-03 -5.25076527e+01] [-1.40653094e-02 -6.40435574e-04 9.99900874e-01 -4.25922751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.96, Y:-52.51, Z:-4.26 [[ 9.50228866e-01 3.11308791e-01 1.23263316e-02 3.15961283e+02] [-3.11290077e-01 9.50308651e-01 -3.45769503e-03 -5.25082013e+01] [-1.27902304e-02 -5.51463080e-04 9.99918050e-01 -4.26048815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.99, Y:-52.51, Z:-4.26 [[ 9.50476152e-01 3.10556085e-01 1.22475557e-02 3.15992966e+02] [-3.10537516e-01 9.50554907e-01 -3.43802959e-03 -5.25132290e+01] [-1.27096752e-02 -5.35560372e-04 9.99919085e-01 -4.26085889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.03, Y:-52.52, Z:-4.26 [[ 9.51305342e-01 3.08008947e-01 1.21916092e-02 3.16025489e+02] [-3.07990309e-01 9.51383330e-01 -3.42459549e-03 -5.25163727e+01] [-1.26536998e-02 -4.97061499e-04 9.99919815e-01 -4.26053526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.06, Y:-52.52, Z:-4.26 [[ 9.51804550e-01 3.06460355e-01 1.22535437e-02 3.16057089e+02] [-3.06441370e-01 9.51883304e-01 -3.44426390e-03 -5.25224972e+01] [-1.27194739e-02 -4.76726648e-04 9.99918991e-01 -4.26124862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.09, Y:-52.53, Z:-4.26 [[ 9.52297069e-01 3.04936574e-01 1.19990815e-02 3.16088518e+02] [-3.04918232e-01 9.52372557e-01 -3.37413055e-03 -5.25280911e+01] [-1.24564918e-02 -4.45564086e-04 9.99922316e-01 -4.26215868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.12, Y:-52.53, Z:-4.26 [[ 9.52893994e-01 3.03128836e-01 1.02929868e-02 3.16121238e+02] [-3.03115218e-01 9.52949515e-01 -2.89585574e-03 -5.25319548e+01] [-1.06865142e-02 -3.60517391e-04 9.99942833e-01 -4.26370996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.15, Y:-52.54, Z:-4.26 [[ 9.53028694e-01 3.02741393e-01 9.16277910e-03 3.16152444e+02] [-3.02730569e-01 9.53072688e-01 -2.57942349e-03 -5.25386243e+01] [-9.51369277e-03 -3.15588731e-04 9.99954694e-01 -4.26435274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.18, Y:-52.54, Z:-4.26 [[ 9.53368209e-01 3.01706484e-01 7.89024526e-03 3.16183337e+02] [-3.01698405e-01 9.53400823e-01 -2.22332471e-03 -5.25401458e+01] [-8.19335781e-03 -2.60827314e-04 9.99966400e-01 -4.26470440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.21, Y:-52.54, Z:-4.27 [[ 9.53425428e-01 3.01537645e-01 7.41637174e-03 3.16214453e+02] [-3.01530505e-01 9.53454241e-01 -2.08941894e-03 -5.25449180e+01] [-7.70120955e-03 -2.44157168e-04 9.99970315e-01 -4.26522515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.24, Y:-52.55, Z:-4.27 [[ 9.53700845e-01 3.00676470e-01 6.95396996e-03 3.16244667e+02] [-3.00670167e-01 9.53726172e-01 -1.95948330e-03 -5.25478280e+01] [-7.22135367e-03 -2.22090431e-04 9.99973901e-01 -4.26571211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.27, Y:-52.55, Z:-4.27 [[ 9.54089817e-01 2.99440831e-01 6.91443298e-03 3.16273968e+02] [-2.99434567e-01 9.54114848e-01 -1.94832064e-03 -5.25529600e+01] [-7.18056993e-03 -2.11547361e-04 9.99974197e-01 -4.26603913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.30, Y:-52.56, Z:-4.27 [[ 9.55431995e-01 2.95115666e-01 7.51313639e-03 3.16304232e+02] [-2.95108138e-01 9.55461515e-01 -2.11681489e-03 -5.25555307e+01] [-7.80321791e-03 -1.94715022e-04 9.99969535e-01 -4.26775928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.33, Y:-52.56, Z:-4.27 [[ 9.56508654e-01 2.91585061e-01 8.32745280e-03 3.16332457e+02] [-2.91575681e-01 9.56544886e-01 -2.34605987e-03 -5.25621945e+01] [-8.64965840e-03 -1.84056151e-04 9.99962574e-01 -4.26866392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.36, Y:-52.57, Z:-4.27 [[ 9.57799944e-01 2.87289985e-01 9.15050788e-03 3.16362412e+02] [-2.87278469e-01 9.57843640e-01 -2.57738624e-03 -5.25707244e+01] [-9.50521303e-03 -1.60123496e-04 9.99954812e-01 -4.26875450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.39, Y:-52.58, Z:-4.27 [[ 9.60017565e-01 2.79767737e-01 9.81271276e-03 3.16391975e+02] [-2.79754098e-01 9.60067709e-01 -2.76401044e-03 -5.25801021e+01] [-1.01941496e-02 -9.16480299e-05 9.99948034e-01 -4.26743170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.42, Y:-52.59, Z:-4.27 [[ 9.60725028e-01 2.77357240e-01 8.96556224e-03 3.16423002e+02] [-2.77345744e-01 9.60766859e-01 -2.52591167e-03 -5.25889077e+01] [-9.31439497e-03 -5.98539725e-05 9.99956618e-01 -4.26761148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.45, Y:-52.60, Z:-4.27 [[ 9.61492122e-01 2.74744687e-01 6.94663793e-03 3.16452467e+02] [-2.74737712e-01 9.61517216e-01 -1.95789634e-03 -5.26000170e+01] [-7.21723358e-03 -2.60015014e-05 9.99973955e-01 -4.27083594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.48, Y:-52.61, Z:-4.27 [[ 9.61626164e-01 2.74275968e-01 6.91477160e-03 3.16481937e+02] [-2.74269032e-01 9.61651025e-01 -1.95068696e-03 -5.26118814e+01] [-7.18462375e-03 -2.06760887e-05 9.99974190e-01 -4.27116767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.51, Y:-52.63, Z:-4.27 [[ 9.61409794e-01 2.74965274e-01 9.23608148e-03 3.16509448e+02] [-2.74952930e-01 9.61454157e-01 -2.60566121e-03 -5.26276964e+01] [-9.59653529e-03 -3.43794605e-05 9.99953952e-01 -4.26886224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.54, Y:-52.64, Z:-4.27 [[ 9.61085516e-01 2.76082171e-01 9.65742481e-03 3.16538210e+02] [-2.76068720e-01 9.61134035e-01 -2.72566131e-03 -5.26394067e+01] [-1.00345862e-02 -4.65193000e-05 9.99949651e-01 -4.26822731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.57, Y:-52.65, Z:-4.27 [[ 9.60547695e-01 2.77956091e-01 9.40943012e-03 3.16567203e+02] [-2.77943410e-01 9.60593779e-01 -2.65587937e-03 -5.26507403e+01] [-9.77685788e-03 -6.41902880e-05 9.99952203e-01 -4.26888895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.60, Y:-52.67, Z:-4.27 [[ 9.59167523e-01 2.82679905e-01 9.47279408e-03 3.16596318e+02] [-2.82667283e-01 9.59214292e-01 -2.67361917e-03 -5.26650061e+01] [-9.84221789e-03 -1.13200287e-04 9.99951558e-01 -4.27004882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.63, Y:-52.68, Z:-4.27 [[ 9.58581245e-01 2.84658774e-01 9.55920176e-03 3.16625094e+02] [-2.84646002e-01 9.58628898e-01 -2.69978606e-03 -5.26765308e+01] [-9.93224484e-03 -1.33024280e-04 9.99950665e-01 -4.27083304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.65, Y:-52.69, Z:-4.27 [[ 9.57523723e-01 2.88198992e-01 9.46895895e-03 3.16654750e+02] [-2.88186627e-01 9.57570526e-01 -2.67487029e-03 -5.26930135e+01] [-9.83809092e-03 -1.67575586e-04 9.99951591e-01 -4.27150121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.68, Y:-52.71, Z:-4.27 [[ 9.57105576e-01 2.89571173e-01 9.87175548e-03 3.16684524e+02] [-2.89557785e-01 9.57156466e-01 -2.79078800e-03 -5.27058031e+01] [-1.02569463e-02 -1.87364904e-04 9.99947379e-01 -4.27176737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.72, Y:-52.72, Z:-4.27 [[ 9.56851958e-01 2.90402617e-01 1.00324846e-02 3.16715382e+02] [-2.90388816e-01 9.56904531e-01 -2.83813656e-03 -5.27188615e+01] [-1.04243323e-02 -1.97644800e-04 9.99945646e-01 -4.27158616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.74, Y:-52.74, Z:-4.27 [[ 9.56550985e-01 2.91404255e-01 9.68363878e-03 3.16743726e+02] [-2.91391429e-01 9.56599979e-01 -2.74135853e-03 -5.27354700e+01] [-1.00622122e-02 -1.99480143e-04 9.99949355e-01 -4.27284612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.77, Y:-52.75, Z:-4.27 [[ 9.56335362e-01 2.92128193e-01 9.15388527e-03 3.16774569e+02] [-2.92116749e-01 9.56379151e-01 -2.59300764e-03 -5.27485259e+01] [-9.51207567e-03 -1.94218309e-04 9.99954740e-01 -4.27357698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.80, Y:-52.76, Z:-4.27 [[ 9.55425698e-01 2.95105778e-01 8.62067112e-03 3.16804965e+02] [-2.95095737e-01 9.55464566e-01 -2.44340936e-03 -5.27632956e+01] [-8.95781001e-03 -2.09427200e-04 9.99959856e-01 -4.27399344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.84, Y:-52.77, Z:-4.27 [[ 9.54566019e-01 2.97866046e-01 8.91817563e-03 3.16836324e+02] [-2.97855405e-01 9.54607647e-01 -2.52939014e-03 -5.27746620e+01] [-9.26677809e-03 -2.41856939e-04 9.99957033e-01 -4.27392608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.87, Y:-52.79, Z:-4.27 [[ 9.53573032e-01 3.00992454e-01 1.01002994e-02 3.16867645e+02] [-3.00978955e-01 9.53626473e-01 -2.86694702e-03 -5.27863116e+01] [-1.04948423e-02 -3.06134201e-04 9.99944881e-01 -4.27379484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.90, Y:-52.80, Z:-4.27 [[ 9.51705697e-01 3.06767348e-01 1.22499125e-02 3.16897830e+02] [-3.06747933e-01 9.51784427e-01 -3.48000368e-03 -5.28009097e+01] [-1.27268275e-02 -4.45696022e-04 9.99918911e-01 -4.27363118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.93, Y:-52.81, Z:-4.28 [[ 9.49976272e-01 3.12128686e-01 1.09893775e-02 3.16927287e+02] [-3.12113397e-01 9.50039720e-01 -3.12382272e-03 -5.28139556e+01] [-1.14153798e-02 -4.62374464e-04 9.99934736e-01 -4.27560757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.96, Y:-52.82, Z:-4.28 [[ 9.49230764e-01 3.14458372e-01 8.76861018e-03 3.16958489e+02] [-3.14448727e-01 9.49271184e-01 -2.49362942e-03 -5.28240992e+01] [-9.10793161e-03 -3.90248543e-04 9.99958446e-01 -4.27710369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.99, Y:-52.83, Z:-4.28 [[ 9.48610612e-01 3.16374379e-01 6.71997579e-03 3.16989123e+02] [-3.16368756e-01 9.48634363e-01 -1.91189158e-03 -5.28336279e+01] [-6.97967346e-03 -3.12349742e-04 9.99975593e-01 -4.27818455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.02, Y:-52.84, Z:-4.28 [[ 9.47762989e-01 3.18904767e-01 6.71319456e-03 3.17019425e+02] [-3.18899210e-01 9.47786707e-01 -1.91122813e-03 -5.28428938e+01] [-6.97217633e-03 -3.29441151e-04 9.99975640e-01 -4.27913285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.05, Y:-52.85, Z:-4.28 [[ 9.47425386e-01 3.19874763e-01 8.07926031e-03 3.17050170e+02] [-3.19866733e-01 9.47459748e-01 -2.30211505e-03 -5.28515514e+01] [-8.39116244e-03 -4.03204360e-04 9.99964712e-01 -4.27850199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.08, Y:-52.86, Z:-4.28 [[ 9.46462534e-01 3.22691527e-01 8.87976517e-03 3.17082507e+02] [-3.22681934e-01 9.46504072e-01 -2.53196215e-03 -5.28582764e+01] [-9.22177662e-03 -4.68932488e-04 9.99957369e-01 -4.27794152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.12, Y:-52.87, Z:-4.28 [[ 9.45739292e-01 3.24819037e-01 8.35370111e-03 3.17115005e+02] [-3.24810617e-01 9.45776074e-01 -2.38345428e-03 -5.28658802e+01] [-8.67492196e-03 -4.59244452e-04 9.99962267e-01 -4.27912965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.15, Y:-52.87, Z:-4.28 [[ 9.44857631e-01 3.27396229e-01 7.46768281e-03 3.17146619e+02] [-3.27389571e-01 9.44887043e-01 -2.13191782e-03 -5.28729479e+01] [-7.75409859e-03 -4.30482654e-04 9.99969844e-01 -4.28001148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.18, Y:-52.88, Z:-4.28 [[ 9.43349403e-01 3.31722754e-01 7.20549367e-03 3.17179891e+02] [-3.31716671e-01 9.43376814e-01 -2.05824287e-03 -5.28752093e+01] [-7.48026166e-03 -4.48540197e-04 9.99971922e-01 -4.28149200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.21, Y:-52.88, Z:-4.28 [[ 9.42811647e-01 3.33211630e-01 8.72973726e-03 3.17212264e+02] [-3.33202744e-01 9.42851898e-01 -2.49602956e-03 -5.28799856e+01] [-9.06255542e-03 -5.55486669e-04 9.99958780e-01 -4.28172852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.25, Y:-52.88, Z:-4.28 [[ 9.42237279e-01 3.34718057e-01 1.23585263e-02 3.17245948e+02] [-3.34700351e-01 9.42317979e-01 -3.53565588e-03 -5.28811810e+01] [-1.28291094e-02 -8.04976301e-04 9.99917380e-01 -4.27972376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.28, Y:-52.89, Z:-4.28 [[ 9.42243129e-01 3.34691794e-01 1.26209437e-02 3.17278435e+02] [-3.34673293e-01 9.42327296e-01 -3.61321669e-03 -5.28870464e+01] [-1.31023737e-02 -8.19364175e-04 9.99913825e-01 -4.28003950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.31, Y:-52.89, Z:-4.28 [[ 9.42858359e-01 3.33038393e-01 1.01756477e-02 3.17310807e+02] [-3.33026252e-01 9.42913050e-01 -2.91486119e-03 -5.28883866e+01] [-1.05655117e-02 -6.40456574e-04 9.99943978e-01 -4.28180910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.34, Y:-52.89, Z:-4.28 [[ 9.43108000e-01 3.32358220e-01 9.23657277e-03 3.17344156e+02] [-3.32348176e-01 9.43153055e-01 -2.64667599e-03 -5.28933368e+01] [-9.59114635e-03 -5.73656816e-04 9.99953839e-01 -4.28280608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.38, Y:-52.89, Z:-4.28 [[ 9.43577596e-01 3.31034526e-01 8.80133564e-03 3.17376689e+02] [-3.31025330e-01 9.43618493e-01 -2.52408935e-03 -5.28933105e+01] [-9.14066379e-03 -5.31790871e-04 9.99958082e-01 -4.28272189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.41, Y:-52.90, Z:-4.28 [[ 9.43854490e-01 3.30224219e-01 9.52193084e-03 3.17406562e+02] [-3.30213412e-01 9.43902349e-01 -2.73108820e-03 -5.28976188e+01] [-9.88964435e-03 -5.66519407e-04 9.99950936e-01 -4.28281289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.43, Y:-52.90, Z:-4.28 [[ 9.44152760e-01 3.29347798e-01 1.02759213e-02 3.17434854e+02] [-3.29335160e-01 9.44208487e-01 -2.94725508e-03 -5.29015747e+01] [-1.06732841e-02 -6.01563168e-04 9.99942858e-01 -4.28337234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.47, Y:-52.90, Z:-4.28 [[ 9.44867302e-01 3.27323885e-01 9.21174503e-03 3.17465666e+02] [-3.27313637e-01 9.44912062e-01 -2.64172008e-03 -5.29013553e+01] [-9.56898707e-03 -5.19054843e-04 9.99954081e-01 -4.28444897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.49, Y:-52.90, Z:-4.29 [[ 9.45312248e-01 3.26064037e-01 8.18523854e-03 3.17494256e+02] [-3.26055898e-01 9.45347577e-01 -2.34726984e-03 -5.29046401e+01] [-8.50325570e-03 -4.49942376e-04 9.99963745e-01 -4.28564521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.53, Y:-52.90, Z:-4.29 [[ 9.46611683e-01 3.22304363e-01 6.79841573e-03 3.17525251e+02] [-3.22298655e-01 9.46636032e-01 -1.94915854e-03 -5.29040605e+01] [-7.06384759e-03 -3.46024000e-04 9.99974991e-01 -4.28619622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.55, Y:-52.91, Z:-4.29 [[ 9.47388204e-01 3.20002661e-01 7.34084679e-03 3.17553818e+02] [-3.19995936e-01 9.47416577e-01 -2.10475060e-03 -5.29079141e+01] [-7.62836574e-03 -3.55025250e-04 9.99970841e-01 -4.28632448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.58, Y:-52.91, Z:-4.29 [[ 9.48771071e-01 3.15864213e-01 7.95328192e-03 3.17582385e+02] [-3.15856177e-01 9.48804341e-01 -2.27997590e-03 -5.29079096e+01] [-8.26627121e-03 -3.48918046e-04 9.99965773e-01 -4.28536931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.61, Y:-52.91, Z:-4.29 [[ 9.49269141e-01 3.14364883e-01 7.92582571e-03 3.17611600e+02] [-3.14356855e-01 9.49302169e-01 -2.27150172e-03 -5.29118793e+01] [-8.23808390e-03 -3.35271160e-04 9.99966010e-01 -4.28567332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.64, Y:-52.92, Z:-4.29 [[ 9.49279974e-01 3.14332164e-01 7.92594361e-03 3.17639822e+02] [-3.14324139e-01 9.49313003e-01 -2.27109021e-03 -5.29198803e+01] [-8.23807804e-03 -3.35414945e-04 9.99966010e-01 -4.28604061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.67, Y:-52.92, Z:-4.29 [[ 9.49709421e-01 3.13034297e-01 7.84504894e-03 3.17668812e+02] [-3.13026392e-01 9.49741768e-01 -2.24768329e-03 -5.29237728e+01] [-8.15437261e-03 -3.21061366e-04 9.99966701e-01 -4.28629227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.70, Y:-52.92, Z:-4.29 [[ 9.50483501e-01 3.10655462e-01 8.61958503e-03 3.17697997e+02] [-3.10645826e-01 9.50522527e-01 -2.46913143e-03 -5.29242427e+01] [-8.96015891e-03 -3.30769419e-04 9.99959802e-01 -4.28662179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7257692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:317.73, Y:-52.93, Z:-4.29 [[ 9.50985140e-01 3.09085941e-01 9.65109327e-03 3.17726717e+02] [-3.09073787e-01 9.51034045e-01 -2.76386223e-03 -5.29286476e+01] [-1.00327892e-02 -3.54508031e-04 9.99949607e-01 -4.28659162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.76, Y:-52.93, Z:-4.29 [[ 9.52161596e-01 3.05418878e-01 1.03732464e-02 3.17756209e+02] [-3.05404625e-01 9.52218039e-01 -2.97011970e-03 -5.29304276e+01] [-1.07847230e-02 -3.40003526e-04 9.99941785e-01 -4.28738044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.78, Y:-52.94, Z:-4.29 [[ 9.52858285e-01 3.03270432e-01 9.38800242e-03 3.17784204e+02] [-3.03258658e-01 9.52904488e-01 -2.68764401e-03 -5.29350182e+01] [-9.76095260e-03 -2.86049152e-04 9.99952320e-01 -4.28835197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.81, Y:-52.94, Z:-4.29 [[ 9.54543267e-01 2.98017892e-01 5.69973826e-03 3.17811940e+02] [-2.98013458e-01 9.54560274e-01 -1.63184351e-03 -5.29370533e+01] [-5.92706228e-03 -1.40933477e-04 9.99982425e-01 -4.28989206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.84, Y:-52.94, Z:-4.29 [[ 9.55499832e-01 2.94946174e-01 5.17935474e-03 3.17839264e+02] [-2.94942470e-01 9.55513863e-01 -1.48241345e-03 -5.29424487e+01] [-5.38617744e-03 -1.11165875e-04 9.99985488e-01 -4.29007659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.87, Y:-52.95, Z:-4.29 [[ 9.56501831e-01 2.91656982e-01 6.36025882e-03 3.17866832e+02] [-2.91651327e-01 9.56522970e-01 -1.81977495e-03 -5.29483545e+01] [-6.61448372e-03 -1.14359855e-04 9.99978118e-01 -4.28998763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.89, Y:-52.95, Z:-4.29 [[ 9.58182885e-01 2.86001047e-01 9.43189038e-03 3.17894579e+02] [-2.85988348e-01 9.58229298e-01 -2.69746224e-03 -5.29529964e+01] [-9.80939073e-03 -1.12748597e-04 9.99951880e-01 -4.28938355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.92, Y:-52.96, Z:-4.29 [[ 9.58986104e-01 2.83268253e-01 1.02347195e-02 3.17921527e+02] [-2.83253153e-01 9.59040713e-01 -2.92621650e-03 -5.29597322e+01] [-1.06444169e-02 -9.28156133e-05 9.99943342e-01 -4.28946649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.95, Y:-52.97, Z:-4.29 [[ 9.60698896e-01 2.77366276e-01 1.12062064e-02 3.17948725e+02] [-2.77347783e-01 9.60764252e-01 -3.20302166e-03 -5.29679423e+01] [-1.16549327e-02 -3.08771226e-05 9.99932078e-01 -4.28928142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.98, Y:-52.98, Z:-4.29 [[ 9.61561488e-01 2.74344909e-01 1.15920436e-02 3.17976331e+02] [-2.74324908e-01 9.61631359e-01 -3.31268941e-03 -5.29770919e+01] [-1.20560921e-02 5.36825042e-06 9.99927323e-01 -4.28969805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.00, Y:-52.99, Z:-4.29 [[ 9.63260441e-01 2.68327037e-01 1.13983994e-02 3.18003552e+02] [-2.68307284e-01 9.63327875e-01 -3.25675329e-03 -5.29897673e+01] [-1.18542708e-02 7.88280262e-05 9.99929733e-01 -4.28999774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.03, Y:-53.00, Z:-4.29 [[ 9.64069310e-01 2.65421109e-01 1.10454272e-02 3.18030896e+02] [-2.65402372e-01 9.64132575e-01 -3.15562541e-03 -5.30004820e+01] [-1.14868257e-02 1.10759037e-04 9.99934018e-01 -4.28991644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.06, Y:-53.01, Z:-4.29 [[ 9.65365648e-01 2.60686361e-01 1.05729552e-02 3.18057402e+02] [-2.60668912e-01 9.65423532e-01 -3.02034073e-03 -5.30146256e+01] [-1.09947414e-02 1.59692448e-04 9.99939543e-01 -4.28968944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.09, Y:-53.03, Z:-4.29 [[ 9.65684782e-01 2.59502445e-01 1.05537617e-02 3.18086618e+02] [-2.59484990e-01 9.65742435e-01 -3.01481742e-03 -5.30263744e+01] [-1.09745681e-02 1.72820546e-04 9.99939763e-01 -4.29027786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.12, Y:-53.04, Z:-4.29 [[ 9.65638843e-01 2.59655840e-01 1.09758911e-02 3.18115894e+02] [-2.59636968e-01 9.65701203e-01 -3.13555793e-03 -5.30374363e+01] [-1.14135971e-02 1.78069456e-04 9.99934847e-01 -4.29036669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.14, Y:-53.05, Z:-4.29 [[ 9.64929217e-01 2.62268107e-01 1.12714473e-02 3.18143878e+02] [-2.62248358e-01 9.64995034e-01 -3.22215994e-03 -5.30480232e+01] [-1.17219604e-02 1.53237728e-04 9.99931284e-01 -4.29064391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.17, Y:-53.06, Z:-4.29 [[ 9.64401998e-01 2.64253020e-01 9.95631240e-03 3.18170903e+02] [-2.64237717e-01 9.64453383e-01 -2.84614458e-03 -5.30562209e+01] [-1.03545015e-02 1.13994256e-04 9.99946384e-01 -4.29137845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.20, Y:-53.06, Z:-4.29 [[ 9.63544568e-01 2.67438164e-01 7.66113281e-03 3.18199308e+02] [-2.67429206e-01 9.63575023e-01 -2.18979269e-03 -5.30649093e+01] [-7.96771036e-03 6.11521858e-05 9.99968255e-01 -4.29226963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.23, Y:-53.07, Z:-4.29 [[ 9.63228200e-01 2.68570275e-01 7.83843930e-03 3.18227878e+02] [-2.68560937e-01 9.63260092e-01 -2.24026681e-03 -5.30738470e+01] [-8.15212483e-03 5.27895654e-05 9.99966769e-01 -4.29272045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.26, Y:-53.08, Z:-4.29 [[ 9.63044847e-01 2.69190063e-01 9.01847091e-03 3.18256066e+02] [-2.69177731e-01 9.63087071e-01 -2.57725213e-03 -5.30821769e+01] [-9.37934340e-03 5.44378442e-05 9.99956012e-01 -4.29247587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.28, Y:-53.09, Z:-4.29 [[ 9.62645231e-01 2.70537719e-01 1.11130997e-02 3.18283934e+02] [-2.70519087e-01 9.62709375e-01 -3.17550530e-03 -5.30900008e+01] [-1.15577792e-02 5.05794563e-05 9.99933205e-01 -4.29252555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.31, Y:-53.10, Z:-4.29 [[ 9.62506794e-01 2.71012222e-01 1.15346232e-02 3.18312017e+02] [-2.70992188e-01 9.62575905e-01 -3.29550878e-03 -5.30978283e+01] [-1.19960735e-02 4.61568097e-05 9.99928043e-01 -4.29322083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.34, Y:-53.11, Z:-4.29 [[ 9.62013044e-01 2.72809240e-01 1.02966751e-02 3.18339700e+02] [-2.72793383e-01 9.62068146e-01 -2.94137720e-03 -5.31056139e+01] [-1.07085380e-02 2.07784026e-05 9.99942662e-01 -4.29402972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.37, Y:-53.11, Z:-4.29 [[ 9.61745411e-01 2.73772132e-01 9.72547713e-03 3.18367990e+02] [-2.73758040e-01 9.61794583e-01 -2.77776474e-03 -5.31129833e+01] [-1.01143858e-02 9.07493301e-06 9.99948848e-01 -4.29413156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.40, Y:-53.12, Z:-4.29 [[ 9.61002248e-01 2.76359771e-01 9.99777997e-03 3.18395026e+02] [-2.76345024e-01 9.61054253e-01 -2.85505642e-03 -5.31181883e+01] [-1.03974317e-02 -1.91211106e-05 9.99945945e-01 -4.29406197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.42, Y:-53.12, Z:-4.29 [[ 9.60568594e-01 2.77855645e-01 1.02086619e-02 3.18423018e+02] [-2.77840360e-01 9.60622839e-01 -2.91461328e-03 -5.31249150e+01] [-1.06165155e-02 -3.66923066e-05 9.99943643e-01 -4.29425525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.45, Y:-53.13, Z:-4.30 [[ 9.59794831e-01 2.80487955e-01 1.09722393e-02 3.18451032e+02] [-2.80470477e-01 9.59857542e-01 -3.13204575e-03 -5.31315609e+01] [-1.14102877e-02 -7.12678663e-05 9.99934898e-01 -4.29532585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.48, Y:-53.14, Z:-4.30 [[ 9.59609105e-01 2.81143643e-01 1.04219504e-02 3.18479158e+02] [-2.81127918e-01 9.59665695e-01 -2.97447190e-03 -5.31386961e+01] [-1.08378421e-02 -7.55708845e-05 9.99941266e-01 -4.29639429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.51, Y:-53.15, Z:-4.30 [[ 9.59505546e-01 2.81521618e-01 9.73064700e-03 3.18505865e+02] [-2.81507934e-01 9.59554883e-01 -2.77675790e-03 -5.31455358e+01] [-1.01188072e-02 -7.49397318e-05 9.99948801e-01 -4.29727243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.53, Y:-53.15, Z:-4.30 [[ 9.59334226e-01 2.82115900e-01 9.40539590e-03 3.18533624e+02] [-2.82103150e-01 9.59380328e-01 -2.68323869e-03 -5.31520324e+01] [-9.78033610e-03 -7.91690957e-05 9.99952168e-01 -4.29704406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.56, Y:-53.16, Z:-4.30 [[ 9.59211049e-01 2.82497936e-01 1.04441088e-02 3.18561063e+02] [-2.82482244e-01 9.59267902e-01 -2.97897324e-03 -5.31594973e+01] [-1.08602521e-02 -9.28112550e-05 9.99941021e-01 -4.29621467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.59, Y:-53.17, Z:-4.30 [[ 9.58599231e-01 2.84510737e-01 1.18808780e-02 3.18588339e+02] [-2.84490594e-01 9.58672845e-01 -3.38810016e-03 -5.31662449e+01] [-1.23538260e-02 -1.32167826e-04 9.99923680e-01 -4.29572058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.62, Y:-53.17, Z:-4.30 [[ 9.58239139e-01 2.85735678e-01 1.15270933e-02 3.18616036e+02] [-2.85716813e-01 9.58308458e-01 -3.28650330e-03 -5.31728079e+01] [-1.19855823e-02 -1.44228277e-04 9.99928160e-01 -4.29671217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.64, Y:-53.18, Z:-4.30 [[ 9.57768000e-01 2.87320161e-01 1.12952295e-02 3.18644446e+02] [-2.87302165e-01 9.57834588e-01 -3.21982784e-03 -5.31795482e+01] [-1.17440829e-02 -1.61295805e-04 9.99931023e-01 -4.29785238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:318.67, Y:-53.18, Z:-4.30 [[ 9.56675356e-01 2.90951159e-01 1.09401213e-02 3.18672235e+02] [-2.90934519e-01 9.56737886e-01 -3.11806795e-03 -5.31839092e+01] [-1.13740340e-02 -1.99880157e-04 9.99935294e-01 -4.29780405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.70, Y:-53.19, Z:-4.30 [[ 9.56100092e-01 2.92847912e-01 1.06166703e-02 3.18699742e+02] [-2.92832366e-01 9.56159011e-01 -3.02523402e-03 -5.31892917e+01] [-1.10371584e-02 -2.16478156e-04 9.99939065e-01 -4.29740061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.73, Y:-53.19, Z:-4.30 [[ 9.55116305e-01 2.96075735e-01 9.59177758e-03 3.18729367e+02] [-2.96063215e-01 9.55164439e-01 -2.73251675e-03 -5.31905796e+01] [-9.97075676e-03 -2.29901200e-04 9.99950264e-01 -4.29836921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.76, Y:-53.19, Z:-4.30 [[ 9.54578020e-01 2.97827686e-01 8.91479164e-03 3.18757254e+02] [-2.97816951e-01 9.54619619e-01 -2.53927162e-03 -5.31947903e+01] [-9.26650038e-03 -2.31043181e-04 9.99957038e-01 -4.29927967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.79, Y:-53.19, Z:-4.30 [[ 9.54204804e-01 2.98976363e-01 1.03115120e-02 3.18786313e+02] [-2.98962075e-01 9.54260476e-01 -2.93633333e-03 -5.31945875e+01] [-1.07177626e-02 -2.80887648e-04 9.99942524e-01 -4.29981153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.81, Y:-53.20, Z:-4.30 [[ 9.54395089e-01 2.98340476e-01 1.10893706e-02 3.18813911e+02] [-2.98323919e-01 9.54459467e-01 -3.15691396e-03 -5.31982607e+01] [-1.15261899e-02 -2.95281305e-04 9.99933528e-01 -4.29966587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.84, Y:-53.20, Z:-4.30 [[ 9.54736913e-01 2.97233815e-01 1.13792253e-02 3.18840660e+02] [-2.97216313e-01 9.54804679e-01 -3.23852760e-03 -5.32032819e+01] [-1.18275375e-02 -2.90149558e-04 9.99930010e-01 -4.29977751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.87, Y:-53.21, Z:-4.30 [[ 9.56324700e-01 2.92109093e-01 1.07399174e-02 3.18867037e+02] [-2.92093190e-01 9.56384981e-01 -3.05566218e-03 -5.32091404e+01] [-1.11640824e-02 -2.14851498e-04 9.99937657e-01 -4.30033823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.89, Y:-53.21, Z:-4.30 [[ 9.58260791e-01 2.85689108e-01 1.08623026e-02 3.18894607e+02] [-2.85672438e-01 9.58322343e-01 -3.08951311e-03 -5.32147158e+01] [-1.12922275e-02 -1.42501193e-04 9.99936231e-01 -4.30082207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.92, Y:-53.22, Z:-4.30 [[ 9.58814222e-01 2.83778747e-01 1.20378955e-02 3.18921897e+02] [-2.83758135e-01 9.58889777e-01 -3.42287854e-03 -5.32208685e+01] [-1.25143551e-02 -1.33946155e-04 9.99921683e-01 -4.30089361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.95, Y:-53.23, Z:-4.30 [[ 9.59121676e-01 2.82693264e-01 1.30433466e-02 3.18948842e+02] [-2.82668978e-01 9.59210353e-01 -3.70771232e-03 -5.32272619e+01] [-1.35594584e-02 -1.30802214e-04 9.99908058e-01 -4.30093500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.98, Y:-53.23, Z:-4.30 [[ 9.58929641e-01 2.83385538e-01 1.21070815e-02 3.18975159e+02] [-2.83364680e-01 9.59006058e-01 -3.44069925e-03 -5.32339113e+01] [-1.25858089e-02 -1.31330768e-04 9.99920787e-01 -4.30100832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.00, Y:-53.24, Z:-4.30 [[ 9.58293690e-01 2.85587903e-01 1.06185590e-02 3.19002939e+02] [-2.85572003e-01 9.58352508e-01 -3.01683665e-03 -5.32391232e+01] [-1.10378947e-02 -1.41347620e-04 9.99939071e-01 -4.30232223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.03, Y:-53.24, Z:-4.30 [[ 9.58016637e-01 2.86504432e-01 1.09240313e-02 3.19029997e+02] [-2.86487674e-01 9.58078904e-01 -3.10276105e-03 -5.32445906e+01] [-1.13550388e-02 -1.57103623e-04 9.99935517e-01 -4.30227008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.06, Y:-53.25, Z:-4.30 [[ 9.57669932e-01 2.87623064e-01 1.18859153e-02 3.19056763e+02] [-2.87603323e-01 9.57743671e-01 -3.37494585e-03 -5.32500811e+01] [-1.23543724e-02 -1.86344573e-04 9.99923664e-01 -4.30193777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.08, Y:-53.25, Z:-4.30 [[ 9.57269942e-01 2.88954320e-01 1.18177674e-02 3.19084218e+02] [-2.88934920e-01 9.57342864e-01 -3.35452235e-03 -5.32538410e+01] [-1.22829590e-02 -2.03382260e-04 9.99924541e-01 -4.30275066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.11, Y:-53.26, Z:-4.30 [[ 9.57244589e-01 2.89054443e-01 1.14160553e-02 3.19111562e+02] [-2.89036358e-01 9.57312639e-01 -3.23950303e-03 -5.32600840e+01] [-1.18651267e-02 -1.98658287e-04 9.99929587e-01 -4.30410415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.25576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.14, Y:-53.27, Z:-4.31 [[ 9.57530655e-01 2.88137845e-01 1.05653613e-02 3.19139011e+02] [-2.88122306e-01 9.57588927e-01 -2.99737369e-03 -5.32672876e+01] [-1.09809298e-02 -1.74039073e-04 9.99939693e-01 -4.30551092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.17, Y:-53.28, Z:-4.31 [[ 9.57828488e-01 2.87180260e-01 9.59609979e-03 3.19165628e+02] [-2.87167401e-01 9.57876545e-01 -2.72176083e-03 -5.32750145e+01] [-9.97351489e-03 -1.48706970e-04 9.99950252e-01 -4.30521955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.19, Y:-53.28, Z:-4.31 [[ 9.58707028e-01 2.84233447e-01 9.60113717e-03 3.19191245e+02] [-2.84220433e-01 9.58755096e-01 -2.72248267e-03 -5.32838816e+01] [-9.97895982e-03 -1.18776092e-04 9.99950202e-01 -4.30548928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.22, Y:-53.29, Z:-4.31 [[ 9.59282532e-01 2.82237015e-01 1.09220211e-02 3.19217023e+02] [-2.82220057e-01 9.59344701e-01 -3.09591111e-03 -5.32936958e+01] [-1.13517638e-02 -1.12559967e-04 9.99935560e-01 -4.30601193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.24, Y:-53.31, Z:-4.31 [[ 9.60364430e-01 2.78549589e-01 1.05018410e-02 3.19242470e+02] [-2.78533700e-01 9.60421846e-01 -2.97590425e-03 -5.33077168e+01] [-1.09151345e-02 -6.71640580e-05 9.99940426e-01 -4.30688383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.27, Y:-53.32, Z:-4.31 [[ 9.60870822e-01 2.76862637e-01 8.62227074e-03 3.19268435e+02] [-2.76851863e-01 9.60909506e-01 -2.44280572e-03 -5.33187014e+01] [-8.96154355e-03 -3.98709745e-05 9.99959844e-01 -4.30800994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.29, Y:-53.33, Z:-4.31 [[ 9.61404305e-01 2.75043957e-01 7.25140788e-03 3.19294523e+02] [-2.75036289e-01 9.61431652e-01 -2.05393643e-03 -5.33300434e+01] [-7.53665586e-03 -1.97369907e-05 9.99971599e-01 -4.30879003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.32, Y:-53.35, Z:-4.31 [[ 9.62249789e-01 2.72054763e-01 7.84532528e-03 3.19319732e+02] [-2.72045693e-01 9.62281770e-01 -2.22152973e-03 -5.33476697e+01] [-8.15379125e-03 3.37956051e-06 9.99966757e-01 -4.30879468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.35, Y:-53.36, Z:-4.31 [[ 9.62587385e-01 2.70820925e-01 9.03060035e-03 3.19345447e+02] [-2.70808858e-01 9.62629745e-01 -2.55663512e-03 -5.33604260e+01] [-9.38551480e-03 1.54181514e-05 9.99955955e-01 -4.30863681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.37, Y:-53.37, Z:-4.31 [[ 9.62602671e-01 2.70766583e-01 9.03075485e-03 3.19372906e+02] [-2.70754518e-01 9.62645032e-01 -2.55608923e-03 -5.33680582e+01] [-9.38551484e-03 1.53806485e-05 9.99955955e-01 -4.30899366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.40, Y:-53.39, Z:-4.31 [[ 9.62694379e-01 2.70348733e-01 1.14497000e-02 3.19397929e+02] [-2.70329320e-01 9.62762464e-01 -3.23985224e-03 -5.33853697e+01] [-1.18992314e-02 2.37979051e-05 9.99929201e-01 -4.30843860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.42, Y:-53.40, Z:-4.31 [[ 9.62440150e-01 2.71212207e-01 1.23651564e-02 3.19424195e+02] [-2.71189646e-01 9.62519578e-01 -3.49823346e-03 -5.33978270e+01] [-1.28504688e-02 1.35379465e-05 9.99917429e-01 -4.30823200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.45, Y:-53.41, Z:-4.31 [[ 9.61521507e-01 2.74427682e-01 1.28778198e-02 3.19449851e+02] [-2.74403508e-01 9.61607740e-01 -3.64260949e-03 -5.34142158e+01] [-1.33830441e-02 -3.12715561e-05 9.99910443e-01 -4.30789703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.48, Y:-53.42, Z:-4.31 [[ 9.61016493e-01 2.76217214e-01 1.23024745e-02 3.19476827e+02] [-2.76195306e-01 9.61095233e-01 -3.47927785e-03 -5.34247159e+01] [-1.27848861e-02 -5.42423175e-05 9.99918269e-01 -4.30834862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.67576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.50, Y:-53.43, Z:-4.31 [[ 9.60431756e-01 2.78283738e-01 1.13579574e-02 3.19503042e+02] [-2.78265213e-01 9.60498910e-01 -3.21178730e-03 -5.34345331e+01] [-1.18030939e-02 -7.58219209e-05 9.99930338e-01 -4.30896760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.53, Y:-53.45, Z:-4.31 [[ 9.58843248e-01 2.83769519e-01 9.72035202e-03 3.19531178e+02] [-2.83756240e-01 9.58892509e-01 -2.74800390e-03 -5.34474445e+01] [-1.01005725e-02 -1.23305558e-04 9.99948980e-01 -4.30990295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.56, Y:-53.46, Z:-4.31 [[ 9.57932038e-01 2.86847495e-01 9.20459431e-03 3.19559065e+02] [-2.86835730e-01 9.57976248e-01 -2.60223322e-03 -5.34568059e+01] [-9.56422681e-03 -1.47443950e-04 9.99954251e-01 -4.30981601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.59, Y:-53.46, Z:-4.31 [[ 9.55810354e-01 2.93828024e-01 9.57394059e-03 3.19587087e+02] [-2.93815644e-01 9.55858275e-01 -2.70661126e-03 -5.34626990e+01] [-9.94660858e-03 -2.25966457e-04 9.99950506e-01 -4.31017576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.61, Y:-53.47, Z:-4.31 [[ 9.54746995e-01 2.97257997e-01 9.79070455e-03 3.19614887e+02] [-2.97245235e-01 9.54797157e-01 -2.76743241e-03 -5.34683236e+01] [-1.01707783e-02 -2.68042503e-04 9.99948240e-01 -4.31124723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.64, Y:-53.47, Z:-4.31 [[ 9.53865459e-01 3.00078072e-01 9.68693911e-03 3.19642434e+02] [-3.00065731e-01 9.53914600e-01 -2.73741881e-03 -5.34742006e+01] [-1.00619520e-02 -2.95589221e-04 9.99949334e-01 -4.31214073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.67, Y:-53.48, Z:-4.31 [[ 9.53185722e-01 3.02239389e-01 9.39848333e-03 3.19670693e+02] [-3.02227883e-01 9.53232005e-01 -2.65530520e-03 -5.34793364e+01] [-9.76147293e-03 -3.09484717e-04 9.99952308e-01 -4.31192594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.70, Y:-53.49, Z:-4.31 [[ 9.53454239e-01 3.01389947e-01 9.43999272e-03 3.19698149e+02] [-3.01378303e-01 9.53500922e-01 -2.66658782e-03 -5.34859890e+01] [-9.80472452e-03 -3.02539525e-04 9.99951887e-01 -4.31188300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.73, Y:-53.49, Z:-4.31 [[ 9.55064619e-01 2.96228056e-01 1.00255697e-02 3.19725956e+02] [-2.96214644e-01 9.55117201e-01 -2.83130122e-03 -5.34921108e+01] [-1.04143049e-02 -2.65644931e-04 9.99945734e-01 -4.31189347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.75, Y:-53.50, Z:-4.31 [[ 9.56170305e-01 2.92619161e-01 1.06006528e-02 3.19752867e+02] [-2.92603950e-01 9.56229036e-01 -2.99316238e-03 -5.34991277e+01] [-1.10125087e-02 -2.39819899e-04 9.99939332e-01 -4.31232425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.78, Y:-53.51, Z:-4.31 [[ 9.58398558e-01 2.85207150e-01 1.13615882e-02 3.19781852e+02] [-2.85189165e-01 9.58465886e-01 -3.20722860e-03 -5.35066078e+01] [-1.18044192e-02 -1.66398581e-04 9.99930312e-01 -4.31225531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.81, Y:-53.51, Z:-4.31 [[ 9.59455769e-01 2.81622045e-01 1.15607573e-02 3.19809146e+02] [-2.81603167e-01 9.59525408e-01 -3.26315301e-03 -5.35148285e+01] [-1.20118162e-02 -1.24694884e-04 9.99927848e-01 -4.31320507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.84, Y:-53.52, Z:-4.31 [[ 9.61180606e-01 2.75598178e-01 1.33224348e-02 3.19836727e+02] [-2.75572534e-01 9.61272928e-01 -3.75998150e-03 -5.35234054e+01] [-1.38427400e-02 -5.72758258e-05 9.99904183e-01 -4.31312296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.86, Y:-53.53, Z:-4.31 [[ 9.62042496e-01 2.72516755e-01 1.44518049e-02 3.19864293e+02] [-2.72486240e-01 9.62151037e-01 -4.07811498e-03 -5.35312773e+01] [-1.50161738e-02 -1.45980713e-05 9.99887251e-01 -4.31337766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.89, Y:-53.54, Z:-4.31 [[ 9.63992326e-01 2.65549633e-01 1.42193107e-02 3.19892648e+02] [-2.65519341e-01 9.64097186e-01 -4.01193020e-03 -5.35425681e+01] [-1.47741640e-02 9.19679291e-05 9.99890852e-01 -4.31378968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.92, Y:-53.56, Z:-4.31 [[ 9.64905927e-01 2.62264783e-01 1.31808522e-02 3.19921213e+02] [-2.62238448e-01 9.64995941e-01 -3.71896066e-03 -5.35550798e+01] [-1.36948213e-02 1.31920956e-04 9.99906213e-01 -4.31418271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.95, Y:-53.57, Z:-4.31 [[ 9.65569600e-01 2.59867292e-01 1.20140889e-02 3.19950039e+02] [-2.59845223e-01 9.65644328e-01 -3.39003136e-03 -5.35685740e+01] [-1.24822950e-02 1.51507623e-04 9.99922082e-01 -4.31412038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.98, Y:-53.58, Z:-4.32 [[ 9.66469645e-01 2.56537674e-01 1.11735151e-02 3.19979206e+02] [-2.56518361e-01 9.66534215e-01 -3.15294550e-03 -5.35849335e+01] [-1.16084340e-02 1.81014327e-04 9.99932603e-01 -4.31592305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.01, Y:-53.60, Z:-4.32 [[ 9.66648294e-01 2.55878414e-01 1.08311413e-02 3.20008802e+02] [-2.55860202e-01 9.66708955e-01 -3.05847232e-03 -5.35959945e+01] [-1.12531583e-02 1.85209051e-04 9.99936664e-01 -4.31688731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.04, Y:-53.61, Z:-4.32 [[ 9.66455123e-01 2.56611019e-01 1.07369109e-02 3.20038738e+02] [-2.56593145e-01 9.66514746e-01 -3.03386645e-03 -5.36106688e+01] [-1.11559063e-02 1.77078040e-04 9.99937755e-01 -4.31696338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.07, Y:-53.62, Z:-4.32 [[ 9.66038054e-01 2.58195630e-01 1.02710828e-02 3.20068217e+02] [-2.58179342e-01 9.66092642e-01 -2.90421527e-03 -5.36229673e+01] [-1.06726732e-02 1.53801069e-04 9.99943034e-01 -4.31624470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:-53.64, Z:-4.32 [[ 9.64971081e-01 2.62199246e-01 9.07567614e-03 3.20098159e+02] [-2.62186692e-01 9.65013754e-01 -2.56764150e-03 -5.36361091e+01] [-9.43138597e-03 9.81782935e-05 9.99955519e-01 -4.31682614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:-53.65, Z:-4.32 [[ 9.64234015e-01 2.64880894e-01 9.53294091e-03 3.20129283e+02] [-2.64867156e-01 9.64281134e-01 -2.69884973e-03 -5.36466703e+01] [-9.90730880e-03 7.73597624e-05 9.99950918e-01 -4.31741220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:-53.66, Z:-4.32 [[ 9.63247567e-01 2.68362043e-01 1.16592602e-02 3.20158592e+02] [-2.68341712e-01 9.63318126e-01 -3.30368328e-03 -5.36591822e+01] [-1.21181599e-02 5.35990453e-05 9.99926571e-01 -4.31786024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.19, Y:-53.67, Z:-4.32 [[ 9.63045550e-01 2.69057707e-01 1.22971520e-02 3.20190293e+02] [-2.69035117e-01 9.63124056e-01 -3.48683635e-03 -5.36698794e+01] [-1.27818431e-02 4.96165129e-05 9.99918308e-01 -4.31747867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.22, Y:-53.68, Z:-4.32 [[ 9.62922799e-01 2.69497890e-01 1.22706850e-02 3.20221819e+02] [-2.69475402e-01 9.63000979e-01 -3.48172305e-03 -5.36795426e+01] [-1.27549986e-02 4.59827456e-05 9.99918651e-01 -4.31685869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.25, Y:-53.69, Z:-4.32 [[ 9.62608426e-01 2.70658158e-01 1.13657598e-02 3.20252108e+02] [-2.70638921e-01 9.62675522e-01 -3.22703495e-03 -5.36882922e+01] [-1.18149621e-02 3.03540648e-05 9.99930200e-01 -4.31844256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.28, Y:-53.70, Z:-4.32 [[ 9.62353947e-01 2.71586556e-01 1.07528503e-02 3.20282846e+02] [-2.71569375e-01 9.62414018e-01 -3.05490251e-03 -5.36973807e+01] [-1.11783643e-02 1.97526555e-05 9.99937520e-01 -4.31925838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.31, Y:-53.70, Z:-4.32 [[ 9.61731571e-01 2.73778173e-01 1.08580426e-02 3.20313239e+02] [-2.73760773e-01 9.61792863e-01 -3.08664584e-03 -5.37038789e+01] [-1.12882442e-02 -3.98138590e-06 9.99936286e-01 -4.31839498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.34, Y:-53.71, Z:-4.32 [[ 9.61344652e-01 2.75121019e-01 1.11751827e-02 3.20343808e+02] [-2.75102656e-01 9.61409603e-01 -3.17870456e-03 -5.37108746e+01] [-1.16184564e-02 -1.84918258e-05 9.99932503e-01 -4.31901398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.37, Y:-53.72, Z:-4.32 [[ 9.61064848e-01 2.76088978e-01 1.13680822e-02 3.20373332e+02] [-2.76070040e-01 9.61132080e-01 -3.23386437e-03 -5.37181523e+01] [-1.18190628e-02 -3.04335204e-05 9.99930152e-01 -4.31971289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.40, Y:-53.73, Z:-4.32 [[ 9.61013263e-01 2.76258944e-01 1.15975933e-02 3.20402578e+02] [-2.76239246e-01 9.61083240e-01 -3.29915314e-03 -5.37267922e+01] [-1.20576732e-02 -3.31805140e-05 9.99927303e-01 -4.31956192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.43, Y:-53.74, Z:-4.32 [[ 9.61230284e-01 2.75486391e-01 1.19828912e-02 3.20433974e+02] [-2.75465302e-01 9.61304971e-01 -3.40874577e-03 -5.37368981e+01] [-1.24582760e-02 -2.42810842e-05 9.99922392e-01 -4.31905329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.46, Y:-53.75, Z:-4.32 [[ 9.61293808e-01 2.75287405e-01 1.14481463e-02 3.20464302e+02] [-2.75268116e-01 9.61361974e-01 -3.25883132e-03 -5.37466965e+01] [-1.19029278e-02 -1.86153130e-05 9.99929157e-01 -4.32021479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.49, Y:-53.76, Z:-4.32 [[ 9.61263907e-01 2.75409421e-01 1.10159790e-02 3.20493721e+02] [-2.75391544e-01 9.61327026e-01 -3.13796509e-03 -5.37561665e+01] [-1.14541835e-02 -1.72948774e-05 9.99934399e-01 -4.32136515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.52, Y:-53.77, Z:-4.32 [[ 9.60925678e-01 2.76567836e-01 1.14923250e-02 3.20524320e+02] [-2.76548460e-01 9.60994397e-01 -3.27383762e-03 -5.37676752e+01] [-1.19494981e-02 -3.22701371e-05 9.99928602e-01 -4.32213383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.56, Y:-53.78, Z:-4.32 [[ 9.60542821e-01 2.77881224e-01 1.18115818e-02 3.20555173e+02] [-2.77860825e-01 9.60615440e-01 -3.36730852e-03 -5.37776512e+01] [-1.22820996e-02 -4.75318378e-05 9.99924571e-01 -4.32183624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.59, Y:-53.79, Z:-4.32 [[ 9.59921317e-01 2.80030305e-01 1.15798660e-02 3.20585809e+02] [-2.80010838e-01 9.59991158e-01 -3.30267831e-03 -5.37876439e+01] [-1.20414189e-02 -7.21766573e-05 9.99927497e-01 -4.32162459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.62, Y:-53.80, Z:-4.32 [[ 9.58688998e-01 2.84247657e-01 1.08937632e-02 3.20615203e+02] [-2.84230676e-01 9.58750883e-01 -3.10906330e-03 -5.37988081e+01] [-1.13281490e-02 -1.15716895e-04 9.99935828e-01 -4.32237317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.65, Y:-53.81, Z:-4.32 [[ 9.57870236e-01 2.86992870e-01 1.09409186e-02 3.20645725e+02] [-2.86975921e-01 9.57932706e-01 -3.12259549e-03 -5.38103206e+01] [-1.13768264e-02 -1.48738930e-04 9.99935271e-01 -4.32333391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.68, Y:-53.82, Z:-4.32 [[ 9.57564422e-01 2.87997313e-01 1.13104632e-02 3.20676660e+02] [-2.87979242e-01 9.57631203e-01 -3.23036221e-03 -5.38199375e+01] [-1.17615881e-02 -1.63898688e-04 9.99930817e-01 -4.32421044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.71, Y:-53.83, Z:-4.32 [[ 9.57306096e-01 2.88851084e-01 1.14056846e-02 3.20708214e+02] [-2.88832744e-01 9.57374024e-01 -3.25963351e-03 -5.38295003e+01] [-1.18610548e-02 -1.73868144e-04 9.99929640e-01 -4.32431352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.74, Y:-53.84, Z:-4.32 [[ 9.57176883e-01 2.89282217e-01 1.13231442e-02 3.20739131e+02] [-2.89264144e-01 9.57243839e-01 -3.23836871e-03 -5.38385829e+01] [-1.17758125e-02 -1.75687928e-04 9.99930647e-01 -4.32476381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.77, Y:-53.85, Z:-4.32 [[ 9.56764238e-01 2.90675071e-01 1.04974351e-02 3.20770250e+02] [-2.90659600e-01 9.56821808e-01 -3.00417294e-03 -5.38471109e+01] [-1.09174130e-02 -1.76895058e-04 9.99940388e-01 -4.32464084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.80, Y:-53.85, Z:-4.32 [[ 9.55751805e-01 2.94000017e-01 1.01231248e-02 3.20803037e+02] [-2.93985805e-01 9.55805392e-01 -2.89808241e-03 -5.38534505e+01] [-1.05277736e-02 -2.06207513e-04 9.99944560e-01 -4.32427916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.83, Y:-53.86, Z:-4.32 [[ 9.54917642e-01 2.96701569e-01 1.00237482e-02 3.20834744e+02] [-2.96687761e-01 9.54970222e-01 -2.87180520e-03 -5.38600215e+01] [-1.04244502e-02 -2.31585968e-04 9.99945637e-01 -4.32468274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.86, Y:-53.87, Z:-4.33 [[ 9.53955932e-01 2.99793456e-01 9.58978865e-03 3.20864445e+02] [-2.99780959e-01 9.54004099e-01 -2.74890138e-03 -5.38654459e+01] [-9.97280032e-03 -2.52505261e-04 9.99950239e-01 -4.32523210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.89, Y:-53.87, Z:-4.33 [[ 9.52277100e-01 3.05074748e-01 9.88551429e-03 3.20893223e+02] [-3.05061749e-01 9.52328356e-01 -2.83396677e-03 -5.38666203e+01] [-1.02788273e-02 -3.16970632e-04 9.99947121e-01 -4.32568969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.92, Y:-53.87, Z:-4.33 [[ 9.51727523e-01 3.06724720e-01 1.16047040e-02 3.20923074e+02] [-3.06706940e-01 9.51798188e-01 -3.32590252e-03 -5.38686558e+01] [-1.20654727e-02 -3.93890276e-04 9.99927132e-01 -4.32570438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.95, Y:-53.87, Z:-4.33 [[ 9.51883039e-01 3.06236081e-01 1.17533757e-02 3.20952302e+02] [-3.06217813e-01 9.51955518e-01 -3.36792339e-03 -5.38741251e+01] [-1.22200705e-02 -3.93223851e-04 9.99925255e-01 -4.32605026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.98, Y:-53.88, Z:-4.33 [[ 9.52240738e-01 3.05137630e-01 1.13403648e-02 3.20981420e+02] [-3.05120549e-01 9.52308192e-01 -3.24930302e-03 -5.38789963e+01] [-1.17910069e-02 -3.66059616e-04 9.99930417e-01 -4.32659013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:321.01, Y:-53.88, Z:-4.33 [[ 9.53214501e-01 3.02119791e-01 1.02833093e-02 3.21010846e+02] [-3.02105572e-01 9.53269921e-01 -2.94622316e-03 -5.38799511e+01] [-1.06928817e-02 -2.98262387e-04 9.99942785e-01 -4.32780419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.04, Y:-53.88, Z:-4.33 [[ 9.53521292e-01 3.01143285e-01 1.04817912e-02 3.21039578e+02] [-3.01128457e-01 9.53578857e-01 -3.00270769e-03 -5.38848922e+01] [-1.08994597e-02 -2.93219893e-04 9.99940556e-01 -4.32815808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.07, Y:-53.89, Z:-4.33 [[ 9.53810131e-01 3.00139808e-01 1.27408937e-02 3.21068174e+02] [-3.00117820e-01 9.53895161e-01 -3.64910113e-03 -5.38859065e+01] [-1.32487173e-02 -3.43219610e-04 9.99912173e-01 -4.32664978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.10, Y:-53.89, Z:-4.33 [[ 9.53753861e-01 3.00259694e-01 1.40602071e-02 3.21096224e+02] [-3.00232944e-01 9.53857416e-01 -4.02601969e-03 -5.38898552e+01] [-1.46202842e-02 -3.81505543e-04 9.99893045e-01 -4.32663678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.12, Y:-53.89, Z:-4.33 [[ 9.53757125e-01 3.00220179e-01 1.46693869e-02 3.21124907e+02] [-3.00191070e-01 9.53869847e-01 -4.19954902e-03 -5.38940159e+01] [-1.52534752e-02 -3.98269138e-04 9.99883580e-01 -4.32710762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.15, Y:-53.90, Z:-4.33 [[ 9.54264569e-01 2.98668691e-01 1.32719756e-02 3.21153236e+02] [-2.98644723e-01 9.54356798e-01 -3.79886183e-03 -5.38964680e+01] [-1.38008013e-02 -3.38486236e-04 9.99904707e-01 -4.32813795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.18, Y:-53.90, Z:-4.33 [[ 9.54830348e-01 2.96874926e-01 1.28173916e-02 3.21180274e+02] [-2.96852421e-01 9.54916325e-01 -3.66788329e-03 -5.39020427e+01] [-1.33284390e-02 -3.02667430e-04 9.99911127e-01 -4.32867075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.21, Y:-53.91, Z:-4.33 [[ 9.55833948e-01 2.93632188e-01 1.27122744e-02 3.21209114e+02] [-2.93609774e-01 9.55918444e-01 -3.63704091e-03 -5.39068027e+01] [-1.32198499e-02 -2.56040846e-04 9.99912581e-01 -4.32846435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.24, Y:-53.91, Z:-4.33 [[ 9.55850806e-01 2.93577298e-01 1.27124431e-02 3.21236552e+02] [-2.93554887e-01 9.55935304e-01 -3.63645112e-03 -5.39145176e+01] [-1.32198527e-02 -2.55895069e-04 9.99912581e-01 -4.32882123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.26, Y:-53.92, Z:-4.33 [[ 9.56104773e-01 2.92780247e-01 1.19746060e-02 3.21264483e+02] [-2.92760308e-01 9.56179729e-01 -3.42468826e-03 -5.39206111e+01] [-1.24525566e-02 -2.31328533e-04 9.99922437e-01 -4.32946763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.29, Y:-53.93, Z:-4.33 [[ 9.56331132e-01 2.92040145e-01 1.19716003e-02 3.21292254e+02] [-2.92020166e-01 9.56406035e-01 -3.42322982e-03 -5.39253515e+01] [-1.24494314e-02 -2.22207465e-04 9.99922478e-01 -4.33046891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.32, Y:-53.93, Z:-4.33 [[ 9.56418583e-01 2.91734359e-01 1.24321252e-02 3.21319508e+02] [-2.91712800e-01 9.56499353e-01 -3.55394799e-03 -5.39310311e+01] [-1.29281284e-02 -2.27548139e-04 9.99916402e-01 -4.33123218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.35, Y:-53.94, Z:-4.33 [[ 9.56480167e-01 2.91522511e-01 1.26615714e-02 3.21347014e+02] [-2.91500140e-01 9.56563941e-01 -3.61872576e-03 -5.39365287e+01] [-1.31665427e-02 -2.29610434e-04 9.99913291e-01 -4.33169751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.37, Y:-53.94, Z:-4.33 [[ 9.55896651e-01 2.93493777e-01 1.10903448e-02 3.21373548e+02] [-2.93476755e-01 9.55960957e-01 -3.16895280e-03 -5.39406708e+01] [-1.15320046e-02 -2.25567040e-04 9.99933479e-01 -4.33185678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.40, Y:-53.95, Z:-4.33 [[ 9.55371893e-01 2.95250981e-01 9.56056479e-03 3.21400977e+02] [-2.95238426e-01 9.55419705e-01 -2.73110921e-03 -5.39469171e+01] [-9.94071466e-03 -2.13421121e-04 9.99950567e-01 -4.33200646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.43, Y:-53.95, Z:-4.33 [[ 9.54604028e-01 2.97733140e-01 9.28049223e-03 3.21428576e+02] [-2.97721433e-01 9.54649110e-01 -2.65047335e-03 -5.39491485e+01] [-9.64874740e-03 -2.32848912e-04 9.99953423e-01 -4.33179150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.46, Y:-53.95, Z:-4.33 [[ 9.54352788e-01 2.98499321e-01 1.04360602e-02 3.21456711e+02] [-2.98484575e-01 9.54409808e-01 -2.97944914e-03 -5.39537446e+01] [-1.08496418e-02 -2.71557400e-04 9.99941104e-01 -4.33241638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.48, Y:-53.96, Z:-4.33 [[ 9.54176115e-01 2.99025397e-01 1.14783936e-02 3.21483273e+02] [-2.99007607e-01 9.54245104e-01 -3.27608543e-03 -5.39587153e+01] [-1.19328336e-02 -3.06164540e-04 9.99928754e-01 -4.33281820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.51, Y:-53.96, Z:-4.33 [[ 9.54094772e-01 2.99220188e-01 1.30554570e-02 3.21511230e+02] [-2.99197209e-01 9.54184026e-01 -3.72493376e-03 -5.39636296e+01] [-1.35718839e-02 -3.52216474e-04 9.99907836e-01 -4.33263061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.54, Y:-53.97, Z:-4.33 [[ 9.54275318e-01 2.98640931e-01 1.31229517e-02 3.21537629e+02] [-2.98617673e-01 9.54365482e-01 -3.74317798e-03 -5.39692117e+01] [-1.36419583e-02 -3.46722939e-04 9.99906884e-01 -4.33298063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.57, Y:-53.97, Z:-4.33 [[ 9.54996869e-01 2.96393815e-01 1.14754448e-02 3.21565874e+02] [-2.96375884e-01 9.55065773e-01 -3.27196258e-03 -5.39717208e+01] [-1.19295941e-02 -2.76331084e-04 9.99928802e-01 -4.33385830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.59, Y:-53.98, Z:-4.33 [[ 9.55379548e-01 2.95168400e-01 1.12042494e-02 3.21593389e+02] [-2.95151231e-01 9.55445210e-01 -3.19385909e-03 -5.39769662e+01] [-1.16477727e-02 -2.55600350e-04 9.99932130e-01 -4.33497577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.62, Y:-53.98, Z:-4.34 [[ 9.55748431e-01 2.93966653e-01 1.13377046e-02 3.21619622e+02] [-2.93948998e-01 9.55815645e-01 -3.23102327e-03 -5.39820875e+01] [-1.17865685e-02 -2.44661493e-04 9.99930506e-01 -4.33537296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.65, Y:-53.99, Z:-4.33 [[ 9.56559421e-01 2.91239336e-01 1.31804195e-02 3.21647595e+02] [-2.91215235e-01 9.56650191e-01 -3.75481834e-03 -5.39855067e+01] [-1.37026016e-02 -2.46632109e-04 9.99906085e-01 -4.33439228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.67, Y:-53.99, Z:-4.33 [[ 9.56904363e-01 2.90079882e-01 1.37004629e-02 3.21674587e+02] [-2.90053738e-01 9.57002406e-01 -3.90188854e-03 -5.39912322e+01] [-1.42432354e-02 -2.40136310e-04 9.99898531e-01 -4.33378047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.70, Y:-54.00, Z:-4.33 [[ 9.57246474e-01 2.88971172e-01 1.32230629e-02 3.21701572e+02] [-2.88946727e-01 9.57337775e-01 -3.76488267e-03 -5.39950709e+01] [-1.37468801e-02 -2.16840070e-04 9.99905484e-01 -4.33404127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.73, Y:-54.00, Z:-4.34 [[ 9.57378914e-01 2.88576736e-01 1.22099378e-02 3.21729377e+02] [-2.88555880e-01 9.57456750e-01 -3.47493361e-03 -5.40007080e+01] [-1.26932724e-02 -1.96421172e-04 9.99919418e-01 -4.33532853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.76, Y:-54.01, Z:-4.34 [[ 9.57543332e-01 2.88061038e-01 1.14719151e-02 3.21756262e+02] [-2.88042600e-01 9.57612033e-01 -3.26408227e-03 -5.40059468e+01] [-1.19258989e-02 -1.78900029e-04 9.99928868e-01 -4.33619463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.78, Y:-54.01, Z:-4.34 [[ 9.58124737e-01 2.86131480e-01 1.12144638e-02 3.21784223e+02] [-2.86113739e-01 9.58190353e-01 -3.18985075e-03 -5.40086010e+01] [-1.16583078e-02 -1.52337257e-04 9.99932028e-01 -4.33595098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.81, Y:-54.01, Z:-4.34 [[ 9.58524908e-01 2.84802238e-01 1.08483203e-02 3.21811324e+02] [-2.84785561e-01 9.58586286e-01 -3.08491784e-03 -5.40140380e+01] [-1.12776425e-02 -1.32474383e-04 9.99936397e-01 -4.33693079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.84, Y:-54.02, Z:-4.34 [[ 9.59502880e-01 2.81519776e-01 1.00418896e-02 3.21838771e+02] [-2.81505313e-01 9.59555422e-01 -2.85491403e-03 -5.40185830e+01] [-1.04394644e-02 -8.75470530e-05 9.99945503e-01 -4.33772589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.86, Y:-54.03, Z:-4.34 [[ 9.59921252e-01 2.80090853e-01 1.00151428e-02 3.21864845e+02] [-2.80076396e-01 9.59973494e-01 -2.84665973e-03 -5.40252336e+01] [-1.04115949e-02 -7.24359196e-05 9.99945795e-01 -4.33780512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.89, Y:-54.03, Z:-4.34 [[ 9.60382181e-01 2.78525562e-01 9.46458647e-03 3.21892236e+02] [-2.78512587e-01 9.60428815e-01 -2.68886668e-03 -5.40292376e+01] [-9.83897967e-03 -5.36668228e-05 9.99951595e-01 -4.33755573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.92, Y:-54.03, Z:-4.34 [[ 9.60467188e-01 2.78234775e-01 9.39099251e-03 3.21919553e+02] [-2.78221996e-01 9.60513096e-01 -2.66710677e-03 -5.40338896e+01] [-9.76225314e-03 -5.11121408e-05 9.99952347e-01 -4.33777789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.95, Y:-54.04, Z:-4.34 [[ 9.60559244e-01 2.77905334e-01 9.72438917e-03 3.21946282e+02] [-2.77891623e-01 9.60608465e-01 -2.76105117e-03 -5.40380188e+01] [-1.01086414e-02 -5.01730582e-05 9.99948905e-01 -4.33806181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.97, Y:-54.04, Z:-4.34 [[ 9.60720468e-01 2.77276619e-01 1.15697694e-02 3.21974387e+02] [-2.77257178e-01 9.60790130e-01 -3.28378570e-03 -5.40414387e+01] [-1.20266372e-02 -5.30014758e-05 9.99927676e-01 -4.33913026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.00, Y:-54.05, Z:-4.34 [[ 9.60975217e-01 2.76363796e-01 1.22345713e-02 3.22000828e+02] [-2.76341995e-01 9.61053094e-01 -3.47150125e-03 -5.40478989e+01] [-1.27174698e-02 -4.48991730e-05 9.99919129e-01 -4.33906374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.03, Y:-54.05, Z:-4.34 [[ 9.61932990e-01 2.73020469e-01 1.20310337e-02 3.22027865e+02] [-2.72999138e-01 9.62008224e-01 -3.41271746e-03 -5.40540140e+01] [-1.25056950e-02 -1.65631214e-06 9.99921801e-01 -4.33896442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.05, Y:-54.06, Z:-4.34 [[ 9.62786477e-01 2.70011364e-01 1.16646500e-02 3.22053929e+02] [-2.69991102e-01 9.62857135e-01 -3.30796716e-03 -5.40609381e+01] [-1.21245802e-02 3.55143249e-05 9.99926494e-01 -4.33950509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.08, Y:-54.07, Z:-4.34 [[ 9.63798807e-01 2.66380653e-01 1.15415605e-02 3.22080890e+02] [-2.66360567e-01 9.63867907e-01 -3.27208504e-03 -5.40687216e+01] [-1.19961599e-02 7.94150551e-05 9.99928040e-01 -4.33995058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:-54.08, Z:-4.34 [[ 9.65961526e-01 2.58380497e-01 1.25638086e-02 3.22105790e+02] [-2.58356032e-01 9.66043209e-01 -3.56082210e-03 -5.40782731e+01] [-1.30572290e-02 1.93681406e-04 9.99914732e-01 -4.34100898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.13, Y:-54.09, Z:-4.34 [[ 9.66836227e-01 2.55069578e-01 1.29313805e-02 3.22131887e+02] [-2.55043387e-01 9.66922671e-01 -3.66328339e-03 -5.40881670e+01] [-1.34380371e-02 2.43732003e-04 9.99909676e-01 -4.34141667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.16, Y:-54.10, Z:-4.34 [[ 9.68013305e-01 2.50576033e-01 1.27237361e-02 3.22155623e+02] [-2.50550301e-01 9.68096876e-01 -3.60349801e-03 -5.41017888e+01] [-1.32207594e-02 3.00298098e-04 9.99912557e-01 -4.34068534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.18, Y:-54.11, Z:-4.34 [[ 9.68220135e-01 2.49820939e-01 1.18012330e-02 3.22181922e+02] [-2.49798759e-01 9.68292010e-01 -3.34125980e-03 -5.41132274e+01] [-1.22617563e-02 2.87141649e-04 9.99924781e-01 -4.34026637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.21, Y:-54.13, Z:-4.34 [[ 9.67994077e-01 2.50777962e-01 9.89346278e-03 3.22207074e+02] [-2.50762427e-01 9.68044607e-01 -2.80071839e-03 -5.41282514e+01] [-1.02796717e-02 2.30170075e-04 9.99947136e-01 -4.34084414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.23, Y:-54.14, Z:-4.34 [[ 9.67441613e-01 2.52905199e-01 9.78190961e-03 3.22232319e+02] [-2.52890128e-01 9.67491043e-01 -2.76854036e-03 -5.41383967e+01] [-1.01640882e-02 2.04652775e-04 9.99948323e-01 -4.34116325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.26, Y:-54.15, Z:-4.34 [[ 9.65149840e-01 2.61479072e-01 1.06996413e-02 3.22257122e+02] [-2.61461577e-01 9.65209138e-01 -3.02724018e-03 -5.41493528e+01] [-1.11189515e-02 1.24195297e-04 9.99938175e-01 -4.34166432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.28, Y:-54.16, Z:-4.34 [[ 9.63680194e-01 2.66854815e-01 1.04398722e-02 3.22283582e+02] [-2.66838483e-01 9.63736740e-01 -2.95288115e-03 -5.41578701e+01] [-1.08492789e-02 5.98734225e-05 9.99941143e-01 -4.34163014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.31, Y:-54.17, Z:-4.34 [[ 9.62107987e-01 2.72492419e-01 9.80318562e-03 3.22310484e+02] [-2.72478318e-01 9.62157930e-01 -2.77211646e-03 -5.41658679e+01] [-1.01875935e-02 -4.08013215e-06 9.99948105e-01 -4.34230376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.34, Y:-54.17, Z:-4.34 [[ 9.59000588e-01 2.83273763e-01 8.59342355e-03 3.22338285e+02] [-2.83263364e-01 9.59039084e-01 -2.42946789e-03 -5.41715490e+01] [-8.92963356e-03 -1.04340925e-04 9.99960125e-01 -4.34261806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.37, Y:-54.18, Z:-4.34 [[ 9.57796612e-01 2.87329860e-01 8.19763139e-03 3.22365060e+02] [-2.87320549e-01 9.57831683e-01 -2.31701665e-03 -5.41775991e+01] [-8.51769914e-03 -1.36117255e-04 9.99963714e-01 -4.34319962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.39, Y:-54.18, Z:-4.34 [[ 9.56082916e-01 2.92983274e-01 8.13991403e-03 3.22392049e+02] [-2.92974304e-01 9.56117549e-01 -2.30015626e-03 -5.41827775e+01] [-8.45662196e-03 -1.85645544e-04 9.99964225e-01 -4.34492208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.42, Y:-54.19, Z:-4.35 [[ 9.55673464e-01 2.94322404e-01 7.90906897e-03 3.22418233e+02] [-2.94313990e-01 9.55706171e-01 -2.23385857e-03 -5.41881245e+01] [-8.21622065e-03 -1.92910282e-04 9.99966228e-01 -4.34557423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.45, Y:-54.19, Z:-4.35 [[ 9.55435221e-01 2.95074333e-01 8.64159194e-03 3.22446354e+02] [-2.95064333e-01 9.55474275e-01 -2.43920386e-03 -5.41930681e+01] [-8.97656525e-03 -2.19324281e-04 9.99959686e-01 -4.34637358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.47, Y:-54.19, Z:-4.35 [[ 9.55781354e-01 2.93859889e-01 1.13299780e-02 3.22474266e+02] [-2.93842626e-01 9.55848466e-01 -3.19691078e-03 -5.41948239e+01] [-1.17691860e-02 -2.73682789e-04 9.99930703e-01 -4.34563136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.50, Y:-54.20, Z:-4.35 [[ 9.56308898e-01 2.92137409e-01 1.13589760e-02 3.22502063e+02] [-2.92119948e-01 9.56376322e-01 -3.20408865e-03 -5.42003191e+01] [-1.17994898e-02 -2.54084983e-04 9.99930351e-01 -4.34559790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.53, Y:-54.20, Z:-4.35 [[ 9.57371126e-01 2.88713401e-01 9.22487862e-03 3.22529191e+02] [-2.88701731e-01 9.57415554e-01 -2.60158442e-03 -5.42040820e+01] [-9.58315456e-03 -1.72556620e-04 9.99954066e-01 -4.34687297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:-54.21, Z:-4.35 [[ 9.57954039e-01 2.86797295e-01 8.44809431e-03 3.22556444e+02] [-2.86787438e-01 9.57991280e-01 -2.38195491e-03 -5.42093503e+01] [-8.77633890e-03 -1.41003999e-04 9.99961477e-01 -4.34796242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.58, Y:-54.21, Z:-4.35 [[ 9.59153344e-01 2.82745428e-01 8.93790136e-03 3.22583619e+02] [-2.82734226e-01 9.59194980e-01 -2.51933021e-03 -5.42124303e+01] [-9.28551922e-03 -1.10626627e-04 9.99956883e-01 -4.34866566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.61, Y:-54.22, Z:-4.35 [[ 9.59743262e-01 2.80699919e-01 1.00212685e-02 3.22611387e+02] [-2.80685733e-01 9.59795575e-01 -2.82384533e-03 -5.42181152e+01] [-1.04110223e-02 -1.02660560e-04 9.99945799e-01 -4.34894848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.64, Y:-54.22, Z:-4.35 [[ 9.60424790e-01 2.78324957e-01 1.09289343e-02 3.22638179e+02] [-2.78307941e-01 9.60486966e-01 -3.07876535e-03 -5.42241481e+01] [-1.13539962e-02 -8.46866308e-05 9.99935538e-01 -4.34850739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:-54.23, Z:-4.35 [[ 9.61092839e-01 2.75983252e-01 1.15671936e-02 3.22664481e+02] [-2.75964042e-01 9.61162442e-01 -3.25684196e-03 -5.42304803e+01] [-1.20167859e-02 -6.20020194e-05 9.99927794e-01 -4.34905449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.69, Y:-54.24, Z:-4.35 [[ 9.62044847e-01 2.72680551e-01 1.07251460e-02 3.22691940e+02] [-2.72663840e-01 9.62104629e-01 -3.01887891e-03 -5.42356661e+01] [-1.11419021e-02 -2.00625796e-05 9.99937927e-01 -4.34939542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.72, Y:-54.24, Z:-4.35 [[ 9.62499260e-01 2.71115950e-01 9.55593056e-03 3.22718216e+02] [-2.71102613e-01 9.62546696e-01 -2.68917759e-03 -5.42412892e+01] [-9.92710832e-03 -2.30630335e-06 9.99950725e-01 -4.34981536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.75, Y:-54.25, Z:-4.35 [[ 9.62733746e-01 2.70270786e-01 9.87099385e-03 3.22745256e+02] [-2.70256518e-01 9.62784349e-01 -2.77715233e-03 -5.42477872e+01] [-1.02542215e-02 5.95784211e-06 9.99947424e-01 -4.34945360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.77, Y:-54.25, Z:-4.35 [[ 9.62868914e-01 2.69766013e-01 1.04763264e-02 3.22772628e+02] [-2.69749934e-01 9.62925905e-01 -2.94537788e-03 -5.42539547e+01] [-1.08824889e-02 1.00244541e-05 9.99940784e-01 -4.34949813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.80, Y:-54.26, Z:-4.35 [[ 9.63004328e-01 2.69270073e-01 1.07839223e-02 3.22800149e+02] [-2.69253029e-01 9.63064706e-01 -3.02964514e-03 -5.42599392e+01] [-1.12014077e-02 1.39576441e-05 9.99937262e-01 -4.34957105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.83, Y:-54.26, Z:-4.35 [[ 9.63595640e-01 2.67126941e-01 1.12534400e-02 3.22826395e+02] [-2.67108244e-01 9.63661349e-01 -3.16066855e-03 -5.42646369e+01] [-1.16888049e-02 3.97198207e-05 9.99931683e-01 -4.34979888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.85, Y:-54.27, Z:-4.35 [[ 9.64131260e-01 2.65177731e-01 1.14754204e-02 3.22853406e+02] [-2.65158164e-01 9.64199547e-01 -3.22197420e-03 -5.42719096e+01] [-1.19189910e-02 6.36046291e-05 9.99928964e-01 -4.35005841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.88, Y:-54.28, Z:-4.35 [[ 9.65049244e-01 2.61865488e-01 1.03161211e-02 3.22879755e+02] [-2.61849493e-01 9.65104377e-01 -2.89579605e-03 -5.42806241e+01] [-1.07144426e-02 9.33147287e-05 9.99942594e-01 -4.35040200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.91, Y:-54.29, Z:-4.35 [[ 9.65599887e-01 2.59846344e-01 9.83544037e-03 3.22905162e+02] [-2.59831707e-01 9.65649970e-01 -2.76018936e-03 -5.42883450e+01] [-1.02148178e-02 1.09679269e-04 9.99947821e-01 -4.35145454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.93, Y:-54.30, Z:-4.35 [[ 9.65629517e-01 2.59736206e-01 9.83564569e-03 3.22932641e+02] [-2.59721570e-01 9.65679601e-01 -2.75945752e-03 -5.42958823e+01] [-1.02148134e-02 1.10084285e-04 9.99947821e-01 -4.35181135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:322.96, Y:-54.30, Z:-4.35 [[ 9.66715416e-01 2.55654925e-01 1.00927574e-02 3.22958867e+02] [-2.55639306e-01 9.66768088e-01 -2.83021461e-03 -5.43046538e+01] [-1.04809141e-02 1.55906585e-04 9.99945062e-01 -4.34650513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.99, Y:-54.31, Z:-4.35 [[ 9.67209561e-01 2.53752985e-01 1.07279093e-02 3.22985836e+02] [-2.53735231e-01 9.67269036e-01 -3.00748034e-03 -5.43128015e+01] [-1.11399316e-02 1.86815182e-04 9.99937932e-01 -4.35121583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.01, Y:-54.32, Z:-4.35 [[ 9.67686511e-01 2.51923388e-01 1.08361512e-02 3.23011783e+02] [-2.51905169e-01 9.67747158e-01 -3.03700677e-03 -5.43216251e+01] [-1.12517476e-02 2.09187992e-04 9.99936675e-01 -4.35173221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.04, Y:-54.33, Z:-4.35 [[ 9.68303150e-01 2.49560388e-01 1.04221812e-02 3.23037330e+02] [-2.49543407e-01 9.68359211e-01 -2.92008349e-03 -5.43324564e+01] [-1.08211524e-02 2.26739428e-04 9.99941424e-01 -4.35168535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.06, Y:-54.34, Z:-4.35 [[ 9.68488236e-01 2.48833620e-01 1.06002971e-02 3.23063697e+02] [-2.48816018e-01 9.68546216e-01 -2.96918329e-03 -5.43415353e+01] [-1.10057103e-02 2.38095374e-04 9.99939407e-01 -4.35135026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.09, Y:-54.35, Z:-4.35 [[ 9.68559055e-01 2.48468684e-01 1.25167826e-02 3.23089459e+02] [-2.48444127e-01 9.68639887e-01 -3.50488018e-03 -5.43516669e+01] [-1.29951079e-02 2.84962298e-04 9.99915519e-01 -4.35065539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.12, Y:-54.36, Z:-4.35 [[ 9.68453913e-01 2.48797430e-01 1.40305584e-02 3.23115039e+02] [-2.48766625e-01 9.68555492e-01 -3.92753639e-03 -5.43600753e+01] [-1.45665354e-02 3.13303330e-04 9.99893853e-01 -4.35035563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.14, Y:-54.37, Z:-4.35 [[ 9.68299943e-01 2.49299573e-01 1.56506762e-02 3.23141628e+02] [-2.49261333e-01 9.68426356e-01 -4.37956147e-03 -5.43684898e+01] [-1.62483502e-02 3.39620703e-04 9.99867929e-01 -4.34966069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.17, Y:-54.38, Z:-4.35 [[ 9.68147920e-01 2.49916768e-01 1.52057103e-02 3.23167654e+02] [-2.49880765e-01 9.68267271e-01 -4.25391183e-03 -5.43782626e+01] [-1.57863155e-02 3.18801361e-04 9.99875338e-01 -4.35053881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.19, Y:-54.39, Z:-4.35 [[ 9.68073247e-01 2.50294612e-01 1.36673182e-02 3.23193092e+02] [-2.50265576e-01 9.68169680e-01 -3.82268167e-03 -5.43873537e+01] [-1.41890797e-02 2.80176598e-04 9.99899291e-01 -4.35206846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.22, Y:-54.40, Z:-4.35 [[ 9.67716553e-01 2.51839614e-01 1.00738012e-02 3.23219096e+02] [-2.51823930e-01 9.67768967e-01 -2.81694972e-03 -5.43997360e+01] [-1.04585317e-02 1.89184671e-04 9.99945290e-01 -4.35278548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.25, Y:-54.41, Z:-4.35 [[ 9.67483569e-01 2.52755615e-01 9.49433784e-03 3.23245360e+02] [-2.52741734e-01 9.67530140e-01 -2.65424605e-03 -5.44094652e+01] [-9.85693361e-03 1.68324038e-04 9.99951405e-01 -4.35337010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.27, Y:-54.42, Z:-4.35 [[ 9.67049587e-01 2.54363290e-01 1.06964191e-02 3.23270183e+02] [-2.54345780e-01 9.67108726e-01 -2.98938018e-03 -5.44200597e+01] [-1.11049888e-02 1.70289804e-04 9.99938323e-01 -4.35278897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.30, Y:-54.43, Z:-4.35 [[ 9.66713903e-01 2.55605591e-01 1.14023089e-02 3.23296604e+02] [-2.55585793e-01 9.66781131e-01 -3.18556053e-03 -5.44286214e+01] [-1.18377842e-02 1.65257492e-04 9.99929917e-01 -4.35282468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.32, Y:-54.44, Z:-4.35 [[ 9.65994318e-01 2.58259227e-01 1.25359167e-02 3.23322488e+02] [-2.58235534e-01 9.66075644e-01 -3.50119439e-03 -5.44405960e+01] [-1.30148595e-02 1.44914745e-04 9.99915293e-01 -4.35412578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.35, Y:-54.45, Z:-4.35 [[ 9.65752069e-01 2.59122987e-01 1.33498637e-02 3.23349119e+02] [-2.59096223e-01 9.65844324e-01 -3.72679824e-03 -5.44506972e+01] [-1.38595892e-02 1.40263847e-04 9.99903941e-01 -4.35417159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.37, Y:-54.46, Z:-4.35 [[ 9.65440998e-01 2.60275014e-01 1.34386278e-02 3.23374197e+02] [-2.60248020e-01 9.65534516e-01 -3.75050014e-03 -5.44620977e+01] [-1.39516205e-02 1.23510308e-04 9.99902664e-01 -4.35442264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.40, Y:-54.47, Z:-4.36 [[ 9.65367585e-01 2.60635346e-01 1.16035142e-02 3.23401024e+02] [-2.60615260e-01 9.65437314e-01 -3.23724767e-03 -5.44718581e+01] [-1.20462067e-02 1.01081089e-04 9.99927437e-01 -4.35517424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.43, Y:-54.48, Z:-4.36 [[ 9.65291219e-01 2.61023265e-01 8.92849258e-03 3.23426666e+02] [-2.61011393e-01 9.65332507e-01 -2.49057993e-03 -5.44815112e+01] [-9.26906343e-03 7.36966525e-05 9.99957039e-01 -4.35597607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.45, Y:-54.49, Z:-4.36 [[ 9.64817903e-01 2.62838647e-01 6.50074033e-03 3.23452752e+02] [-2.62832398e-01 9.64839802e-01 -1.81282533e-03 -5.44912972e+01] [-6.74865357e-03 4.04411635e-05 9.99977227e-01 -4.35580178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.48, Y:-54.50, Z:-4.36 [[ 9.64427585e-01 2.64236182e-01 7.65986233e-03 3.23478825e+02] [-2.64227556e-01 9.64458003e-01 -2.13535999e-03 -5.44981574e+01] [-7.95185489e-03 3.54533709e-05 9.99968383e-01 -4.35603014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.51, Y:-54.50, Z:-4.36 [[ 9.63401411e-01 2.67820697e-01 1.13927467e-02 3.23505445e+02] [-2.67801884e-01 9.63468772e-01 -3.17442896e-03 -5.45043616e+01] [-1.18267335e-02 7.25029888e-06 9.99930062e-01 -4.35521227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.53, Y:-54.51, Z:-4.36 [[ 9.62782808e-01 2.70002967e-01 1.21516167e-02 3.23532864e+02] [-2.69981752e-01 9.62859490e-01 -3.38475748e-03 -5.45114603e+01] [-1.26141941e-02 -2.19284662e-05 9.99920438e-01 -4.35533004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.56, Y:-54.52, Z:-4.36 [[ 9.62189929e-01 2.72113744e-01 1.20270986e-02 3.23559864e+02] [-2.72093137e-01 9.62265092e-01 -3.34919577e-03 -5.45176821e+01] [-1.24846194e-02 -4.99285492e-05 9.99922063e-01 -4.35505774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.59, Y:-54.52, Z:-4.36 [[ 9.61262846e-01 2.75362491e-01 1.22163261e-02 3.23588373e+02] [-2.75341504e-01 9.61340465e-01 -3.40096437e-03 -5.45199112e+01] [-1.26805466e-02 -9.44409108e-05 9.99919594e-01 -4.35565400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.62, Y:-54.52, Z:-4.36 [[ 9.61083837e-01 2.75983804e-01 1.22799660e-02 3.23616915e+02] [-2.75962660e-01 9.61162280e-01 -3.41776239e-03 -5.45234036e+01] [-1.27462872e-02 -1.04055899e-04 9.99918757e-01 -4.35650420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.65, Y:-54.52, Z:-4.36 [[ 9.60919225e-01 2.76611213e-01 1.09763597e-02 3.23645368e+02] [-2.76594369e-01 9.60981907e-01 -3.05423851e-03 -5.45213363e+01] [-1.13929197e-02 -1.01122797e-04 9.99935093e-01 -4.35766390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.67, Y:-54.52, Z:-4.36 [[ 9.61088503e-01 2.76039984e-01 1.05269353e-02 3.23672308e+02] [-2.76024467e-01 9.61146148e-01 -2.92831617e-03 -5.45235051e+01] [-1.09262557e-02 -9.13207028e-05 9.99940303e-01 -4.35818769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.70, Y:-54.53, Z:-4.36 [[ 9.61458589e-01 2.74741338e-01 1.07041362e-02 3.23701006e+02] [-2.74725223e-01 9.61518170e-01 -2.97669669e-03 -5.45260316e+01] [-1.11100431e-02 -7.87256135e-05 9.99938278e-01 -4.35797062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.73, Y:-54.52, Z:-4.36 [[ 9.62453646e-01 2.71191992e-01 1.17423270e-02 3.23729269e+02] [-2.71172346e-01 9.62525273e-01 -3.26450402e-03 -5.45233630e+01] [-1.21875939e-02 -4.22605632e-05 9.99925728e-01 -4.35704809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.76, Y:-54.53, Z:-4.36 [[ 9.63050779e-01 2.69029189e-01 1.25096943e-02 3.23757808e+02] [-2.69006723e-01 9.63132024e-01 -3.47676277e-03 -5.45261474e+01] [-1.29838379e-02 -1.68927826e-05 9.99915706e-01 -4.35736477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.79, Y:-54.52, Z:-4.36 [[ 9.64449813e-01 2.63907082e-01 1.37699306e-02 3.23787314e+02] [-2.63879354e-01 9.64548106e-01 -3.82588460e-03 -5.45244108e+01] [-1.42914385e-02 5.62732887e-05 9.99897871e-01 -4.35856678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.81, Y:-54.53, Z:-4.36 [[ 9.65177366e-01 2.61246551e-01 1.35237839e-02 3.23814293e+02] [-2.61219559e-01 9.65272102e-01 -3.75647402e-03 -5.45265621e+01] [-1.40354972e-02 9.29868449e-05 9.99901493e-01 -4.35962638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.84, Y:-54.53, Z:-4.36 [[ 9.65839682e-01 2.58831295e-01 1.26518728e-02 3.23842410e+02] [-2.58807478e-01 9.65922537e-01 -3.51325876e-03 -5.45292644e+01] [-1.31300704e-02 1.18845446e-04 9.99913790e-01 -4.35981166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.87, Y:-54.53, Z:-4.36 [[ 9.66910909e-01 2.54906256e-01 1.03002140e-02 3.23871838e+02] [-2.54890253e-01 9.66965760e-01 -2.85963234e-03 -5.45293206e+01] [-1.06888924e-02 1.39585550e-04 9.99942862e-01 -4.36047980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.90, Y:-54.53, Z:-4.36 [[ 9.67420733e-01 2.52988265e-01 9.69856950e-03 3.23900205e+02] [-2.52973988e-01 9.67469335e-01 -2.69192126e-03 -5.45335494e+01] [-1.00640931e-02 1.50734642e-04 9.99949344e-01 -4.36132927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.93, Y:-54.54, Z:-4.36 [[ 9.68418878e-01 2.49162376e-01 9.10971425e-03 3.23927409e+02] [-2.49149617e-01 9.68461707e-01 -2.52788975e-03 -5.45365910e+01] [-9.45226443e-03 1.78374342e-04 9.99955310e-01 -4.36223687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.95, Y:-54.54, Z:-4.36 [[ 9.69096508e-01 2.46512531e-01 9.13948460e-03 3.23953857e+02] [-2.46499576e-01 9.69139583e-01 -2.53549057e-03 -5.45427326e+01] [-9.48246649e-03 2.04255981e-04 9.99955020e-01 -4.36261668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.98, Y:-54.55, Z:-4.36 [[ 9.69903199e-01 2.43295917e-01 9.74069200e-03 3.23980500e+02] [-2.43281055e-01 9.69952078e-01 -2.70074313e-03 -5.45500937e+01] [-1.01050842e-02 2.49733579e-04 9.99948911e-01 -4.36241704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.01, Y:-54.56, Z:-4.36 [[ 9.71302744e-01 2.37601566e-01 1.07923975e-02 3.24006555e+02] [-2.37582980e-01 9.71362640e-01 -2.99144577e-03 -5.45586976e+01] [-1.11941039e-02 3.41509537e-04 9.99937286e-01 -4.36285753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.03, Y:-54.57, Z:-4.36 [[ 9.71844629e-01 2.35362202e-01 1.10748270e-02 3.24033573e+02] [-2.35342496e-01 9.71907656e-01 -3.06872047e-03 -5.45676161e+01] [-1.14859699e-02 3.75942089e-04 9.99933963e-01 -4.36348453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.06, Y:-54.58, Z:-4.36 [[ 9.72711854e-01 2.31768701e-01 1.07200211e-02 3.24058249e+02] [-2.31750028e-01 9.72770839e-01 -2.96965150e-03 -5.45791435e+01] [-1.11163962e-02 4.04250021e-04 9.99938129e-01 -4.36437545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.08, Y:-54.59, Z:-4.36 [[ 9.73037982e-01 2.30391185e-01 1.08160347e-02 3.24083563e+02] [-2.30372102e-01 9.73098003e-01 -2.99530331e-03 -5.45891853e+01] [-1.12151533e-02 4.22831245e-04 9.99937019e-01 -4.36425991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.11, Y:-54.60, Z:-4.36 [[ 9.73156437e-01 2.29882163e-01 1.09882062e-02 3.24109499e+02] [-2.29862446e-01 9.73218373e-01 -3.04200828e-03 -5.45998257e+01] [-1.13932276e-02 4.34573995e-04 9.99935001e-01 -4.36368356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:324.13, Y:-54.61, Z:-4.36 [[ 9.72932478e-01 2.30791166e-01 1.17401402e-02 3.24133272e+02] [-2.30768735e-01 9.73003203e-01 -3.24922704e-03 -5.46138474e+01] [-1.21730869e-02 4.52021215e-04 9.99925803e-01 -4.36272291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7157692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:324.16, Y:-54.62, Z:-4.36 [[ 9.72565745e-01 2.32297358e-01 1.24020052e-02 3.24158416e+02] [-2.32272464e-01 9.72644708e-01 -3.43124763e-03 -5.46241432e+01] [-1.28598145e-02 4.56469594e-04 9.99917205e-01 -4.36257374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:324.18, Y:-54.64, Z:-4.36 [[ 9.71509417e-01 2.36578878e-01 1.41381581e-02 3.24184371e+02] [-2.36547004e-01 9.71612180e-01 -3.90979269e-03 -5.46370545e+01] [-1.46617809e-02 4.54061478e-04 9.99892407e-01 -4.36231153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.775769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:324.21, Y:-54.65, Z:-4.36 [[ 9.70986940e-01 2.38695266e-01 1.44545156e-02 3.24209799e+02] [-2.38662201e-01 9.71094426e-01 -3.99610421e-03 -5.46471281e+01] [-1.49905506e-02 4.30418499e-04 9.99887543e-01 -4.36268808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80576923100006 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:324.24, Y:-54.66, Z:-4.36 [[ 9.70534667e-01 2.40538500e-01 1.42719865e-02 3.24236296e+02] [-2.40506487e-01 9.70639518e-01 -3.94408863e-03 -5.46580738e+01] [-1.48016593e-02 3.95369408e-04 9.99890371e-01 -4.36327197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.83576923100003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:324.26, Y:-54.67, Z:-4.36 [[ 9.69846178e-01 2.43435684e-01 1.17242991e-02 3.24260278e+02] [-2.43414301e-01 9.69916999e-01 -3.23930052e-03 -5.46715927e+01] [-1.21601583e-02 2.87761163e-04 9.99926021e-01 -4.36430381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86576923100006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:324.29, Y:-54.68, Z:-4.36 [[ 9.69566572e-01 2.44594986e-01 1.06750176e-02 3.24286254e+02] [-2.44577339e-01 9.69625305e-01 -2.94852038e-03 -5.46843996e+01] [-1.10719604e-02 2.47919405e-04 9.99938673e-01 -4.36441998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.89576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:324.31, Y:-54.69, Z:-4.36 [[ 9.69454334e-01 2.44983563e-01 1.18889898e-02 3.24311461e+02] [-2.44961716e-01 9.69527194e-01 -3.28282221e-03 -5.46937614e+01] [-1.23309364e-02 2.70198874e-04 9.99923935e-01 -4.36403988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:324.34, Y:-54.70, Z:-4.36 [[ 9.69309137e-01 2.45490290e-01 1.32027809e-02 3.24336471e+02] [-2.45463412e-01 9.69399006e-01 -3.64431576e-03 -5.47032170e+01] [-1.36934068e-02 2.91668923e-04 9.99906198e-01 -4.36377825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.95576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:324.36, Y:-54.72, Z:-4.36 [[ 9.69148087e-01 2.46184146e-01 1.20562081e-02 3.24361529e+02] [-2.46161798e-01 9.69223040e-01 -3.32694861e-03 -5.47164714e+01] [-1.25041967e-02 2.56528018e-04 9.99921787e-01 -4.36487350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98576923100006 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:324.39, Y:-54.73, Z:-4.37 [[ 9.68965764e-01 2.47033801e-01 8.92469889e-03 3.24387123e+02] [-2.47021595e-01 9.69006846e-01 -2.46237180e-03 -5.47306988e+01] [-9.25638340e-03 1.81360614e-04 9.99957142e-01 -4.36659666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01576923100004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:324.41, Y:-54.74, Z:-4.37 [[ 9.68824968e-01 2.47588594e-01 8.83571961e-03 3.24412654e+02] [-2.47576660e-01 9.68865242e-01 -2.43711110e-03 -5.47415866e+01] [-9.16402253e-03 1.73616133e-04 9.99957994e-01 -4.36681970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04576923100007 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:324.44, Y:-54.75, Z:-4.37 [[ 9.68744471e-01 2.47878798e-01 9.50002978e-03 3.24439715e+02] [-2.47865023e-01 9.68791034e-01 -2.61964876e-03 -5.47532243e+01] [-9.85289906e-03 1.83045155e-04 9.99951442e-01 -4.36707743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:324.46, Y:-54.77, Z:-4.37 [[ 9.68554425e-01 2.48588369e-01 1.03028675e-02 3.24464156e+02] [-2.48572213e-01 9.68609202e-01 -2.84047082e-03 -5.47696361e+01] [-1.06855603e-02 1.90144005e-04 9.99942890e-01 -4.36618691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10576923100007 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:324.49, Y:-54.78, Z:-4.37 [[ 9.68531955e-01 2.48710943e-01 9.41909854e-03 3.24490173e+02] [-2.48697451e-01 9.68577739e-01 -2.59620858e-03 -5.47821385e+01] [-9.76883466e-03 1.72005173e-04 9.99952269e-01 -4.36687538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13576923100004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:324.52, Y:-54.80, Z:-4.37 [[ 9.68449990e-01 2.49071116e-01 8.25804770e-03 3.24516274e+02] [-2.49060761e-01 9.68485187e-01 -2.27589510e-03 -5.48008023e+01] [-8.56465660e-03 1.47334947e-04 9.99963312e-01 -4.36816741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16576923100007 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:324.54, Y:-54.81, Z:-4.37 [[ 9.68201940e-01 2.50007316e-01 9.01916928e-03 3.24542544e+02] [-2.49995007e-01 9.68243936e-01 -2.48543075e-03 -5.48132632e+01] [-9.35413183e-03 1.51651587e-04 9.99956238e-01 -4.36831552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19576923100004 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:324.57, Y:-54.83, Z:-4.37 [[ 9.67832954e-01 2.51381238e-01 1.03366255e-02 3.24569392e+02] [-2.51365154e-01 9.67888138e-01 -2.84802850e-03 -5.48250260e+01] [-1.07206382e-02 1.58148365e-04 9.99942520e-01 -4.36758452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2257692310001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:324.60, Y:-54.84, Z:-4.37 [[ 9.66549608e-01 2.56226188e-01 1.14015994e-02 3.24596365e+02] [-2.56206963e-01 9.66616846e-01 -3.14080369e-03 -5.48401599e+01] [-1.18257342e-02 1.14573423e-04 9.99930067e-01 -4.36719923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.25576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:324.63, Y:-54.85, Z:-4.37 [[ 9.66552644e-01 2.56214732e-01 1.14016765e-02 3.24625457e+02] [-2.56195509e-01 9.66619883e-01 -3.14052388e-03 -5.48481324e+01] [-1.18257356e-02 1.14423359e-04 9.99930067e-01 -4.36757698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2857692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:324.65, Y:-54.86, Z:-4.37 [[ 9.65707149e-01 2.59410272e-01 1.07709365e-02 3.24652496e+02] [-2.59393317e-01 9.65767211e-01 -2.96669447e-03 -5.48589445e+01] [-1.11718083e-02 7.10491291e-05 9.99937591e-01 -4.36833577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.31576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:324.68, Y:-54.87, Z:-4.37 [[ 9.63993662e-01 2.65732797e-01 1.01143444e-02 3.24678252e+02] [-2.65718198e-01 9.64046721e-01 -2.78548864e-03 -5.48716286e+01] [-1.04908963e-02 -2.37197729e-06 9.99944969e-01 -4.36911266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3457692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:324.71, Y:-54.88, Z:-4.37 [[ 9.63222887e-01 2.68476827e-01 1.10391402e-02 3.24705823e+02] [-2.68459621e-01 9.63286142e-01 -3.03972851e-03 -5.48804040e+01] [-1.14499474e-02 -3.56273122e-05 9.99934447e-01 -4.36881729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.37576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:324.73, Y:-54.89, Z:-4.37 [[ 9.62481620e-01 2.71076649e-01 1.21071226e-02 3.24734350e+02] [-2.71056166e-01 9.62557762e-01 -3.33316124e-03 -5.48892416e+01] [-1.25573470e-02 -7.36038026e-05 9.99921151e-01 -4.36838144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4057692310001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:324.76, Y:-54.90, Z:-4.37 [[ 9.60968995e-01 2.76392069e-01 1.20836725e-02 3.24762549e+02] [-2.76372089e-01 9.61044954e-01 -3.32639625e-03 -5.48988160e+01] [-1.25323421e-02 -1.43026153e-04 9.99921457e-01 -4.36852392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.43576923100005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:324.79, Y:-54.91, Z:-4.37 [[ 9.60359717e-01 2.78536693e-01 1.12483548e-02 3.24789953e+02] [-2.78519530e-01 9.60425575e-01 -3.09619371e-03 -5.49067844e+01] [-1.16656112e-02 -1.59426763e-04 9.99931942e-01 -4.36906297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4657692310001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:324.82, Y:-54.91, Z:-4.37 [[ 9.59273098e-01 2.82290560e-01 1.03519755e-02 3.24819252e+02] [-2.82276245e-01 9.59328934e-01 -2.84908056e-03 -5.49133707e+01] [-1.07352181e-02 -1.89070428e-04 9.99942358e-01 -4.37007836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.49576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:324.85, Y:-54.92, Z:-4.37 [[ 9.58641043e-01 2.84458018e-01 9.53872066e-03 3.24847068e+02] [-2.84445973e-01 9.58688478e-01 -2.62503903e-03 -5.49197750e+01] [-9.89137498e-03 -1.96780534e-04 9.99951060e-01 -4.37055890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.525769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:324.88, Y:-54.93, Z:-4.37 [[ 9.58217871e-01 2.85901425e-01 8.88179472e-03 3.24875372e+02] [-2.85891046e-01 9.58259013e-01 -2.44410499e-03 -5.49261933e+01] [-9.20983294e-03 -1.97240504e-04 9.99957569e-01 -4.37180999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.55576923100006 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:324.90, Y:-54.93, Z:-4.37 [[ 9.57997036e-01 2.86619314e-01 9.54194534e-03 3.24903340e+02] [-2.86607375e-01 9.58044530e-01 -2.62523472e-03 -5.49324293e+01] [-9.89405150e-03 -2.19824830e-04 9.99951029e-01 -4.37294884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.58576923100003 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:324.93, Y:-54.94, Z:-4.37 [[ 9.58373779e-01 2.85344318e-01 9.91560867e-03 3.24930770e+02] [-2.85331363e-01 9.58425049e-01 -2.72748212e-03 -5.49399768e+01] [-1.02816392e-02 -2.15286793e-04 9.99947119e-01 -4.37292195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.61576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:324.96, Y:-54.95, Z:-4.37 [[ 9.59050264e-01 2.83085289e-01 9.23633513e-03 3.24957736e+02] [-2.83073947e-01 9.59094723e-01 -2.54034654e-03 -5.49481332e+01] [-9.57765502e-03 -1.78245819e-04 9.99954117e-01 -4.37366324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64576923100003 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:324.99, Y:-54.96, Z:-4.38 [[ 9.60729744e-01 2.77381744e-01 7.59776341e-03 3.24985120e+02] [-2.77373893e-01 9.60759782e-01 -2.08941379e-03 -5.49583667e+01] [-7.87919076e-03 -1.00059238e-04 9.99968954e-01 -4.37527247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.67576923100006 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:325.01, Y:-54.97, Z:-4.38 [[ 9.61609014e-01 2.74312494e-01 7.79492216e-03 3.25013298e+02] [-2.74304132e-01 9.61640603e-01 -2.14313478e-03 -5.49674929e+01] [-8.08380230e-03 -7.73216390e-05 9.99967323e-01 -4.37560408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:325.04, Y:-54.98, Z:-4.38 [[ 9.62838062e-01 2.69915711e-01 9.40083607e-03 3.25039906e+02] [-2.69903343e-01 9.62883953e-01 -2.58439960e-03 -5.49770932e+01] [-9.74948425e-03 -4.89587775e-05 9.99952471e-01 -4.37508807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.73576923100006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:325.07, Y:-54.99, Z:-4.37 [[ 9.63105098e-01 2.68967714e-01 9.21627403e-03 3.25069431e+02] [-2.68955788e-01 9.63149193e-01 -2.53314607e-03 -5.49861721e+01] [-9.55798140e-03 -3.90843449e-05 9.99954321e-01 -4.37481297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76576923100004 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:325.10, Y:-54.99, Z:-4.38 [[ 9.63308956e-01 2.68249801e-01 8.82610064e-03 3.25099687e+02] [-2.68238831e-01 9.63349388e-01 -2.42611824e-03 -5.49949329e+01] [-9.15342439e-03 -3.04014901e-05 9.99958106e-01 -4.37504679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.79576923100007 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:325.13, Y:-55.00, Z:-4.38 [[ 9.63417250e-01 2.67851312e-01 9.10369056e-03 3.25129027e+02] [-2.67839621e-01 9.63460261e-01 -2.50270586e-03 -5.50041932e+01] [-9.44139713e-03 -2.71790291e-05 9.99955429e-01 -4.37520993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82576923100004 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:325.16, Y:-55.01, Z:-4.38 [[ 9.63532645e-01 2.67383988e-01 1.05187632e-02 3.25158434e+02] [-2.67368350e-01 9.63590059e-01 -2.89186446e-03 -5.50137229e+01] [-1.09090139e-02 -2.59785568e-05 9.99940495e-01 -4.37555178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.85576923100007 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:325.19, Y:-55.03, Z:-4.37 [[ 9.64530846e-01 2.63619333e-01 1.36049221e-02 3.25188705e+02] [-2.63592788e-01 9.64626791e-01 -3.74102038e-03 -5.50256231e+01] [-1.41098777e-02 2.21702017e-05 9.99900450e-01 -4.37440070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88576923100004 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:325.22, Y:-55.04, Z:-4.37 [[ 9.65290823e-01 2.60803133e-01 1.39768521e-02 3.25218043e+02] [-2.60774786e-01 9.65392004e-01 -3.84571999e-03 -5.50352668e+01] [-1.44961171e-02 6.74275970e-05 9.99894924e-01 -4.37416356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.91576923100007 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:325.25, Y:-55.05, Z:-4.37 [[ 9.66073440e-01 2.57941701e-01 1.29687358e-02 3.25248875e+02] [-2.57917032e-01 9.66160478e-01 -3.56876250e-03 -5.50451174e+01] [-1.34504127e-02 1.02828804e-04 9.99909534e-01 -4.37481552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94576923100004 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:325.28, Y:-55.06, Z:-4.38 [[ 9.66772222e-01 2.55470667e-01 9.28486535e-03 3.25279661e+02] [-2.55457900e-01 9.66816802e-01 -2.55595354e-03 -5.50565682e+01] [-9.62973498e-03 9.91326728e-05 9.99953628e-01 -4.37600922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.9757692310001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:325.31, Y:-55.07, Z:-4.38 [[ 9.66667783e-01 2.55899670e-01 8.29198036e-03 3.25311031e+02] [-2.55889488e-01 9.66703342e-01 -2.28445160e-03 -5.50666284e+01] [-8.60047553e-03 8.64751541e-05 9.99963011e-01 -4.37670588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00576923100004 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:325.34, Y:-55.08, Z:-4.38 [[ 9.65987248e-01 2.58485721e-01 7.33276081e-03 3.25340886e+02] [-2.58477832e-01 9.66015077e-01 -2.02023455e-03 -5.50773709e+01] [-7.60575928e-03 5.61646983e-05 9.99971074e-01 -4.37646529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0357692310001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:325.37, Y:-55.09, Z:-4.38 [[ 9.65589869e-01 2.59985377e-01 6.61884012e-03 3.25371025e+02] [-2.59978971e-01 9.65612553e-01 -1.82554483e-03 -5.50866912e+01] [-6.86585006e-03 4.19683525e-05 9.99976429e-01 -4.37692726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06576923100005 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:325.40, Y:-55.10, Z:-4.38 [[ 9.64642594e-01 2.63470728e-01 6.91673199e-03 3.25400924e+02] [-2.63463827e-01 9.64667391e-01 -1.90710078e-03 -5.50978874e+01] [-7.17481103e-03 1.73619652e-05 9.99974261e-01 -4.37699910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0957692310001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:325.43, Y:-55.11, Z:-4.38 [[ 9.64028432e-01 2.65692317e-01 7.53484265e-03 3.25430040e+02] [-2.65684182e-01 9.64057878e-01 -2.07912820e-03 -5.51081225e+01] [-7.81643281e-03 2.45018717e-06 9.99969451e-01 -4.37727684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12576923100005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:325.46, Y:-55.12, Z:-4.38 [[ 9.63484492e-01 2.67651719e-01 7.75825964e-03 3.25460230e+02] [-2.67643142e-01 9.63515728e-01 -2.14271814e-03 -5.51181414e+01] [-8.04870737e-03 -1.19692881e-05 9.99967609e-01 -4.37733305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1557692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:325.49, Y:-55.13, Z:-4.38 [[ 9.62335533e-01 2.71695173e-01 9.59449469e-03 3.25489790e+02] [-2.71682254e-01 9.62383359e-01 -2.65016677e-03 -5.51281635e+01] [-9.95361955e-03 -5.63042853e-05 9.99950460e-01 -4.37725241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:325.52, Y:-55.14, Z:-4.38 [[ 9.60461138e-01 2.78234181e-01 1.00071681e-02 3.25518678e+02] [-2.78220477e-01 9.60513261e-01 -2.76448879e-03 -5.51352793e+01] [-1.03811930e-02 -1.29015041e-04 9.99946106e-01 -4.37572398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2157692310001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:325.55, Y:-55.14, Z:-4.38 [[ 9.59267940e-01 2.82343514e-01 9.33592083e-03 3.25546886e+02] [-2.82331782e-01 9.59313355e-01 -2.57898872e-03 -5.51424447e+01] [-9.68423428e-03 -1.61885965e-04 9.99953094e-01 -4.37608903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:325.58, Y:-55.15, Z:-4.38 [[ 9.57992872e-01 2.86671275e-01 8.32096043e-03 3.25576972e+02] [-2.86662121e-01 9.58028991e-01 -2.29824273e-03 -5.51496658e+01] [-8.63056149e-03 -1.83604009e-04 9.99962739e-01 -4.37685308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.275769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:325.61, Y:-55.15, Z:-4.38 [[ 9.55714898e-01 2.94200483e-01 7.42362428e-03 3.25605791e+02] [-2.94193420e-01 9.55743703e-01 -2.05084205e-03 -5.51538763e+01] [-7.69844089e-03 -2.23961115e-04 9.99970341e-01 -4.37725798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:325.63, Y:-55.16, Z:-4.38 [[ 9.54992752e-01 2.96509726e-01 8.41580598e-03 3.25632819e+02] [-2.96500741e-01 9.55029793e-01 -2.32465463e-03 -5.51590071e+01] [-8.72662816e-03 -2.75264388e-04 9.99961884e-01 -4.37750577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.33576923100003 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:325.66, Y:-55.16, Z:-4.38 [[ 9.54125189e-01 2.99243266e-01 9.92929376e-03 3.25661876e+02] [-2.99230914e-01 9.54176788e-01 -2.74194969e-03 -5.51619335e+01] [-1.02948116e-02 -3.54988374e-04 9.99946944e-01 -4.37684504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36576923100006 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:325.69, Y:-55.17, Z:-4.38 [[ 9.54015071e-01 2.99609043e-01 9.46922130e-03 3.25690496e+02] [-2.99597831e-01 9.54062002e-01 -2.61447303e-03 -5.51671931e+01] [-9.81754400e-03 -3.42711492e-04 9.99951748e-01 -4.37779588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.39576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:325.72, Y:-55.17, Z:-4.38 [[ 9.54225431e-01 2.98965024e-01 8.58730898e-03 3.25719016e+02] [-2.98955781e-01 9.54264021e-01 -2.37061344e-03 -5.51719698e+01] [-8.90329049e-03 -3.05126032e-04 9.99960318e-01 -4.37919076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42576923100006 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:325.75, Y:-55.17, Z:-4.38 [[ 9.54773816e-01 2.97254218e-01 6.84766196e-03 3.25748281e+02] [-2.97248298e-01 9.54798343e-01 -1.89016312e-03 -5.51746768e+01] [-7.09999526e-03 -2.30777611e-04 9.99974768e-01 -4.37943569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.45576923100003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:325.78, Y:-55.18, Z:-4.38 [[ 9.54976948e-01 2.96591381e-01 7.25138648e-03 3.25776696e+02] [-2.96584726e-01 9.55004448e-01 -2.00120256e-03 -5.51799753e+01] [-7.51864577e-03 -2.39548162e-04 9.99971706e-01 -4.37870391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:325.81, Y:-55.18, Z:-4.38 [[ 9.55113934e-01 2.96060480e-01 1.02745143e-02 3.25805177e+02] [-2.96047097e-01 9.55169137e-01 -2.83476170e-03 -5.51823390e+01] [-1.06531599e-02 -3.34219737e-04 9.99943198e-01 -4.37721229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:325.83, Y:-55.19, Z:-4.38 [[ 9.55243993e-01 2.95611134e-01 1.10892245e-02 3.25834405e+02] [-2.95595523e-01 9.55308291e-01 -3.05877423e-03 -5.51865026e+01] [-1.14978358e-02 -3.56049412e-04 9.99933834e-01 -4.37738938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:325.86, Y:-55.19, Z:-4.38 [[ 9.55287208e-01 2.95480327e-01 1.08501709e-02 3.25862576e+02] [-2.95465379e-01 9.55348761e-01 -2.99231973e-03 -5.51906624e+01] [-1.12498689e-02 -3.47325084e-04 9.99936658e-01 -4.37839682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:325.89, Y:-55.19, Z:-4.38 [[ 9.55744477e-01 2.94054585e-01 9.18674235e-03 3.25891043e+02] [-2.94043808e-01 9.55788587e-01 -2.53311720e-03 -5.51933605e+01] [-9.52545822e-03 -2.80291923e-04 9.99954593e-01 -4.37953133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60576923100007 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:325.92, Y:-55.20, Z:-4.38 [[ 9.56022305e-01 2.93159194e-01 8.89039681e-03 3.25918345e+02] [-2.93149067e-01 9.56063605e-01 -2.45085683e-03 -5.51985501e+01] [-9.21827604e-03 -2.63137742e-04 9.99957476e-01 -4.37938024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63576923100004 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:325.95, Y:-55.20, Z:-4.38 [[ 9.56615833e-01 2.91206399e-01 9.21851761e-03 3.25946525e+02] [-2.91195426e-01 9.56660216e-01 -2.54075545e-03 -5.52019509e+01] [-9.55887330e-03 -2.53863275e-04 9.99954281e-01 -4.37968040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66576923100007 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:325.97, Y:-55.21, Z:-4.38 [[ 9.56912247e-01 2.90222013e-01 9.49388989e-03 3.25973781e+02] [-2.90210334e-01 9.56959309e-01 -2.61588786e-03 -5.52086452e+01] [-9.84445455e-03 -2.52049824e-04 9.99951510e-01 -4.38028902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69576923100004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:326.00, Y:-55.22, Z:-4.38 [[ 9.57399576e-01 2.88620963e-01 9.16470981e-03 3.26002092e+02] [-2.88610011e-01 9.57443412e-01 -2.52461725e-03 -5.52160027e+01] [-9.50334849e-03 -2.27959520e-04 9.99954816e-01 -4.38105588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7257692310001 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:326.03, Y:-55.22, Z:-4.38 [[ 9.58346601e-01 2.85511296e-01 7.42241348e-03 3.26029732e+02] [-2.85504021e-01 9.58375331e-01 -2.04445997e-03 -5.52214914e+01] [-7.69717439e-03 -1.59827627e-04 9.99970364e-01 -4.38165787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.75576923100004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:326.06, Y:-55.23, Z:-4.38 [[ 9.58811703e-01 2.83952930e-01 7.13101232e-03 3.26057217e+02] [-2.83946174e-01 9.58838210e-01 -1.96381975e-03 -5.52274200e+01] [-7.39511946e-03 -1.41890308e-04 9.99972646e-01 -4.38183047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7857692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:326.08, Y:-55.24, Z:-4.38 [[ 9.59823118e-01 2.80477682e-01 8.47651335e-03 3.26084086e+02] [-2.80468008e-01 9.59860537e-01 -2.33352691e-03 -5.52357765e+01] [-8.79077288e-03 -1.37617738e-04 9.99961351e-01 -4.38075767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.81576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:326.11, Y:-55.24, Z:-4.38 [[ 9.60436327e-01 2.78327637e-01 9.78709400e-03 3.26110752e+02] [-2.78314636e-01 9.60486183e-01 -2.69364443e-03 -5.52441073e+01] [-1.01500843e-02 -1.36817541e-04 9.99948477e-01 -4.38012871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8457692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:326.14, Y:-55.25, Z:-4.38 [[ 9.60981998e-01 2.76406676e-01 1.06277933e-02 3.26138776e+02] [-2.76391237e-01 9.61040755e-01 -2.92412250e-03 -5.52524439e+01] [-1.10219895e-02 -1.27399856e-04 9.99939248e-01 -4.38021751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.87576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:326.17, Y:-55.26, Z:-4.38 [[ 9.62395709e-01 2.71432392e-01 1.09066842e-02 3.26166290e+02] [-2.71415819e-01 9.62457506e-01 -3.00030383e-03 -5.52598067e+01] [-1.13115997e-02 -7.27670854e-05 9.99936019e-01 -4.38243011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9057692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:326.19, Y:-55.27, Z:-4.38 [[ 9.63646724e-01 2.67057836e-01 8.06871884e-03 3.26192640e+02] [-2.67048613e-01 9.63680503e-01 -2.21941443e-03 -5.52701966e+01] [-8.36837904e-03 -1.60087321e-05 9.99964984e-01 -4.38339787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.93576923100005 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:326.22, Y:-55.28, Z:-4.38 [[ 9.64088298e-01 2.65502139e-01 6.50911667e-03 3.26219414e+02] [-2.65496104e-01 9.64110271e-01 -1.79015721e-03 -5.52795498e+01] [-6.75079680e-03 -2.27549852e-06 9.99977213e-01 -4.38373336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9657692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:326.25, Y:-55.29, Z:-4.38 [[ 9.64417332e-01 2.64330585e-01 5.34331337e-03 3.26246674e+02] [-2.64326502e-01 9.64432134e-01 -1.46925464e-03 -5.52881863e+01] [-5.54163206e-03 4.59530642e-06 9.99984645e-01 -4.38419194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.99576923100005 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:326.27, Y:-55.30, Z:-4.38 [[ 9.64438703e-01 2.64241191e-01 5.88050626e-03 3.26273952e+02] [-2.64236246e-01 9.64456631e-01 -1.61664780e-03 -5.52970849e+01] [-6.09867819e-03 5.31480731e-06 9.99981403e-01 -4.38373399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.025769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:326.30, Y:-55.31, Z:-4.38 [[ 9.64237611e-01 2.64953776e-01 6.73246871e-03 3.26300032e+02] [-2.64947314e-01 9.64261114e-01 -1.85049222e-03 -5.53058940e+01] [-6.98215268e-03 5.64697659e-07 9.99975624e-01 -4.38368318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.05576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:326.33, Y:-55.32, Z:-4.38 [[ 9.63732001e-01 2.66771881e-01 7.30717389e-03 3.26325009e+02] [-2.66764325e-01 9.63759702e-01 -2.00788703e-03 -5.53184204e+01] [-7.57800753e-03 -1.42283301e-05 9.99971286e-01 -4.38407837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.08576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:326.35, Y:-55.33, Z:-4.38 [[ 9.63327105e-01 2.68221722e-01 7.61552516e-03 3.26352713e+02] [-2.68213565e-01 9.63357206e-01 -2.09198052e-03 -5.53287107e+01] [-7.89758566e-03 -2.73256178e-05 9.99968813e-01 -4.38464295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.11576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:326.38, Y:-55.34, Z:-4.38 [[ 9.62654040e-01 2.70616569e-01 7.99202901e-03 3.26380262e+02] [-2.70607670e-01 9.62687213e-01 -2.19523558e-03 -5.53378415e+01] [-8.28789125e-03 -4.94519508e-05 9.99965654e-01 -4.38432028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:326.41, Y:-55.35, Z:-4.38 [[ 9.62663549e-01 2.70582738e-01 7.99210852e-03 3.26408570e+02] [-2.70573840e-01 9.62696722e-01 -2.19494605e-03 -5.53455280e+01] [-8.28789119e-03 -4.94609372e-05 9.99965654e-01 -4.38468759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.17576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:326.43, Y:-55.35, Z:-4.38 [[ 9.60533479e-01 2.78031423e-01 8.60024066e-03 3.26434694e+02] [-2.78021419e-01 9.60571972e-01 -2.36168970e-03 -5.53549068e+01] [-8.91777407e-03 -1.22569089e-04 9.99960228e-01 -4.38421827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:326.46, Y:-55.36, Z:-4.38 [[ 9.59284146e-01 2.82333237e-01 7.86573013e-03 3.26462245e+02] [-2.82325018e-01 9.59316382e-01 -2.15950914e-03 -5.53624948e+01] [-8.15542498e-03 -1.49109515e-04 9.99966733e-01 -4.38384732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.23576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:326.49, Y:-55.37, Z:-4.38 [[ 9.56784583e-01 2.90711696e-01 7.06906796e-03 3.26489571e+02] [-2.90705287e-01 9.56810676e-01 -1.94055970e-03 -5.53684776e+01] [-7.32790310e-03 -1.98317822e-04 9.99973131e-01 -4.38480621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:326.52, Y:-55.37, Z:-4.38 [[ 9.55586206e-01 2.94624303e-01 7.17798021e-03 3.26516770e+02] [-2.94617809e-01 9.55613136e-01 -1.96996929e-03 -5.53740721e+01] [-7.43977301e-03 -2.32285325e-04 9.99972298e-01 -4.38497076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.29576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:326.54, Y:-55.38, Z:-4.38 [[ 9.54357011e-01 2.98558852e-01 8.08126122e-03 3.26544055e+02] [-2.98550766e-01 9.54391180e-01 -2.21733494e-03 -5.53791794e+01] [-8.37468940e-03 -2.96537577e-04 9.99964888e-01 -4.38453571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:326.57, Y:-55.38, Z:-4.38 [[ 9.52053779e-01 3.05769935e-01 9.91705094e-03 3.26572699e+02] [-3.05758157e-01 9.52105325e-01 -2.72009207e-03 -5.53804921e+01] [-1.02737994e-02 -4.42545276e-04 9.99947125e-01 -4.38386073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.35576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:326.60, Y:-55.38, Z:-4.38 [[ 9.51244315e-01 3.08276911e-01 9.97992879e-03 3.26599767e+02] [-3.08265126e-01 9.51296548e-01 -2.73666580e-03 -5.53844224e+01] [-1.03375227e-02 -4.73226222e-04 9.99946454e-01 -4.38451910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:326.63, Y:-55.39, Z:-4.39 [[ 9.50881926e-01 3.09413936e-01 9.30480642e-03 3.26628020e+02] [-3.09403757e-01 9.50927342e-01 -2.55051575e-03 -5.53882175e+01] [-9.63735996e-03 -4.53702733e-04 9.99953457e-01 -4.38585572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.41576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:326.66, Y:-55.39, Z:-4.39 [[ 9.50871843e-01 3.09477937e-01 8.13291550e-03 3.26656469e+02] [-3.09470167e-01 9.50906540e-01 -2.22881796e-03 -5.53917298e+01] [-8.42341252e-03 -3.97574471e-04 9.99964443e-01 -4.38624822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:326.68, Y:-55.39, Z:-4.39 [[ 9.50916148e-01 3.09338972e-01 8.23893668e-03 3.26684918e+02] [-3.09330998e-01 9.50951754e-01 -2.25729183e-03 -5.53892755e+01] [-8.53309962e-03 -4.02063256e-04 9.99963512e-01 -4.38707192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.4757692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:326.71, Y:-55.39, Z:-4.39 [[ 9.50876300e-01 3.09454873e-01 8.48199103e-03 3.26712975e+02] [-3.09446433e-01 9.50914039e-01 -2.32306613e-03 -5.53911839e+01] [-8.78452848e-03 -4.15773336e-04 9.99961329e-01 -4.38657217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50576923100004 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:326.74, Y:-55.39, Z:-4.39 [[ 9.50998100e-01 3.09079909e-01 8.49841800e-03 3.26743004e+02] [-3.09071426e-01 9.51035982e-01 -2.32695462e-03 -5.53889437e+01] [-8.80151623e-03 -4.13688744e-04 9.99961180e-01 -4.38658597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:326.77, Y:-55.39, Z:-4.39 [[ 9.51378120e-01 3.07916698e-01 8.18412744e-03 3.26771560e+02] [-3.07908793e-01 9.51413242e-01 -2.24033744e-03 -5.53914448e+01] [-8.47632452e-03 -3.88556783e-04 9.99964000e-01 -4.38682541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:326.80, Y:-55.39, Z:-4.39 [[ 9.52218212e-01 3.05312890e-01 8.03212799e-03 3.26801001e+02] [-3.05305188e-01 9.52252020e-01 -2.19817908e-03 -5.53896530e+01] [-8.31974251e-03 -3.59104188e-04 9.99965326e-01 -4.38823912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5957692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:326.83, Y:-55.39, Z:-4.39 [[ 9.52670690e-01 3.03892531e-01 8.23935258e-03 3.26828092e+02] [-3.03884377e-01 9.52706252e-01 -2.25447750e-03 -5.53930867e+01] [-8.53480159e-03 -3.56035887e-04 9.99963515e-01 -4.38846087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.86, Y:-55.40, Z:-4.39 [[ 9.53144853e-01 3.02397574e-01 8.40212844e-03 3.26856204e+02] [-3.02389049e-01 9.53181821e-01 -2.29757530e-03 -5.53971297e+01] [-8.70353728e-03 -3.50789551e-04 9.99962062e-01 -4.38830137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6557692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:326.88, Y:-55.40, Z:-4.39 [[ 9.53649482e-01 3.00802896e-01 8.38348916e-03 3.26884428e+02] [-3.00794349e-01 9.53686272e-01 -2.29226458e-03 -5.54007652e+01] [-8.68473835e-03 -3.35689240e-04 9.99962231e-01 -4.38794469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:326.91, Y:-55.40, Z:-4.39 [[ 9.54495878e-01 2.98105213e-01 8.42024810e-03 3.26914019e+02] [-2.98096504e-01 9.54532966e-01 -2.30031604e-03 -5.53999349e+01] [-8.72314059e-03 -3.14404344e-04 9.99961903e-01 -4.38731808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7157692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:326.94, Y:-55.40, Z:-4.39 [[ 9.54798335e-01 2.97119178e-01 8.96288750e-03 3.26941328e+02] [-2.97109273e-01 9.54840347e-01 -2.44785051e-03 -5.54039492e+01] [-9.28542994e-03 -3.25753395e-04 9.99956836e-01 -4.38769247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.97, Y:-55.41, Z:-4.39 [[ 9.55012812e-01 2.96407889e-01 9.63804450e-03 3.26967685e+02] [-2.96396409e-01 9.55061383e-01 -2.63130279e-03 -5.54083433e+01] [-9.98486302e-03 -3.43753899e-04 9.99950091e-01 -4.38783524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.00, Y:-55.41, Z:-4.39 [[ 9.55462227e-01 2.94940947e-01 1.00881064e-02 3.26996228e+02] [-2.94928298e-01 9.55515421e-01 -2.75322117e-03 -5.54109539e+01] [-1.04513789e-02 -3.44669230e-04 9.99945323e-01 -4.38884545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:327.02, Y:-55.42, Z:-4.39 [[ 9.55755376e-01 2.93997805e-01 9.84644903e-03 3.27023204e+02] [-2.93985711e-01 9.55806039e-01 -2.68669102e-03 -5.54155725e+01] [-1.02011767e-02 -3.26895932e-04 9.99947913e-01 -4.39044723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.83576923100003 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:327.05, Y:-55.42, Z:-4.39 [[ 9.56776081e-01 2.90684891e-01 9.04573224e-03 3.27050576e+02] [-2.90674544e-01 9.56818803e-01 -2.46729782e-03 -5.54197643e+01] [-9.37233290e-03 -2.68712559e-04 9.99956043e-01 -4.39141913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:327.08, Y:-55.43, Z:-4.39 [[ 9.57425918e-01 2.88523391e-01 9.47965517e-03 3.27077571e+02] [-2.88511944e-01 9.57472811e-01 -2.58334086e-03 -5.54270073e+01] [-9.82186635e-03 -2.61636249e-04 9.99951730e-01 -4.39165313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.89576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:327.10, Y:-55.43, Z:-4.39 [[ 9.58283464e-01 2.85648690e-01 9.88075379e-03 3.27104151e+02] [-2.85636108e-01 9.58334371e-01 -2.69200129e-03 -5.54335594e+01] [-1.02380326e-02 -2.42599738e-04 9.99947561e-01 -4.39102385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:327.13, Y:-55.44, Z:-4.39 [[ 9.59081728e-01 2.82945285e-01 1.02080897e-02 3.27131790e+02] [-2.82931718e-01 9.59136026e-01 -2.77961920e-03 -5.54400156e+01] [-1.05774267e-02 -2.22310375e-04 9.99944033e-01 -4.39115424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.95576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:327.16, Y:-55.45, Z:-4.39 [[ 9.60558434e-01 2.77888708e-01 1.02645488e-02 3.27158097e+02] [-2.77874710e-01 9.60613261e-01 -2.79424376e-03 -5.54455325e+01] [-1.06367505e-02 -1.68224112e-04 9.99943414e-01 -4.39176739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.19, Y:-55.45, Z:-4.39 [[ 9.61308158e-01 2.75279534e-01 1.03828107e-02 3.27185334e+02] [-2.75265070e-01 9.61364217e-01 -2.82550426e-03 -5.54534314e+01] [-1.07594662e-02 -1.41844804e-04 9.99942105e-01 -4.39238558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.21, Y:-55.46, Z:-4.39 [[ 9.62079164e-01 2.72575745e-01 1.03026951e-02 3.27211548e+02] [-2.72561356e-01 9.62134321e-01 -2.80295006e-03 -5.54618962e+01] [-1.06765928e-02 -1.11456701e-04 9.99942997e-01 -4.39253301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04576923100007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.24, Y:-55.47, Z:-4.39 [[ 9.63753934e-01 2.66625958e-01 9.43153014e-03 3.27238144e+02] [-2.66613617e-01 9.63800081e-01 -2.56561986e-03 -5.54722640e+01] [-9.77417037e-03 -4.19481368e-05 9.99952231e-01 -4.39263273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.26, Y:-55.48, Z:-4.39 [[ 9.64578022e-01 2.63656725e-01 8.62379969e-03 3.27264212e+02] [-2.63646305e-01 9.64616572e-01 -2.34412002e-03 -5.54816412e+01] [-8.93670310e-03 -1.25462699e-05 9.99960067e-01 -4.39347855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.29, Y:-55.49, Z:-4.39 [[ 9.66026774e-01 2.58346657e-01 7.01979419e-03 3.27288492e+02] [-2.58339614e-01 9.66052278e-01 -1.90781527e-03 -5.54946154e+01] [-7.27436587e-03 2.95097025e-05 9.99973541e-01 -4.39492135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.31, Y:-55.51, Z:-4.40 [[ 9.66587912e-01 2.56234802e-01 7.17876922e-03 3.27314339e+02] [-2.56227384e-01 9.66614568e-01 -1.95027349e-03 -5.55051682e+01] [-7.43883086e-03 4.57135183e-05 9.99972330e-01 -4.39502923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.34, Y:-55.52, Z:-4.40 [[ 9.67006107e-01 2.54634692e-01 7.76931095e-03 3.27340652e+02] [-2.54625957e-01 9.67037316e-01 -2.11007060e-03 -5.55160653e+01] [-8.05051079e-03 6.21829281e-05 9.99967592e-01 -4.39500619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.36, Y:-55.53, Z:-4.39 [[ 9.67254916e-01 2.53663566e-01 8.52776176e-03 3.27364378e+02] [-2.53653009e-01 9.67292504e-01 -2.31553207e-03 -5.55302019e+01] [-8.83620615e-03 7.66173431e-05 9.99960957e-01 -4.39433477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2257692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:327.39, Y:-55.54, Z:-4.39 [[ 9.67159626e-01 2.54050456e-01 7.78606918e-03 3.27390624e+02] [-2.54041677e-01 9.67190964e-01 -2.11303342e-03 -5.55410046e+01] [-8.06743286e-03 6.56545475e-05 9.99967456e-01 -4.39478085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.25576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:327.42, Y:-55.55, Z:-4.40 [[ 9.66879029e-01 2.55160914e-01 6.15237846e-03 3.27416409e+02] [-2.55155457e-01 9.66898602e-01 -1.66941153e-03 -5.55520717e+01] [-6.37469470e-03 4.43060676e-05 9.99979680e-01 -4.39580626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2857692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:327.44, Y:-55.57, Z:-4.40 [[ 9.65934710e-01 2.58760053e-01 3.65649186e-03 3.27440016e+02] [-2.58758151e-01 9.65941631e-01 -9.92353991e-04 -5.55675087e+01] [-3.78873928e-03 1.24020920e-05 9.99992823e-01 -4.39697709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.31576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:327.47, Y:-55.58, Z:-4.40 [[ 9.65263097e-01 2.61248607e-01 4.03965185e-03 3.27465814e+02] [-2.61246309e-01 9.65271550e-01 -1.09583392e-03 -5.55787298e+01] [-4.18564609e-03 2.42390438e-06 9.99991240e-01 -4.39623476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.49, Y:-55.59, Z:-4.39 [[ 9.63532507e-01 2.67494577e-01 7.19433468e-03 3.27490245e+02] [-2.67487470e-01 9.63559365e-01 -1.95039827e-03 -5.55923381e+01] [-7.45388951e-03 -4.51222486e-05 9.99972218e-01 -4.39411893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.52, Y:-55.60, Z:-4.39 [[ 9.62381617e-01 2.71571111e-01 8.41161593e-03 3.27516240e+02] [-2.71561559e-01 9.62418372e-01 -2.27944418e-03 -5.56027932e+01] [-8.71452490e-03 -9.05763647e-05 9.99962024e-01 -4.39444597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:327.54, Y:-55.61, Z:-4.39 [[ 9.61108009e-01 2.76035874e-01 8.69432864e-03 3.27542697e+02] [-2.76025858e-01 9.61147324e-01 -2.35536828e-03 -5.56136745e+01] [-9.00669684e-03 -1.36096206e-04 9.99959430e-01 -4.39484766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.57, Y:-55.63, Z:-4.40 [[ 9.58723787e-01 2.84175450e-01 9.64436412e-03 3.27567202e+02] [-2.84163545e-01 9.58772266e-01 -2.61194358e-03 -5.56255235e+01] [-9.98899908e-03 -2.36444252e-04 9.99950081e-01 -4.39549731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.59, Y:-55.63, Z:-4.40 [[ 9.57756990e-01 2.87394921e-01 1.02814212e-02 3.27594149e+02] [-2.87381586e-01 9.57812130e-01 -2.78348528e-03 -5.56337551e+01] [-1.06476295e-02 -2.88788658e-04 9.99943271e-01 -4.39563184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.62, Y:-55.64, Z:-4.40 [[ 9.56954848e-01 2.90030460e-01 1.09431360e-02 3.27620749e+02] [-2.90015535e-01 9.57017355e-01 -2.96177842e-03 -5.56417223e+01] [-1.13317771e-02 -3.39391241e-04 9.99935736e-01 -4.39629964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.65, Y:-55.65, Z:-4.40 [[ 9.55785294e-01 2.93887682e-01 1.02226390e-02 3.27646074e+02] [-2.93874886e-01 9.55839893e-01 -2.76609882e-03 -5.56506059e+01] [-1.05841285e-02 -3.60380297e-04 9.99943922e-01 -4.39629735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.55576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:327.67, Y:-55.66, Z:-4.40 [[ 9.55441267e-01 2.95048488e-01 8.85297213e-03 3.27673084e+02] [-2.95038947e-01 9.55482226e-01 -2.39482702e-03 -5.56578440e+01] [-9.16544761e-03 -3.23855014e-04 9.99957944e-01 -4.39703737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.70, Y:-55.66, Z:-4.40 [[ 9.54880797e-01 2.96862346e-01 8.68393181e-03 3.27700952e+02] [-2.96853245e-01 9.54920225e-01 -2.34848683e-03 -5.56625557e+01] [-8.98963942e-03 -3.35328361e-04 9.99959536e-01 -4.39757954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.73, Y:-55.67, Z:-4.40 [[ 9.54622095e-01 2.97659321e-01 9.77672964e-03 3.27727085e+02] [-2.97647836e-01 9.54672079e-01 -2.64323599e-03 -5.56676550e+01] [-1.01203546e-02 -3.86730946e-04 9.99948713e-01 -4.39696315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.75, Y:-55.67, Z:-4.40 [[ 9.54166843e-01 2.99088195e-01 1.05776535e-02 3.27754375e+02] [-2.99074850e-01 9.54225372e-01 -2.85878874e-03 -5.56734403e+01] [-1.09484953e-02 -4.35748698e-04 9.99939968e-01 -4.39776424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.78, Y:-55.68, Z:-4.40 [[ 9.53601181e-01 3.00897780e-01 1.02622617e-02 3.27781456e+02] [-3.00885330e-01 9.53656295e-01 -2.77283992e-03 -5.56792821e+01] [-1.06210119e-02 -4.43580583e-04 9.99943497e-01 -4.39839867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.81, Y:-55.68, Z:-4.40 [[ 9.52623792e-01 3.04057227e-01 7.55736770e-03 3.27809845e+02] [-3.04050577e-01 9.52653703e-01 -2.04166232e-03 -5.56822630e+01] [-7.82033651e-03 -3.52885905e-04 9.99969358e-01 -4.39981200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.84, Y:-55.69, Z:-4.40 [[ 9.52324285e-01 3.05022176e-01 6.31889448e-03 3.27837543e+02] [-3.05017550e-01 9.52345201e-01 -1.70677151e-03 -5.56866428e+01] [-6.53837199e-03 -3.01973750e-04 9.99978579e-01 -4.40042472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:327.87, Y:-55.69, Z:-4.40 [[ 9.52178919e-01 3.05490222e-01 5.57054872e-03 3.27865169e+02] [-3.05486636e-01 9.52195175e-01 -1.50441144e-03 -5.56878149e+01] [-5.76383260e-03 -2.69259328e-04 9.99983353e-01 -4.40029173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.89, Y:-55.69, Z:-4.40 [[ 9.52303981e-01 3.05079834e-01 6.58958969e-03 3.27892768e+02] [-3.05074812e-01 9.52326727e-01 -1.77879294e-03 -5.56921834e+01] [-6.81811624e-03 -3.16366240e-04 9.99976706e-01 -4.40051709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.92, Y:-55.69, Z:-4.40 [[ 9.53440729e-01 3.01437808e-01 9.27488139e-03 3.27919907e+02] [-3.01427698e-01 9.53485752e-01 -2.50263274e-03 -5.56943807e+01] [-9.59785539e-03 -4.09594156e-04 9.99953856e-01 -4.40049513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.95, Y:-55.70, Z:-4.40 [[ 9.54364195e-01 2.98491320e-01 9.58728662e-03 3.27947526e+02] [-2.98480377e-01 9.54412268e-01 -2.58603193e-03 -5.57000013e+01] [-9.92213205e-03 -3.93600646e-04 9.99950697e-01 -4.40035724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.98, Y:-55.71, Z:-4.40 [[ 9.55277061e-01 2.95568620e-01 9.21558775e-03 3.27975380e+02] [-2.95558380e-01 9.55321448e-01 -2.48512949e-03 -5.57057420e+01] [-9.53837493e-03 -3.49756988e-04 9.99954447e-01 -4.40047627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.00, Y:-55.71, Z:-4.40 [[ 9.56069654e-01 2.93020517e-01 8.35426040e-03 3.28003239e+02] [-2.93012009e-01 9.56106108e-01 -2.25231810e-03 -5.57116668e+01] [-8.64753481e-03 -2.94525633e-04 9.99962566e-01 -4.40094334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.03, Y:-55.72, Z:-4.40 [[ 9.57309578e-01 2.88961353e-01 7.72711117e-03 3.28029742e+02] [-2.88953945e-01 9.57340733e-01 -2.08278068e-03 -5.57167348e+01] [-7.99932140e-03 -2.38913363e-04 9.99967976e-01 -4.40097845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.06, Y:-55.72, Z:-4.40 [[ 9.57751712e-01 2.87455345e-01 9.00458459e-03 3.28057213e+02] [-2.87445229e-01 9.57794004e-01 -2.42612074e-03 -5.57235592e+01] [-9.32193851e-03 -2.64703591e-04 9.99956515e-01 -4.40093044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.08, Y:-55.73, Z:-4.40 [[ 9.58087802e-01 2.86280182e-01 1.05556622e-02 3.28084261e+02] [-2.86266219e-01 9.58145902e-01 -2.84310118e-03 -5.57304752e+01] [-1.09277880e-02 -2.97788946e-04 9.99940246e-01 -4.40063417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.11, Y:-55.74, Z:-4.40 [[ 9.58021262e-01 2.86439084e-01 1.21619110e-02 3.28111940e+02] [-2.86420574e-01 9.58098393e-01 -3.27468333e-03 -5.57361475e+01] [-1.25903047e-02 -3.46205278e-04 9.99920679e-01 -4.39992314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.14, Y:-55.74, Z:-4.40 [[ 9.58038081e-01 2.86382815e-01 1.21621416e-02 3.28139491e+02] [-2.86364311e-01 9.58115214e-01 -3.27382669e-03 -5.57434330e+01] [-1.25903006e-02 -3.46352665e-04 9.99920679e-01 -4.40027998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.17, Y:-55.75, Z:-4.40 [[ 9.57567834e-01 2.87953364e-01 1.21121600e-02 3.28166715e+02] [-2.87935147e-01 9.57644363e-01 -3.25961262e-03 -5.57490709e+01] [-1.25377582e-02 -3.66216372e-04 9.99921332e-01 -4.40112921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.20, Y:-55.75, Z:-4.40 [[ 9.56489309e-01 2.91542855e-01 1.14440209e-02 3.28195078e+02] [-2.91526858e-01 9.56557688e-01 -3.07899093e-03 -5.57527908e+01] [-1.18445240e-02 -3.91217557e-04 9.99929775e-01 -4.40291338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.22, Y:-55.76, Z:-4.40 [[ 9.56365577e-01 2.91942133e-01 1.16049485e-02 3.28222566e+02] [-2.91925724e-01 9.56435899e-01 -3.12139320e-03 -5.57590886e+01] [-1.20106556e-02 -4.02589985e-04 9.99927788e-01 -4.40379003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.25, Y:-55.77, Z:-4.40 [[ 9.56636662e-01 2.91034521e-01 1.20500661e-02 3.28248416e+02] [-2.91016769e-01 9.56712465e-01 -3.24017304e-03 -5.57657500e+01] [-1.24714506e-02 -4.07102968e-04 9.99922146e-01 -4.40424352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.28, Y:-55.77, Z:-4.41 [[ 9.57905035e-01 2.86876191e-01 1.09541847e-02 3.28275062e+02] [-2.86861259e-01 9.57967613e-01 -2.94462244e-03 -5.57747431e+01] [-1.13384962e-02 -3.21662549e-04 9.99935665e-01 -4.40512016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.30, Y:-55.78, Z:-4.41 [[ 9.58741595e-01 2.84095011e-01 1.02263979e-02 3.28301646e+02] [-2.84081846e-01 9.58796095e-01 -2.74827826e-03 -5.57828012e+01] [-1.05858025e-02 -2.70245304e-04 9.99943932e-01 -4.40558543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.33, Y:-55.79, Z:-4.41 [[ 9.59520458e-01 2.81459687e-01 1.00466518e-02 3.28327632e+02] [-2.81446844e-01 9.59573024e-01 -2.69926481e-03 -5.57907865e+01] [-1.04002302e-02 -2.37598616e-04 9.99945888e-01 -4.40665067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.35, Y:-55.80, Z:-4.41 [[ 9.60273232e-01 2.78924213e-01 8.75231069e-03 3.28353555e+02] [-2.78914366e-01 9.60313100e-01 -2.35084589e-03 -5.58011677e+01] [-9.06066645e-03 -1.83690805e-04 9.99958934e-01 -4.40726037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.38, Y:-55.81, Z:-4.41 [[ 9.60319440e-01 2.78788216e-01 7.98147258e-03 3.28379949e+02] [-2.78780027e-01 9.60352593e-01 -2.14329362e-03 -5.58094737e+01] [-8.26255289e-03 -1.66828610e-04 9.99965851e-01 -4.40728571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.41, Y:-55.82, Z:-4.41 [[ 9.59438544e-01 2.81848452e-01 6.25540085e-03 3.28406911e+02] [-2.81843489e-01 9.59458924e-01 -1.67950908e-03 -5.58162507e+01] [-6.47516720e-03 -1.51658256e-04 9.99979024e-01 -4.40671067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.43, Y:-55.82, Z:-4.41 [[ 9.58560325e-01 2.84827731e-01 5.93860915e-03 3.28433295e+02] [-2.84823316e-01 9.58578707e-01 -1.59412558e-03 -5.58224793e+01] [-6.14667545e-03 -1.63388818e-04 9.99981096e-01 -4.40700437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.46, Y:-55.83, Z:-4.41 [[ 9.57591903e-01 2.88059570e-01 6.27942987e-03 3.28460677e+02] [-2.88054708e-01 9.57612472e-01 -1.68492755e-03 -5.58292902e+01] [-6.49861987e-03 -1.95346360e-04 9.99978865e-01 -4.40782693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.49, Y:-55.84, Z:-4.41 [[ 9.56752023e-01 2.90818800e-01 7.07055130e-03 3.28487306e+02] [-2.90812716e-01 9.56778118e-01 -1.89661890e-03 -5.58355726e+01] [-7.31652120e-03 -2.41612250e-04 9.99973205e-01 -4.40818578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.52, Y:-55.84, Z:-4.41 [[ 9.55664216e-01 2.94354410e-01 7.83498326e-03 3.28515258e+02] [-2.94347065e-01 9.55696287e-01 -2.10082152e-03 -5.58386665e+01] [-8.10625048e-03 -2.98524373e-04 9.99967099e-01 -4.40903674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.54, Y:-55.84, Z:-4.41 [[ 9.55434367e-01 2.95094452e-01 8.02708751e-03 3.28542572e+02] [-2.95086771e-01 9.55468036e-01 -2.15195895e-03 -5.58428393e+01] [-8.30465668e-03 -3.12631789e-04 9.99965467e-01 -4.40978659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.57, Y:-55.85, Z:-4.41 [[ 9.55325135e-01 2.95452590e-01 7.85201342e-03 3.28571044e+02] [-2.95445263e-01 9.55357353e-01 -2.10374637e-03 -5.58456909e+01] [-8.12303606e-03 -3.10078385e-04 9.99966960e-01 -4.41045432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.60, Y:-55.85, Z:-4.41 [[ 9.55403707e-01 2.95199267e-01 7.81974754e-03 3.28597522e+02] [-2.95191996e-01 9.55435659e-01 -2.09458161e-03 -5.58505525e+01] [-8.08958460e-03 -3.07155852e-04 9.99967232e-01 -4.41043795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.62, Y:-55.85, Z:-4.41 [[ 9.55647986e-01 2.94414099e-01 7.56740917e-03 3.28624793e+02] [-2.94407268e-01 9.55677903e-01 -2.02659396e-03 -5.58527494e+01] [-7.82866356e-03 -2.91189823e-04 9.99969313e-01 -4.41073825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.65, Y:-55.86, Z:-4.41 [[ 9.55823693e-01 2.93841044e-01 7.64910288e-03 3.28652094e+02] [-2.93834053e-01 9.55854255e-01 -2.04771084e-03 -5.58571227e+01] [-7.91312902e-03 -2.90316363e-04 9.99968649e-01 -4.41161085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.68, Y:-55.86, Z:-4.41 [[ 9.55932575e-01 2.93550471e-01 4.58626295e-03 3.28680500e+02] [-2.93514347e-01 9.55927513e-01 -7.20545327e-03 -5.58598035e+01] [-6.49929914e-03 5.54179352e-03 9.99963523e-01 -4.41147798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.71, Y:-55.87, Z:-4.41 [[ 9.56215095e-01 2.92511055e-01 9.48553387e-03 3.28706653e+02] [-2.92553581e-01 9.56242992e-01 3.42664214e-03 -5.58681821e+01] [-8.06814459e-03 -6.05163383e-03 9.99949140e-01 -4.41247159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.73, Y:-55.87, Z:-4.41 [[ 9.56851106e-01 2.90458211e-01 8.36587274e-03 3.28734066e+02] [-2.90449756e-01 9.56887633e-01 -2.23528009e-03 -5.58685442e+01] [-8.65445563e-03 -2.91035469e-04 9.99962507e-01 -4.41398362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.76, Y:-55.87, Z:-4.42 [[ 9.57426182e-01 2.88575204e-01 7.71088393e-03 3.28761985e+02] [-2.88567964e-01 9.57457199e-01 -2.05970972e-03 -5.58699709e+01] [-7.97722248e-03 -2.53094059e-04 9.99968149e-01 -4.41525408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.79, Y:-55.88, Z:-4.42 [[ 9.57663000e-01 2.87802792e-01 7.15055075e-03 3.28789783e+02] [-2.87796545e-01 9.57689668e-01 -1.91004142e-03 -5.58750572e+01] [-7.39772383e-03 -2.28727805e-04 9.99972610e-01 -4.41598870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.82, Y:-55.88, Z:-4.42 [[ 9.58013513e-01 2.86641095e-01 6.85501495e-03 3.28817222e+02] [-2.86635332e-01 9.58038015e-01 -1.82996307e-03 -5.58809736e+01] [-7.09190754e-03 -2.11760137e-04 9.99974830e-01 -4.41661515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.84, Y:-55.89, Z:-4.42 [[ 9.58468951e-01 2.85122475e-01 6.51491989e-03 3.28843169e+02] [-2.85117246e-01 9.58491073e-01 -1.73735868e-03 -5.58874069e+01] [-6.73985256e-03 -1.92311667e-04 9.99977268e-01 -4.41637189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.87, Y:-55.89, Z:-4.42 [[ 9.59708894e-01 2.80866497e-01 8.53517821e-03 3.28870641e+02] [-2.80857361e-01 9.59746823e-01 -2.27542563e-03 -5.58922892e+01] [-8.83070100e-03 -2.13421413e-04 9.99960986e-01 -4.41631207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.90, Y:-55.90, Z:-4.42 [[ 9.60331189e-01 2.78720777e-01 8.87338285e-03 3.28897450e+02] [-2.78710831e-01 9.60372161e-01 -2.36339977e-03 -5.58980571e+01] [-9.18047848e-03 -2.03461392e-04 9.99957838e-01 -4.41691604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.92, Y:-55.91, Z:-4.42 [[ 9.61338485e-01 2.75270760e-01 7.37061538e-03 3.28924772e+02] [-2.75263796e-01 9.61366730e-01 -1.96320341e-03 -5.59050528e+01] [-7.62627689e-03 -1.41560572e-04 9.99970910e-01 -4.41787611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.95, Y:-55.91, Z:-4.42 [[ 9.61671906e-01 2.74114537e-01 6.95460376e-03 3.28951599e+02] [-2.74108315e-01 9.61697044e-01 -1.85118081e-03 -5.59124746e+01] [-7.19565745e-03 -1.26086143e-04 9.99974103e-01 -4.41835461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.98, Y:-55.92, Z:-4.42 [[ 9.61849892e-01 2.73491944e-01 6.85146837e-03 3.28978659e+02] [-2.73485903e-01 9.61874286e-01 -1.82181387e-03 -5.59192782e+01] [-7.08850266e-03 -1.21468534e-04 9.99974869e-01 -4.41820646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.01, Y:-55.92, Z:-4.42 [[ 9.61798468e-01 2.73628795e-01 8.42548261e-03 3.29005497e+02] [-2.73619672e-01 9.61835360e-01 -2.23954427e-03 -5.59249091e+01] [-8.71673090e-03 -1.51387540e-04 9.99961997e-01 -4.41868159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.03, Y:-55.93, Z:-4.42 [[ 9.61865247e-01 2.73388647e-01 8.59619508e-03 3.29032533e+02] [-2.73379148e-01 9.61903646e-01 -2.28410314e-03 -5.59318259e+01] [-8.89315926e-03 -1.53021055e-04 9.99960443e-01 -4.41944005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.06, Y:-55.94, Z:-4.42 [[ 9.62023569e-01 2.72841878e-01 8.24389608e-03 3.29058714e+02] [-2.72833126e-01 9.62058880e-01 -2.18995553e-03 -5.59394340e+01] [-8.52862502e-03 -1.42419112e-04 9.99963620e-01 -4.41964473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.08, Y:-55.95, Z:-4.42 [[ 9.62515489e-01 2.71086342e-01 8.72521183e-03 3.29084760e+02] [-2.71076474e-01 9.62555025e-01 -2.31697650e-03 -5.59475085e+01] [-9.02659718e-03 -1.35073895e-04 9.99959250e-01 -4.41953736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.11, Y:-55.95, Z:-4.42 [[ 9.62865086e-01 2.69812154e-01 9.60349793e-03 3.29112106e+02] [-2.69800145e-01 9.62912968e-01 -2.54928728e-03 -5.59548945e+01] [-9.93516138e-03 -1.36405417e-04 9.99950636e-01 -4.41952630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.14, Y:-55.97, Z:-4.42 [[ 9.63515676e-01 2.67446215e-01 1.04910980e-02 3.29137794e+02] [-2.67431753e-01 9.63572782e-01 -2.78402284e-03 -5.59654052e+01] [-1.08535129e-02 -1.23203084e-04 9.99941091e-01 -4.41957221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.16, Y:-55.98, Z:-4.42 [[ 9.63847296e-01 2.66272006e-01 9.87970004e-03 3.29163818e+02] [-2.66259126e-01 9.63897924e-01 -2.62108251e-03 -5.59756117e+01] [-1.02209433e-02 -1.04237003e-04 9.99947759e-01 -4.41977127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.19, Y:-55.99, Z:-4.42 [[ 9.64135820e-01 2.65254231e-01 9.07265032e-03 3.29190361e+02] [-2.65243330e-01 9.64178503e-01 -2.40635715e-03 -5.59856642e+01] [-9.38595082e-03 -8.64048582e-05 9.99955947e-01 -4.42060104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.22, Y:-56.00, Z:-4.42 [[ 9.64338614e-01 2.64497364e-01 9.60115102e-03 3.29216798e+02] [-2.64485126e-01 9.64386405e-01 -2.54574861e-03 -5.59960287e+01] [-9.93256331e-03 -8.43979464e-05 9.99950667e-01 -4.42172786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.24, Y:-56.00, Z:-4.42 [[ 9.64349985e-01 2.64425512e-01 1.04045685e-02 3.29242292e+02] [-2.64411145e-01 9.64406107e-01 -2.75791701e-03 -5.60039026e+01] [-1.07634931e-02 -9.14866585e-05 9.99942068e-01 -4.42170414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.27, Y:-56.01, Z:-4.42 [[ 9.64425285e-01 2.64135921e-01 1.07743026e-02 3.29268544e+02] [-2.64120508e-01 9.64485462e-01 -2.85490513e-03 -5.60123454e+01] [-1.11457412e-02 -9.23715749e-05 9.99937880e-01 -4.42210254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.29, Y:-56.02, Z:-4.42 [[ 9.64814712e-01 2.62729052e-01 1.02964711e-02 3.29293732e+02] [-2.62714904e-01 9.64869649e-01 -2.72757281e-03 -5.60226503e+01] [-1.06513651e-02 -7.34340332e-05 9.99943270e-01 -4.42312397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.32, Y:-56.03, Z:-4.42 [[ 9.65055882e-01 2.61845922e-01 1.01910349e-02 3.29320785e+02] [-2.61832022e-01 9.65109688e-01 -2.69873187e-03 -5.60315343e+01] [-1.05421184e-02 -6.39122050e-05 9.99944428e-01 -4.42374773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:329.35, Y:-56.04, Z:-4.42 [[ 9.65191648e-01 2.61346476e-01 1.01538760e-02 3.29347088e+02] [-2.61332658e-01 9.65245055e-01 -2.68812435e-03 -5.60405029e+01] [-1.05035104e-02 -5.89842312e-05 9.99944835e-01 -4.42435785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.37, Y:-56.05, Z:-4.43 [[ 9.65212651e-01 2.61263694e-01 1.02868969e-02 3.29373967e+02] [-2.61249515e-01 9.65267465e-01 -2.72255165e-03 -5.60499349e+01] [-1.06409108e-02 -5.96055477e-05 9.99943382e-01 -4.42501041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.40, Y:-56.06, Z:-4.42 [[ 9.65106872e-01 2.61671778e-01 9.82888147e-03 3.29399143e+02] [-2.61658861e-01 9.65156918e-01 -2.60066176e-03 -5.60593876e+01] [-1.01669327e-02 -6.18973951e-05 9.99948313e-01 -4.42352523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.43, Y:-56.07, Z:-4.42 [[ 9.65054899e-01 2.61853600e-01 1.00863010e-02 3.29426611e+02] [-2.61840018e-01 9.65107604e-01 -2.66783902e-03 -5.60664520e+01] [-1.04329490e-02 -6.63861132e-05 9.99945573e-01 -4.42393972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.45, Y:-56.07, Z:-4.42 [[ 9.64951026e-01 2.62230519e-01 1.02309897e-02 3.29453466e+02] [-2.62216574e-01 9.65005259e-01 -2.70533685e-03 -5.60737844e+01] [-1.05823807e-02 -7.22174984e-05 9.99944002e-01 -4.42495318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.48, Y:-56.08, Z:-4.43 [[ 9.64938152e-01 2.62291964e-01 9.86352957e-03 3.29480781e+02] [-2.62279012e-01 9.64988560e-01 -2.60745996e-03 -5.60818491e+01] [-1.02021090e-02 -7.09591973e-05 9.99947955e-01 -4.42565011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.51, Y:-56.09, Z:-4.43 [[ 9.64932296e-01 2.62331798e-01 9.36442695e-03 3.29506873e+02] [-2.62320133e-01 9.64977732e-01 -2.47489443e-03 -5.60894530e+01] [-9.68570698e-03 -6.83721509e-05 9.99953090e-01 -4.42648644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.53, Y:-56.10, Z:-4.43 [[ 9.64791470e-01 2.62908978e-01 7.50257426e-03 3.29533515e+02] [-2.62901512e-01 9.64820639e-01 -1.98231482e-03 -5.60972537e+01] [-7.75980686e-03 -5.99176845e-05 9.99969890e-01 -4.42724677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.56, Y:-56.10, Z:-4.43 [[ 9.64810736e-01 2.62855851e-01 6.85894955e-03 3.29560505e+02] [-2.62849612e-01 9.64835115e-01 -1.81185256e-03 -5.61043161e+01] [-7.09401142e-03 -5.47774289e-05 9.99974836e-01 -4.42747383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.59, Y:-56.11, Z:-4.43 [[ 9.64890624e-01 2.62557207e-01 7.05664197e-03 3.29587909e+02] [-2.62550600e-01 9.64916426e-01 -1.86351403e-03 -5.61113441e+01] [-7.29834879e-03 -5.46383645e-05 9.99973365e-01 -4.42767442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.61, Y:-56.12, Z:-4.43 [[ 9.65322057e-01 2.60925441e-01 8.44040670e-03 3.29613751e+02] [-2.60915932e-01 9.65358955e-01 -2.22816526e-03 -5.61194624e+01] [-8.72940719e-03 -5.13395095e-05 9.99961897e-01 -4.42739790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.64, Y:-56.13, Z:-4.43 [[ 9.65721663e-01 2.59410418e-01 9.37575214e-03 3.29639639e+02] [-2.59398623e-01 9.65767173e-01 -2.47414122e-03 -5.61275368e+01] [-9.69661165e-03 -4.27254200e-05 9.99952986e-01 -4.42790359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.67, Y:-56.14, Z:-4.43 [[ 9.66189630e-01 2.57642025e-01 9.90888438e-03 3.29665993e+02] [-2.57628766e-01 9.66240439e-01 -2.61388635e-03 -5.61359734e+01] [-1.02478118e-02 -2.73037675e-05 9.99947489e-01 -4.42824505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.69, Y:-56.15, Z:-4.43 [[ 9.67045232e-01 2.54395007e-01 1.03295426e-02 3.29691652e+02] [-2.54380422e-01 9.67100398e-01 -2.72410693e-03 -5.61454714e+01] [-1.06827039e-02 6.70122392e-06 9.99942938e-01 -4.42947621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.83576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:329.72, Y:-56.15, Z:-4.43 [[ 9.67572484e-01 2.52531203e-01 5.61063909e-03 3.29720972e+02] [-2.52450246e-01 9.67533103e-01 -1.21888275e-02 -5.61509164e+01] [-8.50653832e-03 1.03771669e-02 9.99909973e-01 -4.42904987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.74, Y:-56.17, Z:-4.43 [[ 9.67755790e-01 2.51513520e-01 1.37724279e-02 3.29744868e+02] [-2.51618420e-01 9.67804859e-01 6.47494787e-03 -5.61672967e+01] [-1.17004858e-02 -9.73156485e-03 9.99884191e-01 -4.42818687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.77, Y:-56.18, Z:-4.43 [[ 9.68299106e-01 2.49556746e-01 1.08752556e-02 3.29771540e+02] [-2.49540322e-01 9.68360174e-01 -2.86367914e-03 -5.61751598e+01] [-1.12458148e-02 5.90831816e-05 9.99936762e-01 -4.42864098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.80, Y:-56.18, Z:-4.43 [[ 9.68489488e-01 2.48869435e-01 9.59769980e-03 3.29797483e+02] [-2.48856616e-01 9.68537042e-01 -2.52662468e-03 -5.61839585e+01] [-9.92452743e-03 5.85583483e-05 9.99950749e-01 -4.42964764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.83, Y:-56.19, Z:-4.43 [[ 9.68503735e-01 2.48813979e-01 9.59786558e-03 3.29825078e+02] [-2.48801163e-01 9.68551290e-01 -2.52599478e-03 -5.61910819e+01] [-9.92452790e-03 5.84752574e-05 9.99950749e-01 -4.42998947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.85, Y:-56.20, Z:-4.43 [[ 9.68770989e-01 2.47853038e-01 7.18619602e-03 3.29850685e+02] [-2.47845829e-01 9.68797641e-01 -1.89102162e-03 -5.62032869e+01] [-7.43066521e-03 5.08981682e-05 9.99972391e-01 -4.43153603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.88, Y:-56.21, Z:-4.43 [[ 9.68735095e-01 2.47992787e-01 7.20362886e-03 3.29876852e+02] [-2.47985550e-01 9.68761877e-01 -1.89522313e-03 -5.62134733e+01] [-7.44860268e-03 4.95732981e-05 9.99972258e-01 -4.43133913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.90, Y:-56.22, Z:-4.43 [[ 9.68594749e-01 2.48503328e-01 8.38500854e-03 3.29903581e+02] [-2.48493549e-01 9.68631041e-01 -2.20524009e-03 -5.62228743e+01] [-8.66998905e-03 5.23634382e-05 9.99962414e-01 -4.43058504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.93, Y:-56.23, Z:-4.43 [[ 9.67703572e-01 2.51863492e-01 1.07040923e-02 3.29930137e+02] [-2.51847770e-01 9.67762771e-01 -2.81431735e-03 -5.62333770e+01] [-1.10678458e-02 2.76231875e-05 9.99938749e-01 -4.43078055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.96, Y:-56.24, Z:-4.43 [[ 9.67059050e-01 2.54329063e-01 1.06546589e-02 3.29957272e+02] [-2.54313643e-01 9.67117742e-01 -2.80060204e-03 -5.62418007e+01] [-1.10165841e-02 -1.27756886e-06 9.99939316e-01 -4.43086561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.98, Y:-56.25, Z:-4.43 [[ 9.65632015e-01 2.59754142e-01 9.08834793e-03 3.29983467e+02] [-2.59743167e-01 9.65674781e-01 -2.38838840e-03 -5.62505792e+01] [-9.39678217e-03 -5.43319712e-05 9.99955848e-01 -4.43121309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.01, Y:-56.26, Z:-4.43 [[ 9.64962625e-01 2.62241510e-01 8.74770756e-03 3.30011108e+02] [-2.62231451e-01 9.65002272e-01 -2.29818519e-03 -5.62579200e+01] [-9.04423722e-03 -7.62612360e-05 9.99959097e-01 -4.43180554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.04, Y:-56.27, Z:-4.43 [[ 9.64300669e-01 2.64661987e-01 8.84599509e-03 3.30038405e+02] [-2.64651805e-01 9.64341238e-01 -2.32362930e-03 -5.62650683e+01] [-9.14553420e-03 -1.00431284e-04 9.99958174e-01 -4.43215995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.06, Y:-56.27, Z:-4.43 [[ 9.63614336e-01 2.67152516e-01 8.77178616e-03 3.30064821e+02] [-2.67142614e-01 9.63654252e-01 -2.30344241e-03 -5.62721278e+01] [-9.06833946e-03 -1.23687759e-04 9.99958874e-01 -4.43308837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.09, Y:-56.28, Z:-4.43 [[ 9.62697023e-01 2.70481565e-01 7.35970440e-03 3.30091603e+02] [-2.70474694e-01 9.62725146e-01 -1.93228677e-03 -5.62777672e+01] [-7.60802044e-03 -1.30407078e-04 9.99971050e-01 -4.43351955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.12, Y:-56.28, Z:-4.43 [[ 9.62374584e-01 2.71637730e-01 6.93566593e-03 3.30118994e+02] [-2.71631660e-01 9.62399567e-01 -1.82062688e-03 -5.62832519e+01] [-7.16943284e-03 -1.31821415e-04 9.99974291e-01 -4.43437383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.15, Y:-56.29, Z:-4.43 [[ 9.62132579e-01 2.72498866e-01 6.72813397e-03 3.30145729e+02] [-2.72493179e-01 9.62156094e-01 -1.76573096e-03 -5.62885931e+01] [-6.95467479e-03 -1.34503330e-04 9.99975807e-01 -4.43457328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.17, Y:-56.29, Z:-4.44 [[ 9.62123049e-01 2.72475684e-01 8.73159953e-03 3.30172941e+02] [-2.72466114e-01 9.62162653e-01 -2.29043017e-03 -5.62942252e+01] [-9.02530549e-03 -1.75389333e-04 9.99959256e-01 -4.43501535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.20, Y:-56.30, Z:-4.43 [[ 9.62218685e-01 2.72101196e-01 9.80512972e-03 3.30199656e+02] [-2.72089116e-01 9.62268622e-01 -2.57120867e-03 -5.63016322e+01] [-1.01347976e-02 -1.93804057e-04 9.99948623e-01 -4.43427846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.23, Y:-56.31, Z:-4.43 [[ 9.62394343e-01 2.71444079e-01 1.07349877e-02 3.30226709e+02] [-2.71429568e-01 9.62454191e-01 -2.81417050e-03 -5.63082894e+01] [-1.10958238e-02 -2.05451312e-04 9.99938418e-01 -4.43409146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.25, Y:-56.31, Z:-4.43 [[ 9.62241112e-01 2.71962012e-01 1.13449229e-02 3.30254241e+02] [-2.71945852e-01 9.62307962e-01 -2.97317574e-03 -5.63120335e+01] [-1.17259005e-02 -2.24292795e-04 9.99931224e-01 -4.43377158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.28, Y:-56.32, Z:-4.43 [[ 9.61930580e-01 2.73067128e-01 1.11311601e-02 3.30281312e+02] [-2.73051654e-01 9.61994953e-01 -2.91634928e-03 -5.63163509e+01] [-1.15044790e-02 -2.34056132e-04 9.99933794e-01 -4.43436762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.31, Y:-56.32, Z:-4.43 [[ 9.60845407e-01 2.76884854e-01 1.05300299e-02 3.30308884e+02] [-2.76871245e-01 9.60903069e-01 -2.75799492e-03 -5.63174721e+01] [-1.08819851e-02 -2.65455738e-04 9.99940754e-01 -4.43494328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:330.34, Y:-56.32, Z:-4.44 [[ 9.60143248e-01 2.79300802e-01 1.07705605e-02 3.30336553e+02] [-2.79286726e-01 9.60203610e-01 -2.82004466e-03 -5.63213502e+01] [-1.11295718e-02 -3.00427742e-04 9.99938019e-01 -4.43501073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.36, Y:-56.33, Z:-4.43 [[ 9.59421093e-01 2.81772131e-01 1.07533038e-02 3.30364307e+02] [-2.81758264e-01 9.59481296e-01 -2.81471596e-03 -5.63250957e+01] [-1.11107023e-02 -3.29334340e-04 9.99938220e-01 -4.43490099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.58576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:330.39, Y:-56.33, Z:-4.44 [[ 9.58497791e-01 2.84868718e-01 1.14803235e-02 3.30393095e+02] [-2.84853146e-01 9.58566461e-01 -3.00408731e-03 -5.63250234e+01] [-1.18604236e-02 -3.90795209e-04 9.99929586e-01 -4.43573052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.61576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:330.42, Y:-56.33, Z:-4.44 [[ 9.58552650e-01 2.84663487e-01 1.19798287e-02 3.30419695e+02] [-2.84646526e-01 9.58627422e-01 -3.13384761e-03 -5.63282371e+01] [-1.23762843e-02 -4.06058693e-04 9.99923328e-01 -4.43598676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:330.45, Y:-56.33, Z:-4.44 [[ 9.58875959e-01 2.83584989e-01 1.16811904e-02 3.30447147e+02] [-2.83568795e-01 9.58947030e-01 -3.05472889e-03 -5.63323734e+01] [-1.20679181e-02 -3.83314978e-04 9.99927107e-01 -4.43647306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.48, Y:-56.34, Z:-4.44 [[ 9.60221617e-01 2.79054178e-01 1.01593056e-02 3.30475637e+02] [-2.79041682e-01 9.60275317e-01 -2.65610328e-03 -5.63352006e+01] [-1.04969271e-02 -2.84421943e-04 9.99944865e-01 -4.43863612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:330.50, Y:-56.34, Z:-4.44 [[ 9.60934364e-01 2.76625007e-01 9.15167865e-03 3.30502488e+02] [-2.76614762e-01 9.60977914e-01 -2.39209489e-03 -5.63405163e+01] [-9.45627433e-03 -2.32843223e-04 9.99955261e-01 -4.43934744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:330.53, Y:-56.35, Z:-4.44 [[ 9.61508005e-01 2.74641291e-01 8.63238450e-03 3.30529003e+02] [-2.74632103e-01 9.61546733e-01 -2.25565786e-03 -5.63459760e+01] [-8.91993790e-03 -2.01896819e-04 9.99960196e-01 -4.44002590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.56, Y:-56.35, Z:-4.44 [[ 9.62167413e-01 2.72303199e-01 9.21073044e-03 3.30556246e+02] [-2.72292639e-01 9.62211479e-01 -2.40590820e-03 -5.63521180e+01] [-9.51780706e-03 -1.93127635e-04 9.99954686e-01 -4.44049804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.79576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:330.58, Y:-56.36, Z:-4.44 [[ 9.62384518e-01 2.71544119e-01 8.93485741e-03 3.30581888e+02] [-2.71534155e-01 9.62425976e-01 -2.33324195e-03 -5.63588652e+01] [-9.23271699e-03 -1.80643028e-04 9.99957361e-01 -4.44025191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.61, Y:-56.37, Z:-4.44 [[ 9.62603736e-01 2.70780978e-01 8.46813291e-03 3.30608403e+02] [-2.70772003e-01 9.62640969e-01 -2.21083654e-03 -5.63659646e+01] [-8.75042415e-03 -1.64773798e-04 9.99961701e-01 -4.44044458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.85576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:330.63, Y:-56.38, Z:-4.44 [[ 9.63291955e-01 2.68315656e-01 8.67865993e-03 3.30634993e+02] [-2.68306141e-01 9.63331037e-01 -2.26443287e-03 -5.63751071e+01] [-8.96800526e-03 -1.47227786e-04 9.99959776e-01 -4.44175519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.66, Y:-56.38, Z:-4.44 [[ 9.63925185e-01 2.65988442e-01 9.91903320e-03 3.30661516e+02] [-2.65975899e-01 9.63976207e-01 -2.58716809e-03 -5.63842662e+01] [-1.02498688e-02 -1.44387296e-04 9.99947458e-01 -4.44322538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:330.69, Y:-56.40, Z:-4.44 [[ 9.65612620e-01 2.59750019e-01 1.10542260e-02 3.30686230e+02] [-2.59734042e-01 9.65675888e-01 -2.88230291e-03 -5.63952160e+01] [-1.14234777e-02 -8.79707328e-05 9.99934746e-01 -4.44337619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:330.71, Y:-56.40, Z:-4.44 [[ 9.66433086e-01 2.56716347e-01 1.01885598e-02 3.30712294e+02] [-2.56702614e-01 9.66486790e-01 -2.65573182e-03 -5.64047415e+01] [-1.05288782e-02 -4.88428284e-05 9.99944569e-01 -4.44406274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.9757692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:330.74, Y:-56.42, Z:-4.44 [[ 9.67148648e-01 2.54059516e-01 8.78950350e-03 3.30738405e+02] [-2.54049192e-01 9.67188587e-01 -2.29046593e-03 -5.64152027e+01] [-9.08302213e-03 -1.77452277e-05 9.99958748e-01 -4.44439469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:330.77, Y:-56.43, Z:-4.44 [[ 9.67721660e-01 2.51893310e-01 8.03429113e-03 3.30765004e+02] [-2.51884612e-01 9.67755010e-01 -2.09325806e-03 -5.64255226e+01] [-8.30250320e-03 1.97685735e-06 9.99965534e-01 -4.44386374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0357692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:330.79, Y:-56.44, Z:-4.44 [[ 9.68128397e-01 2.50288264e-01 9.12094810e-03 3.30790988e+02] [-2.50276990e-01 9.68171361e-01 -2.37556495e-03 -5.64378021e+01] [-9.42521676e-03 1.70884500e-05 9.99955582e-01 -4.44271142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:330.82, Y:-56.45, Z:-4.44 [[ 9.68064588e-01 2.50488595e-01 1.03158416e-02 3.30816982e+02] [-2.50474196e-01 9.68119550e-01 -2.68584788e-03 -5.64467133e+01] [-1.06597422e-02 1.62221062e-05 9.99943183e-01 -4.44237118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:330.84, Y:-56.46, Z:-4.44 [[ 9.67540900e-01 2.52424662e-01 1.20994914e-02 3.30843556e+02] [-2.52405015e-01 9.67616551e-01 -3.14934812e-03 -5.64601969e+01] [-1.25026413e-02 -6.84921222e-06 9.99921839e-01 -4.44303765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:330.87, Y:-56.47, Z:-4.44 [[ 9.67327224e-01 2.53240221e-01 1.21421379e-02 3.30870048e+02] [-2.53220507e-01 9.67403427e-01 -3.15981991e-03 -5.64705650e+01] [-1.25465394e-02 -1.80585094e-05 9.99921289e-01 -4.44372638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1557692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:330.90, Y:-56.48, Z:-4.44 [[ 9.66752156e-01 2.55436925e-01 1.19267172e-02 3.30896074e+02] [-2.55418081e-01 9.66825721e-01 -3.10302050e-03 -5.64833892e+01] [-1.23236830e-02 -4.64474715e-05 9.99924059e-01 -4.44408301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:330.92, Y:-56.49, Z:-4.44 [[ 9.66159160e-01 2.57687406e-01 1.15619370e-02 3.30923052e+02] [-2.57669865e-01 9.66228335e-01 -3.00754608e-03 -5.64930264e+01] [-1.19464779e-02 -7.33945381e-05 9.99928636e-01 -4.44346432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2157692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:330.95, Y:-56.50, Z:-4.44 [[ 9.65498897e-01 2.60176120e-01 1.09665901e-02 3.30949401e+02] [-2.60160506e-01 9.65561172e-01 -2.85216413e-03 -5.65013623e+01] [-1.13309786e-02 -9.93123074e-05 9.99935797e-01 -4.44357888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:330.98, Y:-56.51, Z:-4.44 [[ 9.63773955e-01 2.66539481e-01 9.82189189e-03 3.30977058e+02] [-2.66527292e-01 9.63823988e-01 -2.55386630e-03 -5.65107743e+01] [-1.01472812e-02 -1.56452416e-04 9.99948503e-01 -4.44388367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.00, Y:-56.52, Z:-4.45 [[ 9.62969041e-01 2.69454745e-01 9.20686978e-03 3.31004428e+02] [-2.69444172e-01 9.63013037e-01 -2.39352290e-03 -5.65185707e+01] [-9.51128174e-03 -1.75848951e-04 9.99954751e-01 -4.44505614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:331.03, Y:-56.53, Z:-4.45 [[ 9.61680732e-01 2.74047603e-01 8.25109899e-03 3.31030421e+02] [-2.74039282e-01 9.61716108e-01 -2.14473695e-03 -5.65273571e+01] [-8.52297482e-03 -1.98573049e-04 9.99963659e-01 -4.44630361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.33576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:331.06, Y:-56.53, Z:-4.45 [[ 9.61230422e-01 2.75598996e-01 9.01489542e-03 3.31057884e+02] [-2.75589138e-01 9.61272666e-01 -2.34267595e-03 -5.65349788e+01] [-9.31141169e-03 -2.32555863e-04 9.99956621e-01 -4.44613361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:331.08, Y:-56.54, Z:-4.45 [[ 9.60825213e-01 2.76970579e-01 1.01098314e-02 3.31084606e+02] [-2.76958265e-01 9.60878360e-01 -2.62636875e-03 -5.65421430e+01] [-1.04417451e-02 -2.76520053e-04 9.99945445e-01 -4.44597785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.39576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:331.11, Y:-56.55, Z:-4.45 [[ 9.60363090e-01 2.78525483e-01 1.12379145e-02 3.31112044e+02] [-2.78510384e-01 9.60428784e-01 -2.91848779e-03 -5.65487614e+01] [-1.16060898e-02 -3.27067930e-04 9.99932594e-01 -4.44539712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:331.14, Y:-56.55, Z:-4.44 [[ 9.59306684e-01 2.82138675e-01 1.13337517e-02 3.31139538e+02] [-2.82123577e-01 9.59373560e-01 -2.94267367e-03 -5.65537626e+01] [-1.17035437e-02 -3.74592039e-04 9.99931441e-01 -4.44476284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:331.17, Y:-56.56, Z:-4.45 [[ 9.58755480e-01 2.84036245e-01 1.05518346e-02 3.31166035e+02] [-2.84023281e-01 9.58813472e-01 -2.73897424e-03 -5.65588120e+01] [-1.08952091e-02 -3.70960111e-04 9.99940577e-01 -4.44585632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:331.19, Y:-56.56, Z:-4.45 [[ 9.57974477e-01 2.86710470e-01 9.05586840e-03 3.31193375e+02] [-2.86701049e-01 9.58017217e-01 -2.34979944e-03 -5.65614559e+01] [-9.34938994e-03 -3.45279075e-04 9.99956234e-01 -4.44897993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:331.22, Y:-56.57, Z:-4.45 [[ 9.57835344e-01 2.87171267e-01 9.17153696e-03 3.31220603e+02] [-2.87161632e-01 9.57879187e-01 -2.37899491e-03 -5.65663876e+01] [-9.46840335e-03 -3.55028115e-04 9.99955111e-01 -4.44915630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:331.25, Y:-56.57, Z:-4.45 [[ 9.57689721e-01 2.87630470e-01 9.95546412e-03 3.31247040e+02] [-2.87619151e-01 9.57741385e-01 -2.58155425e-03 -5.65711796e+01] [-1.02772937e-02 -3.91054160e-04 9.99947111e-01 -4.44908525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57576923100004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:331.28, Y:-56.57, Z:-4.45 [[ 9.57285630e-01 2.88950745e-01 1.05683237e-02 3.31275030e+02] [-2.88938080e-01 9.57343868e-01 -2.73949997e-03 -5.65732182e+01] [-1.09091004e-02 -4.31107191e-04 9.99940401e-01 -4.44781757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:331.30, Y:-56.58, Z:-4.45 [[ 9.57186445e-01 2.89284152e-01 1.04302066e-02 3.31301560e+02] [-2.89271844e-01 9.57243174e-01 -2.70295609e-03 -5.65765610e+01] [-1.07661664e-02 -4.29932165e-04 9.99941951e-01 -4.44813055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:331.33, Y:-56.58, Z:-4.45 [[ 9.57725080e-01 2.87508062e-01 1.00888913e-02 3.31329881e+02] [-2.87496456e-01 9.57778135e-01 -2.61365314e-03 -5.65790634e+01] [-1.04143658e-02 -3.97359329e-04 9.99945690e-01 -4.44967530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:331.36, Y:-56.58, Z:-4.45 [[ 9.58435463e-01 2.85135823e-01 9.95116465e-03 3.31357284e+02] [-2.85124411e-01 9.58487051e-01 -2.57727778e-03 -5.65838032e+01] [-1.02729367e-02 -3.67165543e-04 9.99947165e-01 -4.44989050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.69576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:331.39, Y:-56.59, Z:-4.45 [[ 9.59301390e-01 2.82206527e-01 1.00159561e-02 3.31385457e+02] [-2.82194814e-01 9.59353616e-01 -2.59334729e-03 -5.65883098e+01] [-1.03407032e-02 -3.38649207e-04 9.99946476e-01 -4.45022484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7257692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:331.41, Y:-56.59, Z:-4.45 [[ 9.60156731e-01 2.79255008e-01 1.07560503e-02 3.31412271e+02] [-2.79241324e-01 9.60216919e-01 -2.78412112e-03 -5.65926432e+01] [-1.11056212e-02 -3.30341089e-04 9.99938276e-01 -4.45071775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.75576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:331.44, Y:-56.60, Z:-4.45 [[ 9.62122618e-01 2.72368204e-01 1.16460330e-02 3.31439862e+02] [-2.72351670e-01 9.62193061e-01 -3.01339882e-03 -5.65972921e+01] [-1.20264861e-02 -2.72557367e-04 9.99927642e-01 -4.45002801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7857692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:331.47, Y:-56.60, Z:-4.45 [[ 9.63120693e-01 2.68821457e-01 1.15566316e-02 3.31465633e+02] [-2.68804931e-01 9.63189998e-01 -2.98940623e-03 -5.66035782e+01] [-1.19348485e-02 -2.27320564e-04 9.99928751e-01 -4.45039329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.49, Y:-56.61, Z:-4.45 [[ 9.64602752e-01 2.63517798e-01 9.99505576e-03 3.31492899e+02] [-2.63505159e-01 9.64654524e-01 -2.58470240e-03 -5.66086348e+01] [-1.03228908e-02 -1.40537704e-04 9.99946708e-01 -4.45068008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8457692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:331.52, Y:-56.61, Z:-4.45 [[ 9.65093375e-01 2.61711977e-01 1.00805622e-02 3.31519936e+02] [-2.61699030e-01 9.65146013e-01 -2.60610369e-03 -5.66141569e+01] [-1.04112630e-02 -1.22939952e-04 9.99945794e-01 -4.45094806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.87576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:331.55, Y:-56.62, Z:-4.45 [[ 9.65108223e-01 2.61657212e-01 1.00807441e-02 3.31547560e+02] [-2.61644269e-01 9.65160861e-01 -2.60539984e-03 -5.66211599e+01] [-1.04112614e-02 -1.23076121e-04 9.99945794e-01 -4.45128989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.57, Y:-56.63, Z:-4.45 [[ 9.65467154e-01 2.60297309e-01 1.08850658e-02 3.31573707e+02] [-2.60282140e-01 9.65528507e-01 -2.81258171e-03 -5.66268333e+01] [-1.12419488e-02 -1.17732967e-04 9.99936800e-01 -4.45180637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.93576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:331.60, Y:-56.63, Z:-4.45 [[ 9.65538685e-01 2.60001364e-01 1.15904193e-02 3.31600931e+02] [-2.59984156e-01 9.65608241e-01 -2.99379611e-03 -5.66332098e+01] [-1.19701955e-02 -1.22699414e-04 9.99928347e-01 -4.45144035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9657692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:331.63, Y:-56.64, Z:-4.45 [[ 9.65271290e-01 2.60994842e-01 1.15338406e-02 3.31628643e+02] [-2.60977883e-01 9.65340186e-01 -2.97835263e-03 -5.66390451e+01] [-1.19114145e-02 -1.35159013e-04 9.99929047e-01 -4.45186072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.99576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:331.66, Y:-56.64, Z:-4.45 [[ 9.65061129e-01 2.61811085e-01 1.05816891e-02 3.31655745e+02] [-2.61796867e-01 9.65119131e-01 -2.73177211e-03 -5.66447744e+01] [-1.09277988e-02 -1.33925983e-04 9.99940281e-01 -4.45234249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.68, Y:-56.65, Z:-4.45 [[ 9.64945157e-01 2.62300188e-01 8.91375100e-03 3.31683265e+02] [-2.62290125e-01 9.64986320e-01 -2.30064822e-03 -5.66500020e+01] [-9.20510824e-03 -1.17989506e-04 9.99957625e-01 -4.45377417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.05576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:331.71, Y:-56.66, Z:-4.45 [[ 9.65000021e-01 2.62098032e-01 8.92082913e-03 3.31709589e+02] [-2.62087950e-01 9.65041247e-01 -2.30183001e-03 -5.66571821e+01] [-9.21227318e-03 -1.16775812e-04 9.99957559e-01 -4.45368644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.08576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:331.74, Y:-56.66, Z:-4.45 [[ 9.64818261e-01 2.62712265e-01 1.03917557e-02 3.31736248e+02] [-2.62698632e-01 9.64874212e-01 -2.68027681e-03 -5.66642399e+01] [-1.07308787e-02 -1.43920004e-04 9.99942412e-01 -4.45240797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.11576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:331.76, Y:-56.67, Z:-4.45 [[ 9.64470377e-01 2.63952745e-01 1.12178370e-02 3.31763516e+02] [-2.63936952e-01 9.64535598e-01 -2.89242527e-03 -5.66698703e+01] [-1.15834667e-02 -1.71143206e-04 9.99932895e-01 -4.45264660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:331.79, Y:-56.67, Z:-4.45 [[ 9.63920554e-01 2.65954998e-01 1.11850131e-02 3.31789784e+02] [-2.65939441e-01 9.63985426e-01 -2.88314265e-03 -5.66746342e+01] [-1.15489758e-02 -1.95415680e-04 9.99933289e-01 -4.45324257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.82, Y:-56.68, Z:-4.45 [[ 9.62610301e-01 2.70738752e-01 9.05193096e-03 3.31817037e+02] [-2.70728783e-01 9.62652838e-01 -2.33238703e-03 -5.66786539e+01] [-9.34533458e-03 -2.05438473e-04 9.99956310e-01 -4.45464958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:331.84, Y:-56.68, Z:-4.46 [[ 9.61896507e-01 2.73281595e-01 8.50180009e-03 3.31843292e+02] [-2.73272908e-01 9.61934053e-01 -2.18964729e-03 -5.66839944e+01] [-8.77656132e-03 -2.17097562e-04 9.99961462e-01 -4.45552642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.87, Y:-56.69, Z:-4.46 [[ 9.61236469e-01 2.75591842e-01 8.57826590e-03 3.31871329e+02] [-2.75583102e-01 9.61274715e-01 -2.20802596e-03 -5.66889667e+01] [-8.85458405e-03 -2.41590051e-04 9.99960768e-01 -4.45571658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:331.90, Y:-56.69, Z:-4.46 [[ 9.59888188e-01 2.80232844e-01 9.17716113e-03 3.31898858e+02] [-2.80223060e-01 9.59932008e-01 -2.36145705e-03 -5.66904983e+01] [-9.47120854e-03 -3.04917448e-04 9.99955101e-01 -4.45572740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.93, Y:-56.70, Z:-4.46 [[ 9.59198632e-01 2.82582375e-01 9.22963361e-03 3.31926662e+02] [-2.82572596e-01 9.59242978e-01 -2.37412008e-03 -5.66954045e+01] [-9.52434573e-03 -3.30788794e-04 9.99954588e-01 -4.45596850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.95, Y:-56.70, Z:-4.46 [[ 9.57953177e-01 2.86747092e-01 1.00904174e-02 3.31953983e+02] [-2.86735642e-01 9.58006231e-01 -2.59472370e-03 -5.66981363e+01] [-1.04107122e-02 -4.07658507e-04 9.99945724e-01 -4.45586547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.35576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:331.98, Y:-56.70, Z:-4.46 [[ 9.57568849e-01 2.88006714e-01 1.06785546e-02 3.31982382e+02] [-2.87993978e-01 9.57628286e-01 -2.74508205e-03 -5.67012275e+01] [-1.10166880e-02 -4.46754367e-04 9.99939215e-01 -4.45586871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:332.01, Y:-56.70, Z:-4.46 [[ 9.57252391e-01 2.89059488e-01 1.06052823e-02 3.32010803e+02] [-2.89047014e-01 9.57311027e-01 -2.72419247e-03 -5.67033667e+01] [-1.09400074e-02 -4.57685423e-04 9.99940052e-01 -4.45629882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:332.04, Y:-56.71, Z:-4.46 [[ 9.56897488e-01 2.90247529e-01 1.01769145e-02 3.32039079e+02] [-2.90236129e-01 9.56951496e-01 -2.61227417e-03 -5.67065326e+01] [-1.04970196e-02 -4.54029663e-04 9.99944802e-01 -4.45714163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:332.07, Y:-56.71, Z:-4.46 [[ 9.56250247e-01 2.92396244e-01 9.48163287e-03 3.32066037e+02] [-2.92386472e-01 9.56297149e-01 -2.43188551e-03 -5.67092294e+01] [-9.77833267e-03 -4.46810063e-04 9.99952091e-01 -4.45850199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.4757692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:332.09, Y:-56.71, Z:-4.46 [[ 9.56341961e-01 2.92068434e-01 1.02997113e-02 3.32093855e+02] [-2.92056893e-01 9.56397301e-01 -2.64089815e-03 -5.67147172e+01] [-1.06219390e-02 -4.82499950e-04 9.99943469e-01 -4.45770495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.12, Y:-56.72, Z:-4.46 [[ 9.57538358e-01 2.88057755e-01 1.19592123e-02 3.32120821e+02] [-2.88041915e-01 9.57612901e-01 -3.06377758e-03 -5.67178735e+01] [-1.23348408e-02 -5.11069850e-04 9.99923792e-01 -4.45778413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.15, Y:-56.72, Z:-4.46 [[ 9.58399778e-01 2.85184239e-01 1.18243379e-02 3.32148550e+02] [-2.85168555e-01 9.58472602e-01 -3.02769350e-03 -5.67239417e+01] [-1.21967544e-02 -4.70188573e-04 9.99925506e-01 -4.45861872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:332.18, Y:-56.73, Z:-4.46 [[ 9.59138220e-01 2.82708329e-01 1.13963192e-02 3.32175815e+02] [-2.82693609e-01 9.59205828e-01 -2.91601438e-03 -5.67307953e+01] [-1.17557974e-02 -4.24805781e-04 9.99930808e-01 -4.45880110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.20, Y:-56.74, Z:-4.46 [[ 9.60174826e-01 2.79169730e-01 1.13386302e-02 3.32203424e+02] [-2.79154937e-01 9.60241697e-01 -2.89912394e-03 -5.67369940e+01] [-1.16971732e-02 -3.81568785e-04 9.99931513e-01 -4.45869337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:332.23, Y:-56.74, Z:-4.46 [[ 9.60522981e-01 2.77989113e-01 1.08469884e-02 3.32230098e+02] [-2.77975522e-01 9.60584160e-01 -2.77137957e-03 -5.67429095e+01] [-1.11898586e-02 -3.53223502e-04 9.99937329e-01 -4.45917387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.26, Y:-56.75, Z:-4.46 [[ 9.60793007e-01 2.77072941e-01 1.03625298e-02 3.32257505e+02] [-2.77060492e-01 9.60848832e-01 -2.64692452e-03 -5.67487326e+01] [-1.06902158e-02 -3.27901038e-04 9.99942804e-01 -4.46027401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:332.28, Y:-56.76, Z:-4.46 [[ 9.60995691e-01 2.76367891e-01 1.03957366e-02 3.32283836e+02] [-2.76355342e-01 9.61051864e-01 -2.65338223e-03 -5.67553897e+01] [-1.07241517e-02 -3.23028469e-04 9.99942442e-01 -4.46136327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7157692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:332.31, Y:-56.76, Z:-4.46 [[ 9.61353200e-01 2.75096473e-01 1.10433275e-02 3.32310689e+02] [-2.75082244e-01 9.61416571e-01 -2.81720470e-03 -5.67626668e+01] [-1.13922411e-02 -3.29494550e-04 9.99935052e-01 -4.46118435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.34, Y:-56.77, Z:-4.46 [[ 9.62652776e-01 2.70482175e-01 1.17908981e-02 3.32337862e+02] [-2.70465637e-01 9.62724938e-01 -3.00560766e-03 -5.67705170e+01] [-1.21643549e-02 -2.95676206e-04 9.99925968e-01 -4.46091077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.775769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:332.36, Y:-56.78, Z:-4.46 [[ 9.63480579e-01 2.67548443e-01 1.10907230e-02 3.32364016e+02] [-2.67533625e-01 9.63544380e-01 -2.82635295e-03 -5.67786119e+01] [-1.14425901e-02 -2.44005150e-04 9.99934502e-01 -4.46172469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.39, Y:-56.79, Z:-4.46 [[ 9.64291656e-01 2.64637857e-01 1.04118479e-02 3.32390594e+02] [-2.64624636e-01 9.64347845e-01 -2.65262011e-03 -5.67877924e+01] [-1.07426268e-02 -1.97332021e-04 9.99942277e-01 -4.46343481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.83576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:332.42, Y:-56.80, Z:-4.46 [[ 9.65724513e-01 2.59340520e-01 1.08931044e-02 3.32416151e+02] [-2.59325734e-01 9.65785936e-01 -2.77313767e-03 -5.68002911e+01] [-1.12395940e-02 -1.46775266e-04 9.99936823e-01 -4.46434063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.44, Y:-56.81, Z:-4.46 [[ 9.66270866e-01 2.57251050e-01 1.19377815e-02 3.32443016e+02] [-2.57233163e-01 9.66344596e-01 -3.03667501e-03 -5.68098378e+01] [-1.23171985e-02 -1.36542709e-04 9.99924131e-01 -4.46356518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.47, Y:-56.82, Z:-4.46 [[ 9.66693866e-01 2.55631033e-01 1.24797601e-02 3.32468696e+02] [-2.55611362e-01 9.66774410e-01 -3.17354766e-03 -5.68191952e+01] [-1.28763699e-02 -1.22119406e-04 9.99917089e-01 -4.46280906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.49, Y:-56.83, Z:-4.46 [[ 9.67029818e-01 2.54365340e-01 1.23127945e-02 3.32494902e+02] [-2.54346103e-01 9.67108196e-01 -3.13003375e-03 -5.68291309e+01] [-1.27039766e-02 -1.04875320e-04 9.99919296e-01 -4.46263917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.95576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.52, Y:-56.84, Z:-4.46 [[ 9.67204690e-01 2.53735987e-01 1.15384745e-02 3.32519511e+02] [-2.53719059e-01 9.67273509e-01 -2.93236451e-03 -5.68424181e+01] [-1.19049071e-02 -9.13341723e-05 9.99929130e-01 -4.46388036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.55, Y:-56.85, Z:-4.46 [[ 9.66988752e-01 2.54577533e-01 1.10920542e-02 3.32546040e+02] [-2.54561960e-01 9.67052361e-01 -2.81757505e-03 -5.68515918e+01] [-1.14438885e-02 -9.90516799e-05 9.99934512e-01 -4.46463099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.57, Y:-56.86, Z:-4.46 [[ 9.66059762e-01 2.58087426e-01 1.09278120e-02 3.32571286e+02] [-2.58072545e-01 9.66121556e-01 -2.77503917e-03 -5.68614243e+01] [-1.12737974e-02 -1.39314562e-04 9.99936439e-01 -4.46487211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.60, Y:-56.87, Z:-4.46 [[ 9.65472550e-01 2.60261131e-01 1.12649685e-02 3.32597751e+02] [-2.60245477e-01 9.65538251e-01 -2.85961859e-03 -5.68704260e+01] [-1.16210055e-02 -1.70773841e-04 9.99932459e-01 -4.46482988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.62, Y:-56.88, Z:-4.47 [[ 9.64787301e-01 2.62795549e-01 1.11338688e-02 3.32623755e+02] [-2.62780435e-01 9.64851522e-01 -2.82552235e-03 -5.68792917e+01] [-1.14850650e-02 -1.99734808e-04 9.99934025e-01 -4.46539365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.65, Y:-56.89, Z:-4.47 [[ 9.63683845e-01 2.66883385e-01 9.31159589e-03 3.32649755e+02] [-2.66873012e-01 9.63728808e-01 -2.36219389e-03 -5.68875954e+01] [-9.60428351e-03 -2.08605551e-04 9.99953856e-01 -4.46701304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.68, Y:-56.89, Z:-4.47 [[ 9.63112410e-01 2.68949248e-01 8.98823751e-03 3.32677324e+02] [-2.68939685e-01 9.63154324e-01 -2.27888900e-03 -5.68941353e+01] [-9.26996531e-03 -2.22467494e-04 9.99957008e-01 -4.46808472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.70, Y:-56.90, Z:-4.47 [[ 9.61893938e-01 2.73228931e-01 1.02957875e-02 3.32703793e+02] [-2.73216638e-01 9.61948990e-01 -2.60951269e-03 -5.68989049e+01] [-1.06170167e-02 -3.02905996e-04 9.99943592e-01 -4.46829852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.73, Y:-56.90, Z:-4.47 [[ 9.61259644e-01 2.75448214e-01 1.04008914e-02 3.32731496e+02] [-2.75435808e-01 9.61315854e-01 -2.63521252e-03 -5.69048425e+01] [-1.07244064e-02 -3.31654490e-04 9.99942437e-01 -4.46714029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2257692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:332.76, Y:-56.91, Z:-4.47 [[ 9.60719519e-01 2.77315405e-01 1.06851635e-02 3.32757877e+02] [-2.77302435e-01 9.60778869e-01 -2.70646268e-03 -5.69097675e+01] [-1.10166231e-02 -3.62870332e-04 9.99939249e-01 -4.46697275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.25576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:332.78, Y:-56.91, Z:-4.47 [[ 9.60222720e-01 2.78998311e-01 1.15008606e-02 3.32784609e+02] [-2.78983426e-01 9.60291504e-01 -2.91142387e-03 -5.69123064e+01] [-1.18564611e-02 -4.12934132e-04 9.99929624e-01 -4.46762538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.81, Y:-56.92, Z:-4.47 [[ 9.60298122e-01 2.78703064e-01 1.23336605e-02 3.32811155e+02] [-2.78685935e-01 9.60377222e-01 -3.12111725e-03 -5.69168534e+01] [-1.27148316e-02 -4.40014681e-04 9.99919066e-01 -4.46788919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.31576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.84, Y:-56.92, Z:-4.47 [[ 9.61060582e-01 2.76020462e-01 1.32386763e-02 3.32838778e+02] [-2.76000488e-01 9.61151661e-01 -3.34896285e-03 -5.69200269e+01] [-1.36487580e-02 -4.35324947e-04 9.99906757e-01 -4.46870298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.87, Y:-56.93, Z:-4.47 [[ 9.61618628e-01 2.74085715e-01 1.29087424e-02 3.32866475e+02] [-2.74066562e-01 9.61705185e-01 -3.26458998e-03 -5.69251270e+01] [-1.33091820e-02 -3.98564112e-04 9.99911349e-01 -4.46908489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.37576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:332.89, Y:-56.93, Z:-4.47 [[ 9.62219905e-01 2.71990914e-01 1.24015168e-02 3.32893089e+02] [-2.71973074e-01 9.62299754e-01 -3.13543806e-03 -5.69297420e+01] [-1.27867872e-02 -3.55897738e-04 9.99918182e-01 -4.46942741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4057692310001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:332.92, Y:-56.93, Z:-4.47 [[ 9.63156558e-01 2.68635000e-01 1.28328140e-02 3.32921312e+02] [-2.68615615e-01 9.63241990e-01 -3.24337796e-03 -5.69341522e+01] [-1.32323901e-02 -3.23213468e-04 9.99912396e-01 -4.46928841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.95, Y:-56.94, Z:-4.47 [[ 9.63552650e-01 2.67154296e-01 1.39597130e-02 3.32948864e+02] [-2.67131216e-01 9.63653710e-01 -3.52710463e-03 -5.69402435e+01] [-1.43946104e-02 -3.30524090e-04 9.99896338e-01 -4.46854414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4657692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.98, Y:-56.95, Z:-4.47 [[ 9.64298412e-01 2.64363924e-01 1.55012163e-02 3.32976685e+02] [-2.64335124e-01 9.64422943e-01 -3.91537052e-03 -5.69462555e+01] [-1.59848114e-02 -3.21930368e-04 9.99872183e-01 -4.46847037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.00, Y:-56.95, Z:-4.47 [[ 9.64659615e-01 2.63081097e-01 1.48379195e-02 3.33002858e+02] [-2.63054574e-01 9.64773680e-01 -3.74674094e-03 -5.69524328e+01] [-1.53009309e-02 -2.88852929e-04 9.99882892e-01 -4.46975253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.525769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:333.03, Y:-56.96, Z:-4.47 [[ 9.64952099e-01 2.62082957e-01 1.34152710e-02 3.33030001e+02] [-2.62061194e-01 9.65045316e-01 -3.38647936e-03 -5.69587629e+01] [-1.38338830e-02 -2.47831580e-04 9.99904277e-01 -4.47127569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.55576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:333.06, Y:-56.96, Z:-4.47 [[ 9.65156964e-01 2.61444390e-01 1.09025526e-02 3.33057641e+02] [-2.61429983e-01 9.65218521e-01 -2.75154874e-03 -5.69642529e+01] [-1.12427227e-02 -1.94577710e-04 9.99936780e-01 -4.47219386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.58576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:333.08, Y:-56.97, Z:-4.47 [[ 9.65099912e-01 2.61672075e-01 1.04825739e-02 3.33084297e+02] [-2.61658778e-01 9.65156821e-01 -2.64483314e-03 -5.69696649e+01] [-1.08094066e-02 -1.90329236e-04 9.99941559e-01 -4.47216361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.61576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:333.11, Y:-56.98, Z:-4.47 [[ 9.64961925e-01 2.62175211e-01 1.06133261e-02 3.33111439e+02] [-2.62161620e-01 9.65020269e-01 -2.67689612e-03 -5.69755844e+01] [-1.09438906e-02 -1.99303926e-04 9.99940094e-01 -4.47299743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.14, Y:-56.98, Z:-4.47 [[ 9.64634533e-01 2.63362101e-01 1.09827725e-02 3.33139281e+02] [-2.63347634e-01 9.64697028e-01 -2.76925291e-03 -5.69814577e+01] [-1.13243642e-02 -2.20970158e-04 9.99935853e-01 -4.47295157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.17, Y:-56.99, Z:-4.47 [[ 9.64538841e-01 2.63699580e-01 1.12851635e-02 3.33167234e+02] [-2.63684339e-01 9.64604830e-01 -2.84463751e-03 -5.69865068e+01] [-1.16358530e-02 -2.31957519e-04 9.99932274e-01 -4.47331116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.19, Y:-56.99, Z:-4.47 [[ 9.64216123e-01 2.64885328e-01 1.10919718e-02 3.33194901e+02] [-2.64870691e-01 9.64279889e-01 -2.79512785e-03 -5.69885043e+01] [-1.14361537e-02 -2.42830895e-04 9.99934576e-01 -4.47405503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.22, Y:-56.99, Z:-4.47 [[ 9.64276985e-01 2.64679270e-01 1.07135530e-02 3.33222378e+02] [-2.64665611e-01 9.64336471e-01 -2.69895412e-03 -5.69933894e+01] [-1.10458271e-02 -2.32969703e-04 9.99938966e-01 -4.47439861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.25, Y:-57.00, Z:-4.47 [[ 9.64319885e-01 2.64522908e-01 1.07140215e-02 3.33250056e+02] [-2.64509260e-01 9.64379374e-01 -2.69709277e-03 -5.70001415e+01] [-1.10458242e-02 -2.33097717e-04 9.99938966e-01 -4.47474031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.28, Y:-57.01, Z:-4.48 [[ 9.64592692e-01 2.63517632e-01 1.09268933e-02 3.33277348e+02] [-2.63503395e-01 9.64654553e-01 -2.74868790e-03 -5.70055084e+01] [-1.12650051e-02 -2.27909205e-04 9.99936522e-01 -4.47537402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.31, Y:-57.01, Z:-4.47 [[ 9.65772781e-01 2.59144239e-01 1.12782659e-02 3.33305473e+02] [-2.59128783e-01 9.65838615e-01 -2.83619633e-03 -5.70093150e+01] [-1.16279686e-02 -1.83402095e-04 9.99932376e-01 -4.47482987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.33, Y:-57.01, Z:-4.48 [[ 9.66572375e-01 2.56117886e-01 1.18942046e-02 3.33331617e+02] [-2.56100478e-01 9.66645542e-01 -2.99014772e-03 -5.70143032e+01] [-1.22633102e-02 -1.55917312e-04 9.99924791e-01 -4.47509019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.36, Y:-57.02, Z:-4.47 [[ 9.67289728e-01 2.53367622e-01 1.24671989e-02 3.33357681e+02] [-2.53348282e-01 9.67370059e-01 -3.13306153e-03 -5.70200909e+01] [-1.28542113e-02 -1.27965188e-04 9.99917373e-01 -4.47494409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.38, Y:-57.03, Z:-4.47 [[ 9.68173643e-01 2.49914697e-01 1.35071116e-02 3.33384962e+02] [-2.49891676e-01 9.68267854e-01 -3.39321654e-03 -5.70270403e+01] [-1.39265166e-02 -9.00919348e-05 9.99903017e-01 -4.47492391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.41, Y:-57.03, Z:-4.47 [[ 9.68244111e-01 2.49616336e-01 1.39651941e-02 3.33411940e+02] [-2.49591711e-01 9.68344813e-01 -3.50726830e-03 -5.70335931e+01] [-1.43985947e-02 -8.97048165e-05 9.99896331e-01 -4.47486130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.9757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.44, Y:-57.04, Z:-4.48 [[ 9.68029483e-01 2.50413838e-01 1.45544028e-02 3.33438044e+02] [-2.50387201e-01 9.68138884e-01 -3.65394849e-03 -5.70392467e+01] [-1.50056826e-02 -1.07106314e-04 9.99887403e-01 -4.47502166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.46, Y:-57.05, Z:-4.48 [[ 9.67857460e-01 2.51065642e-01 1.47641451e-02 3.33464597e+02] [-2.51038336e-01 9.67970056e-01 -3.70474189e-03 -5.70461982e+01] [-1.52213838e-02 -1.20704355e-04 9.99884141e-01 -4.47515199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.49, Y:-57.05, Z:-4.48 [[ 9.67399003e-01 2.52867115e-01 1.40495801e-02 3.33491938e+02] [-2.52842595e-01 9.67501009e-01 -3.52431033e-03 -5.70533728e+01] [-1.44841651e-02 -1.42917994e-04 9.99895089e-01 -4.47566975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.52, Y:-57.06, Z:-4.48 [[ 9.67252596e-01 2.53484074e-01 1.29707392e-02 3.33518949e+02] [-2.53463243e-01 9.67339550e-01 -3.25275989e-03 -5.70598477e+01] [-1.33716319e-02 -1.41365177e-04 9.99910586e-01 -4.47586563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.55, Y:-57.07, Z:-4.48 [[ 9.67295665e-01 2.53356158e-01 1.22373789e-02 3.33545347e+02] [-2.53337617e-01 9.67373061e-01 -3.06793135e-03 -5.70659085e+01] [-1.26153900e-02 -1.32591720e-04 9.99920414e-01 -4.47676235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.57, Y:-57.07, Z:-4.48 [[ 9.67524913e-01 2.52516565e-01 1.14423533e-02 3.33572633e+02] [-2.52500314e-01 9.67592565e-01 -2.86712072e-03 -5.70724429e+01] [-1.17955315e-02 -1.15187085e-04 9.99930424e-01 -4.47735382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.60, Y:-57.08, Z:-4.48 [[ 9.68020028e-01 2.50603671e-01 1.16200367e-02 3.33599844e+02] [-2.50586784e-01 9.68089764e-01 -2.91075656e-03 -5.70779632e+01] [-1.19786849e-02 -9.41569904e-05 9.99928249e-01 -4.47776838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.63, Y:-57.08, Z:-4.48 [[ 9.68337512e-01 2.49331059e-01 1.25094675e-02 3.33626534e+02] [-2.49311395e-01 9.68418306e-01 -3.13250020e-03 -5.70843169e+01] [-1.28954270e-02 -8.54353530e-05 9.99916847e-01 -4.47848670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.65, Y:-57.09, Z:-4.48 [[ 9.69094822e-01 2.46313134e-01 1.36039105e-02 3.33653535e+02] [-2.46289599e-01 9.69190300e-01 -3.40526698e-03 -5.70927259e+01] [-1.40235400e-02 -5.04750517e-05 9.99901664e-01 -4.47955651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.68, Y:-57.10, Z:-4.48 [[ 9.69594158e-01 2.44338871e-01 1.36266452e-02 3.33680808e+02] [-2.44315077e-01 9.69689907e-01 -3.40993184e-03 -5.71010180e+01] [-1.40467992e-02 -2.29448723e-05 9.99901339e-01 -4.47929954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.275769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:333.71, Y:-57.11, Z:-4.48 [[ 9.69992143e-01 2.42749891e-01 1.37015290e-02 3.33706697e+02] [-2.42725691e-01 9.70088908e-01 -3.42761062e-03 -5.71093514e+01] [-1.41237534e-02 -9.57720144e-07 9.99900255e-01 -4.47929500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.73, Y:-57.12, Z:-4.48 [[ 9.70488165e-01 2.40744097e-01 1.39643075e-02 3.33733370e+02] [-2.40718770e-01 9.70588625e-01 -3.49213311e-03 -5.71200767e+01] [-1.43943084e-02 2.76029339e-05 9.99896396e-01 -4.48072695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.76, Y:-57.13, Z:-4.48 [[ 9.70617713e-01 2.40203433e-01 1.42676513e-02 3.33759367e+02] [-2.40176952e-01 9.70722571e-01 -3.56687654e-03 -5.71295732e+01] [-1.47067072e-02 3.53125523e-05 9.99891850e-01 -4.48106938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.78, Y:-57.14, Z:-4.48 [[ 9.70769987e-01 2.39566939e-01 1.46052562e-02 3.33784651e+02] [-2.39539136e-01 9.70879848e-01 -3.65000043e-03 -5.71391984e+01] [-1.50543683e-02 4.47804178e-05 9.99886676e-01 -4.48175906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.81, Y:-57.15, Z:-4.48 [[ 9.70746297e-01 2.39687489e-01 1.41963102e-02 3.33809931e+02] [-2.39661256e-01 9.70850095e-01 -3.54629840e-03 -5.71525332e+01] [-1.46324925e-02 4.02505018e-05 9.99892939e-01 -4.48113428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.84, Y:-57.16, Z:-4.48 [[ 9.70479924e-01 2.40816078e-01 1.32790467e-02 3.33835574e+02] [-2.40793245e-01 9.70570768e-01 -3.31618914e-03 -5.71616497e+01] [-1.36868462e-02 2.07902411e-05 9.99906331e-01 -4.48097769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.86, Y:-57.17, Z:-4.48 [[ 9.70128036e-01 2.42268637e-01 1.25499825e-02 3.33861553e+02] [-2.42248377e-01 9.70209208e-01 -3.13306620e-03 -5.71710342e+01] [-1.29351523e-02 -7.37531120e-07 9.99916337e-01 -4.48215138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.89, Y:-57.18, Z:-4.48 [[ 9.69839769e-01 2.43460305e-01 1.17431848e-02 3.33886898e+02] [-2.43442666e-01 9.69910862e-01 -2.93069129e-03 -5.71834969e+01] [-1.21033495e-02 -1.64912566e-05 9.99926752e-01 -4.48371233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.91, Y:-57.19, Z:-4.48 [[ 9.69930921e-01 2.43079737e-01 1.20933591e-02 3.33912061e+02] [-2.43061012e-01 9.70006310e-01 -3.01714115e-03 -5.71929449e+01] [-1.24640405e-02 -1.30055970e-05 9.99922321e-01 -4.48421026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.94, Y:-57.21, Z:-4.48 [[ 9.70528736e-01 2.40638916e-01 1.29183554e-02 3.33937898e+02] [-2.40617349e-01 9.70614708e-01 -3.22178148e-03 -5.72057919e+01] [-1.33140317e-02 1.84510884e-05 9.99911364e-01 -4.48374000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.96, Y:-57.22, Z:-4.48 [[ 9.70958135e-01 2.38872231e-01 1.34297448e-02 3.33964933e+02] [-2.38848767e-01 9.71051005e-01 -3.34831477e-03 -5.72159480e+01] [-1.38407866e-02 4.33954811e-05 9.99904211e-01 -4.48393530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.99, Y:-57.23, Z:-4.48 [[ 9.71730634e-01 2.35628086e-01 1.47979775e-02 3.33990244e+02] [-2.35599233e-01 9.71843298e-01 -3.68859308e-03 -5.72282990e+01] [-1.52504514e-02 9.79267263e-05 9.99883700e-01 -4.48394916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.02, Y:-57.24, Z:-4.48 [[ 9.71882468e-01 2.34974468e-01 1.52140463e-02 3.34016324e+02] [-2.34943906e-01 9.72001537e-01 -3.79131495e-03 -5.72371689e+01] [-1.56789386e-02 1.10265083e-04 9.99877072e-01 -4.48341010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.04, Y:-57.25, Z:-4.48 [[ 9.71784041e-01 2.35393997e-01 1.50147495e-02 3.34044157e+02] [-2.35364295e-01 9.71900024e-01 -3.74072938e-03 -5.72463290e+01] [-1.54733806e-02 1.01245201e-04 9.99880275e-01 -4.48356965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.07, Y:-57.26, Z:-4.48 [[ 9.70922391e-01 2.39016193e-01 1.34525368e-02 3.34070179e+02] [-2.38992706e-01 9.71015581e-01 -3.35088064e-03 -5.72553131e+01] [-1.38635376e-02 3.83868635e-05 9.99903896e-01 -4.48390925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.10, Y:-57.26, Z:-4.48 [[ 9.70305096e-01 2.41545914e-01 1.27903027e-02 3.34096508e+02] [-2.41524914e-01 9.70389392e-01 -3.18507073e-03 -5.72626157e+01] [-1.31809149e-02 1.31360463e-06 9.99913128e-01 -4.48466966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.75576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:334.12, Y:-57.27, Z:-4.49 [[ 9.69762647e-01 2.43744432e-01 1.22089896e-02 3.34123252e+02] [-2.43725486e-01 9.69839498e-01 -3.03911747e-03 -5.72703036e+01] [-1.25815283e-02 -2.84193339e-05 9.99920849e-01 -4.48523466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7857692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:334.15, Y:-57.28, Z:-4.49 [[ 9.69500207e-01 2.44806240e-01 1.18005368e-02 3.34150757e+02] [-2.44788629e-01 9.69572021e-01 -2.93662993e-03 -5.72800876e+01] [-1.21603757e-02 -4.15739074e-05 9.99926059e-01 -4.48654932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.81576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:334.18, Y:-57.29, Z:-4.49 [[ 9.69728127e-01 2.43867818e-01 1.24838859e-02 3.34178544e+02] [-2.43848040e-01 9.69808479e-01 -3.10603444e-03 -5.72885373e+01] [-1.28644403e-02 -3.21621505e-05 9.99917249e-01 -4.48709519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8457692310001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:334.21, Y:-57.30, Z:-4.49 [[ 9.70256400e-01 2.41627378e-01 1.47895070e-02 3.34205346e+02] [-2.41599371e-01 9.70369110e-01 -3.67877283e-03 -5.72980540e+01] [-1.52401730e-02 -3.78272217e-06 9.99883862e-01 -4.48651764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.87576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:334.23, Y:-57.31, Z:-4.49 [[ 9.70382325e-01 2.41042148e-01 1.60257751e-02 3.34232939e+02] [-2.41009202e-01 9.70514649e-01 -3.98517862e-03 -5.73062337e+01] [-1.65138455e-02 4.78762978e-06 9.99863637e-01 -4.48684526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.26, Y:-57.31, Z:-4.49 [[ 9.70462064e-01 2.40695966e-01 1.63961551e-02 3.34259191e+02] [-2.40661445e-01 9.70600563e-01 -4.07639477e-03 -5.73139655e+01] [-1.68952892e-02 1.00641005e-05 9.99857264e-01 -4.48741610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.93576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:334.29, Y:-57.32, Z:-4.49 [[ 9.70300966e-01 2.41352667e-01 1.62765027e-02 3.34286482e+02] [-2.41318757e-01 9.70437474e-01 -4.04570441e-03 -5.73233911e+01] [-1.67717697e-02 -2.27450192e-06 9.99859344e-01 -4.48825838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9657692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:334.31, Y:-57.33, Z:-4.49 [[ 9.70207353e-01 2.41709289e-01 1.65623947e-02 3.34313946e+02] [-2.41674242e-01 9.70348710e-01 -4.11594359e-03 -5.73305661e+01] [-1.70661601e-02 -9.38545139e-06 9.99854362e-01 -4.48874354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.99576923100005 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:334.34, Y:-57.34, Z:-4.49 [[ 9.70040582e-01 2.42342722e-01 1.70667788e-02 3.34342062e+02] [-2.42305621e-01 9.70190705e-01 -4.24043632e-03 -5.73381255e+01] [-1.75856690e-02 -2.19811095e-05 9.99845360e-01 -4.48875314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.025769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:334.37, Y:-57.35, Z:-4.49 [[ 9.70030828e-01 2.42315485e-01 1.79832575e-02 3.34368574e+02] [-2.42274307e-01 9.70197508e-01 -4.46711187e-03 -5.73455744e+01] [-1.85297620e-02 -2.36450122e-05 9.99828309e-01 -4.48880563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.05576923100006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:334.39, Y:-57.36, Z:-4.49 [[ 9.70329373e-01 2.41008638e-01 1.93841361e-02 3.34394547e+02] [-2.40960560e-01 9.70522971e-01 -4.81376813e-03 -5.73565960e+01] [-1.99729090e-02 1.28338848e-07 9.99800522e-01 -4.48940665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.42, Y:-57.37, Z:-4.49 [[ 9.70748702e-01 2.39321327e-01 1.92940622e-02 3.34423183e+02] [-2.39273379e-01 9.70940421e-01 -4.79052095e-03 -5.73662737e+01] [-1.98798587e-02 3.38365412e-05 9.99802376e-01 -4.49015245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.11576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:334.45, Y:-57.38, Z:-4.49 [[ 9.71816817e-01 2.35061443e-01 1.78379443e-02 3.34450711e+02] [-2.35019747e-01 9.71980507e-01 -4.42864861e-03 -5.73798196e+01] [-1.83791387e-02 1.11566025e-04 9.99831083e-01 -4.49151622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:334.48, Y:-57.39, Z:-4.49 [[ 9.72274582e-01 2.33244344e-01 1.67096511e-02 3.34478254e+02] [-2.33207491e-01 9.72418149e-01 -4.14833479e-03 -5.73906592e+01] [-1.72163436e-02 1.36504666e-04 9.99851778e-01 -4.49185388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.17576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:334.51, Y:-57.40, Z:-4.49 [[ 9.72649037e-01 2.31756901e-01 1.55753139e-02 3.34506731e+02] [-2.31724693e-01 9.72773723e-01 -3.86659525e-03 -5.74017846e+01] [-1.60473663e-02 1.51655295e-04 9.99871221e-01 -4.49230039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:334.53, Y:-57.42, Z:-4.49 [[ 9.72755911e-01 2.31427291e-01 1.36874623e-02 3.34534668e+02] [-2.31402385e-01 9.72852193e-01 -3.39795733e-03 -5.74155730e+01] [-1.41022578e-02 1.38071643e-04 9.99900549e-01 -4.49312001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.23576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:334.56, Y:-57.43, Z:-4.49 [[ 9.72412948e-01 2.32894392e-01 1.31628287e-02 3.34562578e+02] [-2.32871493e-01 9.72502025e-01 -3.26781153e-03 -5.74254814e+01] [-1.35619326e-02 1.12414675e-04 9.99908026e-01 -4.49366126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26576923100004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:334.59, Y:-57.44, Z:-4.49 [[ 9.71923622e-01 2.34934439e-01 1.30492533e-02 3.34589938e+02] [-2.34912121e-01 9.72011215e-01 -3.23929468e-03 -5.74350775e+01] [-1.34450424e-02 8.29192648e-05 9.99909608e-01 -4.49423190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.29576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:334.62, Y:-57.45, Z:-4.49 [[ 9.71347843e-01 2.37304366e-01 1.30386533e-02 3.34619046e+02] [-2.37282303e-01 9.71435348e-01 -3.23625665e-03 -5.74450502e+01] [-1.34341865e-02 4.96892376e-05 9.99909756e-01 -4.49471218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:334.65, Y:-57.46, Z:-4.50 [[ 9.70319166e-01 2.41524930e-01 1.21005660e-02 3.34646105e+02] [-2.41506255e-01 9.70394615e-01 -3.00342485e-03 -5.74567274e+01] [-1.24677261e-02 -8.08169121e-06 9.99922275e-01 -4.49559621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.35576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:334.68, Y:-57.47, Z:-4.50 [[ 9.69858486e-01 2.43380304e-01 1.18551645e-02 3.34677854e+02] [-2.43362515e-01 9.69930939e-01 -2.94270678e-03 -5.74664462e+01] [-1.22148877e-02 -3.10935154e-05 9.99925395e-01 -4.49696198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.71, Y:-57.48, Z:-4.50 [[ 9.69283209e-01 2.45690423e-01 1.12373076e-02 3.34708677e+02] [-2.45674571e-01 9.69348344e-01 -2.79149566e-03 -5.74796007e+01] [-1.15787093e-02 -5.49708534e-05 9.99932963e-01 -4.49816045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:334.74, Y:-57.49, Z:-4.50 [[ 9.69020899e-01 2.46738076e-01 1.09003802e-02 3.34738891e+02] [-2.46723202e-01 9.69082204e-01 -2.70999232e-03 -5.74904584e+01] [-1.12320228e-02 -6.33375125e-05 9.99936917e-01 -4.49867840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44576923100004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:334.77, Y:-57.50, Z:-4.50 [[ 9.68891754e-01 2.47242305e-01 1.09550335e-02 3.34766212e+02] [-2.47227287e-01 9.68953682e-01 -2.72586092e-03 -5.74996083e+01] [-1.12888682e-02 -6.73190484e-05 9.99936276e-01 -4.49906080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.4757692310001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:334.79, Y:-57.51, Z:-4.50 [[ 9.68900262e-01 2.47144685e-01 1.23201846e-02 3.34793908e+02] [-2.47125689e-01 9.68978586e-01 -3.06508908e-03 -5.75104269e+01] [-1.26955155e-02 -7.48684930e-05 9.99919406e-01 -4.50036765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50576923100004 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:334.82, Y:-57.52, Z:-4.50 [[ 9.68974759e-01 2.46781134e-01 1.36743786e-02 3.34821507e+02] [-2.46757699e-01 9.69071239e-01 -3.40182598e-03 -5.75196816e+01] [-1.40909535e-02 -7.79746920e-05 9.99900715e-01 -4.50065911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5357692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:334.85, Y:-57.53, Z:-4.50 [[ 9.69005325e-01 2.46563080e-01 1.53403812e-02 3.34852188e+02] [-2.46533549e-01 9.69126741e-01 -3.81687913e-03 -5.75326423e+01] [-1.58078751e-02 -8.33424131e-05 9.99875044e-01 -4.50043673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:334.88, Y:-57.54, Z:-4.50 [[ 9.68960397e-01 2.46766142e-01 1.49070726e-02 3.34882383e+02] [-2.46738236e-01 9.69075056e-01 -3.71194296e-03 -5.75431853e+01] [-1.53620541e-02 -8.14190766e-05 9.99881993e-01 -4.50109745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5957692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:334.91, Y:-57.55, Z:-4.50 [[ 9.68833404e-01 2.47304170e-01 1.42296383e-02 3.34911693e+02] [-2.47278764e-01 9.68937893e-01 -3.54570983e-03 -5.75534207e+01] [-1.46645046e-02 -8.34852434e-05 9.99892467e-01 -4.50159468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:334.94, Y:-57.56, Z:-4.50 [[ 9.68593919e-01 2.48247932e-01 1.40991219e-02 3.34941567e+02] [-2.48223066e-01 9.68696524e-01 -3.51489234e-03 -5.75631947e+01] [-1.45303352e-02 -9.52239266e-05 9.99894425e-01 -4.50227307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6557692310001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:334.97, Y:-57.57, Z:-4.50 [[ 9.67754958e-01 2.51471625e-01 1.45727212e-02 3.34973101e+02] [-2.51445412e-01 9.67864660e-01 -3.63381468e-03 -5.75727211e+01] [-1.50182231e-02 -1.47601712e-04 9.99887209e-01 -4.50304784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68576923100005 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:335.01, Y:-57.58, Z:-4.50 [[ 9.67734100e-01 2.51551915e-01 1.45721105e-02 3.35005561e+02] [-2.51525674e-01 9.67843796e-01 -3.63626203e-03 -5.75809617e+01] [-1.50182354e-02 -1.46325161e-04 9.99887209e-01 -4.50345003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7157692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:335.04, Y:-57.59, Z:-4.50 [[ 9.67351381e-01 2.52991902e-01 1.50466711e-02 3.35036297e+02] [-2.52964072e-01 9.67468381e-01 -3.75637941e-03 -5.75880938e+01] [-1.55075121e-02 -1.72528393e-04 9.99879736e-01 -4.50384923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:335.07, Y:-57.59, Z:-4.50 [[ 9.66741788e-01 2.55218424e-01 1.65490466e-02 3.35069049e+02] [-2.55185027e-01 9.66883398e-01 -4.13483632e-03 -5.75948447e+01] [-1.70562848e-02 -2.25749846e-04 9.99854506e-01 -4.50392963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.775769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:335.10, Y:-57.60, Z:-4.50 [[ 9.66535588e-01 2.55997913e-01 1.65537406e-02 3.35100287e+02] [-2.55964556e-01 9.66677305e-01 -4.13928335e-03 -5.76024140e+01] [-1.70617732e-02 -2.36406193e-04 9.99854409e-01 -4.50409946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:335.13, Y:-57.61, Z:-4.50 [[ 9.66473295e-01 2.56256379e-01 1.61876182e-02 3.35130073e+02] [-2.56224481e-01 9.66608821e-01 -4.04987013e-03 -5.76092968e+01] [-1.66848996e-02 -2.33572759e-04 9.99860770e-01 -4.50496625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.83576923100003 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:335.16, Y:-57.62, Z:-4.51 [[ 9.66466075e-01 2.56345829e-01 1.51704326e-02 3.35159593e+02] [-2.56317826e-01 9.66585106e-01 -3.79538737e-03 -5.76157519e+01] [-1.56364459e-02 -2.20339163e-04 9.99877719e-01 -4.50601538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:335.19, Y:-57.62, Z:-4.51 [[ 9.66358360e-01 2.56860985e-01 1.31892154e-02 3.35192129e+02] [-2.56839862e-01 9.66448341e-01 -3.30003074e-03 -5.76227509e+01] [-1.35943445e-02 -1.98503972e-04 9.99907573e-01 -4.50810037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.89576923100003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:335.22, Y:-57.63, Z:-4.51 [[ 9.66276881e-01 2.57174486e-01 1.30488648e-02 3.35224554e+02] [-2.57153804e-01 9.66364965e-01 -3.26749977e-03 -5.76300545e+01] [-1.34502833e-02 -1.98255728e-04 9.99909521e-01 -4.50815576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:335.26, Y:-57.64, Z:-4.51 [[ 9.66075296e-01 2.57895956e-01 1.37185676e-02 3.35256605e+02] [-2.57873129e-01 9.66172671e-01 -3.43804537e-03 -5.76370659e+01] [-1.41411631e-02 -2.16239263e-04 9.99899985e-01 -4.50857266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.95576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:335.29, Y:-57.64, Z:-4.51 [[ 9.65711917e-01 2.59217756e-01 1.43752858e-02 3.35288161e+02] [-2.59192794e-01 9.65818873e-01 -3.60556261e-03 -5.76412542e+01] [-1.48185482e-02 -2.44035709e-04 9.99890170e-01 -4.50902531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:335.32, Y:-57.65, Z:-4.51 [[ 9.65608019e-01 2.59650124e-01 1.35265083e-02 3.35319268e+02] [-2.59628032e-01 9.65702728e-01 -3.39505307e-03 -5.76473798e+01] [-1.39441119e-02 -2.33570253e-04 9.99902749e-01 -4.51057964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:335.35, Y:-57.65, Z:-4.51 [[ 9.65531746e-01 2.59999520e-01 1.21941722e-02 3.35349345e+02] [-2.59981569e-01 9.65608722e-01 -3.06264888e-03 -5.76536889e+01] [-1.25710862e-02 -2.13175292e-04 9.99920958e-01 -4.51165391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04576923100007 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:335.38, Y:-57.66, Z:-4.51 [[ 9.65561181e-01 2.59959013e-01 1.06262234e-02 3.35381241e+02] [-2.59945363e-01 9.65619634e-01 -2.67025009e-03 -5.76586816e+01] [-1.09550455e-02 -1.83947668e-04 9.99939975e-01 -4.51273226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:335.41, Y:-57.66, Z:-4.51 [[ 9.65620552e-01 2.59729486e-01 1.08417783e-02 3.35412593e+02] [-2.59715241e-01 9.65681397e-01 -2.72629127e-03 -5.76646448e+01] [-1.11778018e-02 -1.83212178e-04 9.99937510e-01 -4.51331818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10576923100007 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:335.44, Y:-57.67, Z:-4.51 [[ 9.65784579e-01 2.59081671e-01 1.16976111e-02 3.35444761e+02] [-2.59065016e-01 9.65855399e-01 -2.94363636e-03 -5.76711168e+01] [-1.20608430e-02 -1.87523189e-04 9.99927248e-01 -4.51376854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:335.48, Y:-57.68, Z:-4.51 [[ 9.66105842e-01 2.57853737e-01 1.22862581e-02 3.35475925e+02] [-2.57835231e-01 9.66183947e-01 -3.09436610e-03 -5.76779348e+01] [-1.26686792e-02 -1.78345025e-04 9.99919733e-01 -4.51344814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:335.51, Y:-57.68, Z:-4.51 [[ 9.66919223e-01 2.54747020e-01 1.30832676e-02 3.35507267e+02] [-2.54725717e-01 9.67007722e-01 -3.29761756e-03 -5.76835541e+01] [-1.34916790e-02 -1.44114899e-04 9.99908973e-01 -4.51402846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.19576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:335.54, Y:-57.69, Z:-4.52 [[ 9.67178896e-01 2.53791046e-01 1.24534384e-02 3.35536896e+02] [-2.53771647e-01 9.67259060e-01 -3.14027630e-03 -5.76901639e+01] [-1.28426752e-02 -1.23120617e-04 9.99917522e-01 -4.51546980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2257692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:335.57, Y:-57.70, Z:-4.52 [[ 9.67317723e-01 2.53309720e-01 1.14283971e-02 3.35567546e+02] [-2.53293342e-01 9.67385226e-01 -2.88241553e-03 -5.76971491e+01] [-1.17858064e-02 -1.06525263e-04 9.99930539e-01 -4.51674692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.25576923100004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:335.60, Y:-57.70, Z:-4.52 [[ 9.67108988e-01 2.54161905e-01 1.00960741e-02 3.35600167e+02] [-2.54149171e-01 9.67161680e-01 -2.54631618e-03 -5.77042351e+01] [-1.04117125e-02 -1.03343591e-04 9.99945791e-01 -4.51804850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2857692310001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:335.63, Y:-57.71, Z:-4.52 [[ 9.66893207e-01 2.54969192e-01 1.04037350e-02 3.35631634e+02] [-2.54955693e-01 9.66949170e-01 -2.62614997e-03 -5.77116548e+01] [-1.07294703e-02 -1.13284905e-04 9.99942431e-01 -4.51829693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.31576923100005 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:335.66, Y:-57.72, Z:-4.52 [[ 9.66740173e-01 2.55528455e-01 1.08924616e-02 3.35660216e+02] [-2.55513666e-01 9.66801528e-01 -2.75187152e-03 -5.77180823e+01] [-1.12340300e-02 -1.22828032e-04 9.99936889e-01 -4.51818624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3457692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:335.69, Y:-57.73, Z:-4.52 [[ 9.66606979e-01 2.56008532e-01 1.14271670e-02 3.35690407e+02] [-2.55992291e-01 9.66674513e-01 -2.88680848e-03 -5.77257068e+01] [-1.17853987e-02 -1.34857442e-04 9.99930541e-01 -4.51841377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.37576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:335.72, Y:-57.73, Z:-4.52 [[ 9.66282101e-01 2.57243677e-01 1.11620843e-02 3.35719238e+02] [-2.57228260e-01 9.66346558e-01 -2.82012325e-03 -5.77317732e+01] [-1.15119006e-02 -1.46168892e-04 9.99933725e-01 -4.51867098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4057692310001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:335.75, Y:-57.74, Z:-4.52 [[ 9.65992792e-01 2.58346900e-01 1.07147017e-02 3.35749494e+02] [-2.58332763e-01 9.66052202e-01 -2.70693268e-03 -5.77379315e+01] [-1.10502888e-02 -1.53081030e-04 9.99938932e-01 -4.51905025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.43576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:335.78, Y:-57.74, Z:-4.52 [[ 9.65664086e-01 2.59579169e-01 1.05606715e-02 3.35779510e+02] [-2.59565507e-01 9.65721817e-01 -2.66829381e-03 -5.77434521e+01] [-1.08913043e-02 -1.64510537e-04 9.99940674e-01 -4.51943441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4657692310001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:335.81, Y:-57.75, Z:-4.52 [[ 9.65348144e-01 2.60737322e-01 1.09091192e-02 3.35808986e+02] [-2.60722815e-01 9.65409766e-01 -2.75650099e-03 -5.77491854e+01] [-1.12504929e-02 -1.83273147e-04 9.99936694e-01 -4.51996776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.49576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:335.84, Y:-57.75, Z:-4.52 [[ 9.65192847e-01 2.61302879e-01 1.11163238e-02 3.35839132e+02] [-2.61287857e-01 9.65256840e-01 -2.80857140e-03 -5.77545196e+01] [-1.14639954e-02 -1.93747395e-04 9.99934267e-01 -4.51988173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.525769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:335.87, Y:-57.76, Z:-4.52 [[ 9.65108215e-01 2.61621927e-01 1.09590289e-02 3.35867001e+02] [-2.61607347e-01 9.65170415e-01 -2.76885526e-03 -5.77593034e+01] [-1.13017238e-02 -1.94717529e-04 9.99936115e-01 -4.52005223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.55576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:335.90, Y:-57.76, Z:-4.52 [[ 9.64775356e-01 2.62845399e-01 1.09913333e-02 3.35897038e+02] [-2.62830817e-01 9.64837941e-01 -2.77660104e-03 -5.77609004e+01] [-1.13346722e-02 -2.10064863e-04 9.99935738e-01 -4.51932808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.58576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:335.93, Y:-57.76, Z:-4.52 [[ 9.64477422e-01 2.63914409e-01 1.15103262e-02 3.35925625e+02] [-2.63898497e-01 9.64546075e-01 -2.90741527e-03 -5.77643595e+01] [-1.18695488e-02 -2.33421409e-04 9.99929527e-01 -4.51960866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.61576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:335.95, Y:-57.77, Z:-4.52 [[ 9.64278017e-01 2.64622114e-01 1.19600124e-02 3.35954663e+02] [-2.64604996e-01 9.64352152e-01 -3.02039691e-03 -5.77677994e+01] [-1.23329275e-02 -2.52176691e-04 9.99923915e-01 -4.51970571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:335.98, Y:-57.77, Z:-4.52 [[ 9.64201192e-01 2.64865385e-01 1.27431960e-02 3.35982322e+02] [-2.64845982e-01 9.64285359e-01 -3.21751038e-03 -5.77712037e+01] [-1.31402844e-02 -2.72656902e-04 9.99913626e-01 -4.52074927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.67576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:336.01, Y:-57.77, Z:-4.52 [[ 9.64587093e-01 2.63377612e-01 1.42819487e-02 3.36011286e+02] [-2.63353091e-01 9.64692776e-01 -3.60507706e-03 -5.77720907e+01] [-1.47271893e-02 -2.83784541e-04 9.99891509e-01 -4.52210321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70576923100003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:336.04, Y:-57.78, Z:-4.52 [[ 9.64998511e-01 2.61858165e-01 1.44283057e-02 3.36039492e+02] [-2.61832981e-01 9.65106332e-01 -3.64117848e-03 -5.77761494e+01] [-1.48783215e-02 -2.64074477e-04 9.99889277e-01 -4.52230759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.73576923100006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:336.07, Y:-57.78, Z:-4.52 [[ 9.65415266e-01 2.60341724e-01 1.39839570e-02 3.36067688e+02] [-2.60317918e-01 9.65516510e-01 -3.52839154e-03 -5.77803118e+01] [-1.44203289e-02 -2.33911515e-04 9.99895994e-01 -4.52305775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:336.10, Y:-57.78, Z:-4.52 [[ 9.65746339e-01 2.59149204e-01 1.32551548e-02 3.36095184e+02] [-2.59127711e-01 9.65837278e-01 -3.34386263e-03 -5.77848819e+01] [-1.36688820e-02 -2.05454841e-04 9.99906555e-01 -4.52302176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.79576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:336.12, Y:-57.79, Z:-4.52 [[ 9.66330942e-01 2.57037893e-01 1.16632878e-02 3.36122722e+02] [-2.57021108e-01 9.66401313e-01 -2.94155510e-03 -5.77884321e+01] [-1.20275077e-02 -1.55195425e-04 9.99927655e-01 -4.52317990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82576923100004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:336.15, Y:-57.79, Z:-4.52 [[ 9.66573809e-01 2.56164140e-01 1.07240599e-02 3.36149653e+02] [-2.56149901e-01 9.66633289e-01 -2.70409668e-03 -5.77937490e+01] [-1.10589259e-02 -1.33257863e-04 9.99938839e-01 -4.52384078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.85576923100007 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:336.18, Y:-57.80, Z:-4.52 [[ 9.66806094e-01 2.55281775e-01 1.08255362e-02 3.36176987e+02] [-2.55267218e-01 9.66866692e-01 -2.72905146e-03 -5.77996378e+01] [-1.11635275e-02 -1.24940941e-04 9.99937678e-01 -4.52456263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:336.20, Y:-57.81, Z:-4.52 [[ 9.66953249e-01 2.54667967e-01 1.20681774e-02 3.36203278e+02] [-2.54649840e-01 9.67028546e-01 -3.04136736e-03 -5.78056480e+01] [-1.24448109e-02 -1.32299389e-04 9.99922552e-01 -4.52480328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91576923100007 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:336.23, Y:-57.81, Z:-4.52 [[ 9.66981367e-01 2.54501831e-01 1.32609924e-02 3.36230405e+02] [-2.54479944e-01 9.67072281e-01 -3.34081526e-03 -5.78121136e+01] [-1.36745818e-02 -1.44150495e-04 9.99906488e-01 -4.52468260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.26, Y:-57.82, Z:-4.52 [[ 9.66732781e-01 2.55471631e-01 1.27270070e-02 3.36258631e+02] [-2.55451566e-01 9.66816540e-01 -3.20545285e-03 -5.78188506e+01] [-1.31235831e-02 -1.52317519e-04 9.99913870e-01 -4.52498164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.9757692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:336.29, Y:-57.83, Z:-4.53 [[ 9.66564768e-01 2.56179646e-01 1.11596384e-02 3.36286182e+02] [-2.56164272e-01 9.66629178e-01 -2.81021331e-03 -5.78253597e+01] [-1.15071516e-02 -1.42447471e-04 9.99933780e-01 -4.52678160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:336.31, Y:-57.83, Z:-4.53 [[ 9.66480599e-01 2.56546008e-01 9.96979906e-03 3.36313185e+02] [-2.56533762e-01 9.66532011e-01 -2.51005975e-03 -5.78313299e+01] [-1.02800757e-02 -1.31666004e-04 9.99947150e-01 -4.52790492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0357692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:336.34, Y:-57.84, Z:-4.53 [[ 9.66385726e-01 2.56871940e-01 1.07440668e-02 3.36340765e+02] [-2.56857747e-01 9.66445438e-01 -2.70419392e-03 -5.78377868e+01] [-1.10781859e-02 -1.46402397e-04 9.99938624e-01 -4.52804692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06576923100005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:336.37, Y:-57.84, Z:-4.53 [[ 9.66509516e-01 2.56386353e-01 1.11979575e-02 3.36367187e+02] [-2.56370913e-01 9.66574372e-01 -2.81760806e-03 -5.78440545e+01] [-1.15460550e-02 -1.47585577e-04 9.99933331e-01 -4.52756651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0957692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:336.39, Y:-57.85, Z:-4.53 [[ 9.66639107e-01 2.55917352e-01 1.07305994e-02 3.36394081e+02] [-2.55903155e-01 9.66698655e-01 -2.69915628e-03 -5.78505087e+01] [-1.10640169e-02 -1.36884221e-04 9.99938783e-01 -4.52797075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:336.42, Y:-57.86, Z:-4.53 [[ 9.66792406e-01 2.55375494e-01 9.78781311e-03 3.36422189e+02] [-2.55363660e-01 9.66841943e-01 -2.46138432e-03 -5.78576651e+01] [-1.00918455e-02 -1.19804105e-04 9.99949069e-01 -4.52918693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1557692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:336.45, Y:-57.87, Z:-4.53 [[ 9.67223844e-01 2.53766681e-01 8.97257648e-03 3.36448517e+02] [-2.53756671e-01 9.67265456e-01 -2.25597407e-03 -5.78662127e+01] [-9.25135433e-03 -9.48192251e-05 9.99957201e-01 -4.53143184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:336.48, Y:-57.87, Z:-4.53 [[ 9.67561040e-01 2.52452986e-01 9.65004506e-03 3.36475244e+02] [-2.52441346e-01 9.67609158e-01 -2.42582179e-03 -5.78735338e+01] [-9.94987793e-03 -8.89397095e-05 9.99950495e-01 -4.53107080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2157692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:336.50, Y:-57.88, Z:-4.53 [[ 9.68051286e-01 2.50552275e-01 1.00133046e-02 3.36503234e+02] [-2.50539648e-01 9.68103069e-01 -2.51644255e-03 -5.78812020e+01] [-1.03244113e-02 -7.26843649e-05 9.99946699e-01 -4.53099644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:336.53, Y:-57.89, Z:-4.53 [[ 9.68535897e-01 2.48682243e-01 9.76511678e-03 3.36530323e+02] [-2.48670143e-01 9.68585122e-01 -2.45363587e-03 -5.78891518e+01] [-1.00685225e-02 -5.18585753e-05 9.99949310e-01 -4.53136475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.275769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:336.56, Y:-57.90, Z:-4.53 [[ 9.69205246e-01 2.46074058e-01 9.42070733e-03 3.36557376e+02] [-2.46062680e-01 9.69251029e-01 -2.36641965e-03 -5.79000228e+01] [-9.71334476e-03 -2.45381600e-05 9.99952824e-01 -4.53198636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:336.59, Y:-57.91, Z:-4.53 [[ 9.69239068e-01 2.45907331e-01 1.02573352e-02 3.36585131e+02] [-2.45893839e-01 9.69293343e-01 -2.57602544e-03 -5.79084573e+01] [-1.05758303e-02 -2.54310353e-05 9.99944074e-01 -4.53215784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.33576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:336.61, Y:-57.91, Z:-4.53 [[ 9.69066888e-01 2.46570122e-01 1.06085873e-02 3.36612183e+02] [-2.46555736e-01 9.69124953e-01 -2.66370958e-03 -5.79147478e+01] [-1.09378379e-02 -3.42953066e-05 9.99940179e-01 -4.53211469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:336.64, Y:-57.92, Z:-4.53 [[ 9.68940476e-01 2.47098384e-01 9.83572512e-03 3.36639144e+02] [-2.47086052e-01 9.68990396e-01 -2.46899939e-03 -5.79208681e+01] [-1.01408089e-02 -3.79570372e-05 9.99948580e-01 -4.53322616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.39576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:336.67, Y:-57.93, Z:-4.53 [[ 9.68916779e-01 2.47232541e-01 8.73763844e-03 3.36667460e+02] [-2.47222818e-01 9.68956175e-01 -2.19287315e-03 -5.79278484e+01] [-9.00853832e-03 -3.54320137e-05 9.99959422e-01 -4.53435851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:336.69, Y:-57.93, Z:-4.54 [[ 9.69028462e-01 2.46816408e-01 8.09323241e-03 3.36694647e+02] [-2.46808055e-01 9.69062258e-01 -2.03082381e-03 -5.79348602e+01] [-8.34408671e-03 -2.95488784e-05 9.99965187e-01 -4.53559946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.45576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:336.72, Y:-57.94, Z:-4.54 [[ 9.69398906e-01 2.45368511e-01 7.74955152e-03 3.36723240e+02] [-2.45360810e-01 9.69429881e-01 -1.94407923e-03 -5.79413493e+01] [-7.98966263e-03 -1.68479529e-05 9.99968082e-01 -4.53658877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:336.75, Y:-57.95, Z:-4.54 [[ 9.70516035e-01 2.40915845e-01 7.62760879e-03 3.36751211e+02] [-2.40908250e-01 9.70546009e-01 -1.91315914e-03 -5.79456833e+01] [-7.86385562e-03 1.91977368e-05 9.99969079e-01 -4.53663052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:336.78, Y:-57.95, Z:-4.54 [[ 9.71141605e-01 2.38354986e-01 8.41926170e-03 3.36779517e+02] [-2.38345641e-01 9.71178098e-01 -2.11106609e-03 -5.79520080e+01] [-8.67978570e-03 4.34497830e-05 9.99962329e-01 -4.53639300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:336.81, Y:-57.96, Z:-4.54 [[ 9.71871650e-01 2.35325241e-01 9.35554444e-03 3.36807637e+02] [-2.35313567e-01 9.71916676e-01 -2.34530043e-03 -5.79584525e+01] [-9.64471804e-03 7.78444643e-05 9.99953486e-01 -4.53642777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:336.84, Y:-57.97, Z:-4.54 [[ 9.71880054e-01 2.35290527e-01 9.35566305e-03 3.36836110e+02] [-2.35278856e-01 9.71925080e-01 -2.34482717e-03 -5.79655012e+01] [-9.64471918e-03 7.77010563e-05 9.99953486e-01 -4.53677961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:336.86, Y:-57.97, Z:-4.54 [[ 9.72604639e-01 2.32257175e-01 9.83972226e-03 3.36864384e+02] [-2.32244113e-01 9.72654405e-01 -2.46575114e-03 -5.79725719e+01] [-1.01433376e-02 1.12983421e-04 9.99948549e-01 -4.53717991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:336.89, Y:-57.98, Z:-4.54 [[ 9.73383632e-01 2.28983946e-01 9.52148130e-03 3.36892998e+02] [-2.28971562e-01 9.73430189e-01 -2.38563044e-03 -5.79800218e+01] [-9.81476841e-03 1.41985172e-04 9.99951824e-01 -4.53812328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:336.92, Y:-57.99, Z:-4.54 [[ 9.74660081e-01 2.23488151e-01 9.52752710e-03 3.36919808e+02] [-2.23475491e-01 9.74706626e-01 -2.38693229e-03 -5.79893296e+01] [-9.81999488e-03 1.97278817e-04 9.99951763e-01 -4.53909289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.69576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:336.95, Y:-58.00, Z:-4.54 [[ 9.75040720e-01 2.21807327e-01 9.85418558e-03 3.36947951e+02] [-2.21793703e-01 9.75090489e-01 -2.46834076e-03 -5.79986634e+01] [-1.01562187e-02 2.21136444e-04 9.99948400e-01 -4.53948503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7257692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:336.98, Y:-58.01, Z:-4.54 [[ 9.75256395e-01 2.20845901e-01 1.01020948e-02 3.36976668e+02] [-2.20831532e-01 9.75308685e-01 -2.53029156e-03 -5.80084638e+01] [-1.04114653e-02 2.36821961e-04 9.99945771e-01 -4.53927469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.00, Y:-58.02, Z:-4.54 [[ 9.75388124e-01 2.20284739e-01 9.62502008e-03 3.37004206e+02] [-2.20271668e-01 9.75435585e-01 -2.41082251e-03 -5.80179293e+01] [-9.91965450e-03 2.31368419e-04 9.99950772e-01 -4.53995388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7857692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:337.03, Y:-58.03, Z:-4.54 [[ 9.75161032e-01 2.21365115e-01 7.64504299e-03 3.37033138e+02] [-2.21356904e-01 9.75190984e-01 -1.91462267e-03 -5.80311568e+01] [-7.87920767e-03 1.74782370e-04 9.99968943e-01 -4.54158581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.81576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:337.06, Y:-58.04, Z:-4.54 [[ 9.74856028e-01 2.22722524e-01 7.09942016e-03 3.37061345e+02] [-2.22715477e-01 9.74881867e-01 -1.77833112e-03 -5.80419335e+01] [-7.31717037e-03 1.52466071e-04 9.99973218e-01 -4.54177309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8457692310001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:337.09, Y:-58.05, Z:-4.54 [[ 9.74433690e-01 2.24561595e-01 7.14659457e-03 3.37091110e+02] [-2.24554503e-01 9.74459887e-01 -1.79018069e-03 -5.80526471e+01] [-7.36607557e-03 1.39612379e-04 9.99972860e-01 -4.54249999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.87576923100005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:337.12, Y:-58.06, Z:-4.54 [[ 9.73999122e-01 2.26434473e-01 7.28964780e-03 3.37120472e+02] [-2.26427150e-01 9.74026392e-01 -1.82559721e-03 -5.80631315e+01] [-7.51368749e-03 1.27555907e-04 9.99971764e-01 -4.54283027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9057692310001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:337.15, Y:-58.08, Z:-4.54 [[ 9.73003960e-01 2.30672681e-01 7.30802027e-03 3.37146265e+02] [-2.30665424e-01 9.73031400e-01 -1.83229746e-03 -5.80764518e+01] [-7.53359416e-03 9.71250924e-05 9.99971617e-01 -4.54324303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.93576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:337.18, Y:-58.09, Z:-4.54 [[ 9.72402018e-01 2.33180301e-01 7.82698928e-03 3.37175421e+02] [-2.33172062e-01 9.72433515e-01 -1.96187308e-03 -5.80875929e+01] [-8.06869685e-03 8.26941154e-05 9.99967444e-01 -4.54341902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9657692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:337.20, Y:-58.10, Z:-4.54 [[ 9.71832664e-01 2.35529085e-01 8.20511701e-03 3.37204039e+02] [-2.35520113e-01 9.71867298e-01 -2.05691337e-03 -5.80978079e+01] [-8.45874782e-03 6.65055161e-05 9.99964222e-01 -4.54321968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.99576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:337.23, Y:-58.11, Z:-4.54 [[ 9.71093724e-01 2.38517598e-01 9.29162329e-03 3.37234215e+02] [-2.38506228e-01 9.71138174e-01 -2.32939100e-03 -5.81077442e+01] [-9.57905082e-03 4.59469565e-05 9.99954119e-01 -4.54384755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.025769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.26, Y:-58.12, Z:-4.54 [[ 9.70925570e-01 2.39183438e-01 9.73759281e-03 3.37262905e+02] [-2.39170981e-01 9.70974398e-01 -2.44146922e-03 -5.81160201e+01] [-1.00389123e-02 4.15352676e-05 9.99949608e-01 -4.54434733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.05576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.29, Y:-58.13, Z:-4.54 [[ 9.70859034e-01 2.39446140e-01 9.91374001e-03 3.37294640e+02] [-2.39433244e-01 9.70909648e-01 -2.48543022e-03 -5.81256965e+01] [-1.02204725e-02 3.93234558e-05 9.99947769e-01 -4.54449365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.33, Y:-58.14, Z:-4.54 [[ 9.70782843e-01 2.39736107e-01 1.03571790e-02 3.37326575e+02] [-2.39722024e-01 9.70838090e-01 -2.59878085e-03 -5.81356998e+01] [-1.06781655e-02 4.00079377e-05 9.99942986e-01 -4.54436779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.11576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:337.36, Y:-58.15, Z:-4.54 [[ 9.70797636e-01 2.39617204e-01 1.16424257e-02 3.37357160e+02] [-2.39599367e-01 9.70867444e-01 -2.92405774e-03 -5.81453209e+01] [-1.20039066e-02 4.91505254e-05 9.99927949e-01 -4.54416744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.39, Y:-58.15, Z:-4.54 [[ 9.70991697e-01 2.38805692e-01 1.21229622e-02 3.37388067e+02] [-2.38786257e-01 9.71067370e-01 -3.04724578e-03 -5.81536778e+01] [-1.24999127e-02 6.40535720e-05 9.99921871e-01 -4.54462651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.42, Y:-58.16, Z:-4.55 [[ 9.71295733e-01 2.37554012e-01 1.23567610e-02 3.37419926e+02] [-2.37533690e-01 9.71374327e-01 -3.10834544e-03 -5.81627993e+01] [-1.27414403e-02 8.39756283e-05 9.99918821e-01 -4.54507681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:337.45, Y:-58.17, Z:-4.55 [[ 9.71580693e-01 2.36392658e-01 1.22256930e-02 3.37452019e+02] [-2.36372642e-01 9.71657605e-01 -3.07780297e-03 -5.81722127e+01] [-1.26067576e-02 1.00514586e-04 9.99920527e-01 -4.54536196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:337.48, Y:-58.18, Z:-4.55 [[ 9.72220075e-01 2.33826343e-01 1.06474469e-02 3.37482427e+02] [-2.33810987e-01 9.72278369e-01 -2.68234242e-03 -5.81819076e+01] [-1.09794846e-02 1.18337090e-04 9.99939717e-01 -4.54640844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:337.51, Y:-58.19, Z:-4.55 [[ 9.72546366e-01 2.32506370e-01 9.71358025e-03 3.37513590e+02] [-2.32493508e-01 9.72594866e-01 -2.44868014e-03 -5.81914768e+01] [-1.00167120e-02 1.23110634e-04 9.99949824e-01 -4.54766963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.29576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:337.54, Y:-58.20, Z:-4.55 [[ 9.72895636e-01 2.31087230e-01 8.53080634e-03 3.37543919e+02] [-2.31077240e-01 9.72933028e-01 -2.15221676e-03 -5.82019279e+01] [-8.79725306e-03 1.22607114e-04 9.99961296e-01 -4.54862032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:337.57, Y:-58.22, Z:-4.55 [[ 9.73718911e-01 2.27634116e-01 7.36153853e-03 3.37574131e+02] [-2.27626576e-01 9.73746729e-01 -1.85764411e-03 -5.82174019e+01] [-7.59113723e-03 1.33141395e-04 9.99971178e-01 -4.54841546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.35576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.60, Y:-58.23, Z:-4.55 [[ 9.74082833e-01 2.26048350e-01 8.04845518e-03 3.37604617e+02] [-2.26039267e-01 9.74116070e-01 -2.03284497e-03 -5.82294859e+01] [-8.29965078e-03 1.60892482e-04 9.99965544e-01 -4.54852409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.64, Y:-58.24, Z:-4.55 [[ 9.74346681e-01 2.24863011e-01 9.22884112e-03 3.37635210e+02] [-2.24850993e-01 9.74390367e-01 -2.33320408e-03 -5.82417760e+01] [-9.51714518e-03 1.98235565e-04 9.99954691e-01 -4.54897125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.67, Y:-58.26, Z:-4.55 [[ 9.74543551e-01 2.23937836e-01 1.08033760e-02 3.37665292e+02] [-2.23921282e-01 9.74603399e-01 -2.73386791e-03 -5.82586391e+01] [-1.11412234e-02 2.45167536e-04 9.99937905e-01 -4.55024974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:337.70, Y:-58.27, Z:-4.55 [[ 9.74387097e-01 2.24635525e-01 1.04243052e-02 3.37695172e+02] [-2.24620129e-01 9.74442829e-01 -2.64004013e-03 -5.82703434e+01] [-1.07509363e-02 2.30912254e-04 9.99942180e-01 -4.55091656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.4757692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.72, Y:-58.28, Z:-4.55 [[ 9.74053669e-01 2.26096500e-01 9.99111023e-03 3.37724862e+02] [-2.26082415e-01 9.74104886e-01 -2.53218129e-03 -5.82825606e+01] [-1.03049066e-02 2.07666146e-04 9.99946881e-01 -4.55201183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.76, Y:-58.30, Z:-4.55 [[ 9.73076883e-01 2.30287615e-01 9.43361388e-03 3.37755028e+02] [-2.30275240e-01 9.73122598e-01 -2.39251238e-03 -5.82994169e+01] [-9.73102881e-03 1.55770790e-04 9.99952640e-01 -4.55251773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5357692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.79, Y:-58.31, Z:-4.55 [[ 9.72395153e-01 2.33148327e-01 9.46168909e-03 3.37785784e+02] [-2.33135994e-01 9.72441176e-01 -2.40150613e-03 -5.83117183e+01] [-9.76084320e-03 1.29352631e-04 9.99952353e-01 -4.55319311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.82, Y:-58.32, Z:-4.55 [[ 9.71629279e-01 2.36344596e-01 8.81913634e-03 3.37817258e+02] [-2.36333998e-01 9.71669297e-01 -2.23999716e-03 -5.83235697e+01] [-9.09869523e-03 9.21850720e-05 9.99958602e-01 -4.55409485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:337.85, Y:-58.33, Z:-4.56 [[ 9.70845696e-01 2.39582816e-01 7.66214100e-03 3.37848529e+02] [-2.39574908e-01 9.70875930e-01 -1.94733248e-03 -5.83343730e+01] [-7.90553566e-03 5.49026375e-05 9.99968749e-01 -4.55552269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.88, Y:-58.34, Z:-4.56 [[ 9.69996464e-01 2.43030537e-01 6.55878645e-03 3.37878493e+02] [-2.43024815e-01 9.70018638e-01 -1.66794823e-03 -5.83449523e+01] [-6.76750745e-03 2.39560187e-05 9.99977100e-01 -4.55698913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6557692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.91, Y:-58.36, Z:-4.56 [[ 9.68399718e-01 2.49353392e-01 4.98719820e-03 3.37909117e+02] [-2.49350166e-01 9.68412560e-01 -1.26860972e-03 -5.83576890e+01] [-5.14599751e-03 -1.50374068e-05 9.99986759e-01 -4.55723539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.94, Y:-58.37, Z:-4.56 [[ 9.67646877e-01 2.52253840e-01 5.24610326e-03 3.37940189e+02] [-2.52250306e-01 9.67661097e-01 -1.33560623e-03 -5.83676865e+01] [-5.41336183e-03 -3.09359590e-05 9.99985347e-01 -4.55650652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7157692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.97, Y:-58.38, Z:-4.56 [[ 9.66890688e-01 2.55110605e-01 6.40127978e-03 3.37970488e+02] [-2.55105394e-01 9.66911876e-01 -1.63154712e-03 -5.83772573e+01] [-6.60569841e-03 -5.54732797e-05 9.99978181e-01 -4.55665146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.00, Y:-58.39, Z:-4.56 [[ 9.66202043e-01 2.57680148e-01 7.38601036e-03 3.38001551e+02] [-2.57673272e-01 9.66230270e-01 -1.88424341e-03 -5.83862408e+01] [-7.62211890e-03 -8.26176293e-05 9.99970948e-01 -4.55669703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.03, Y:-58.39, Z:-4.56 [[ 9.65664311e-01 2.59681646e-01 7.60795967e-03 3.38033295e+02] [-2.59674402e-01 9.65694275e-01 -1.94221395e-03 -5.83947126e+01] [-7.85132041e-03 -1.00065689e-04 9.99969173e-01 -4.55769875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:338.06, Y:-58.40, Z:-4.56 [[ 9.64765479e-01 2.63020793e-01 6.90169202e-03 3.38064254e+02] [-2.63014908e-01 9.64790158e-01 -1.76309227e-03 -5.84012899e+01] [-7.12241446e-03 -1.14277332e-04 9.99974629e-01 -4.55925431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.83576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.10, Y:-58.41, Z:-4.56 [[ 9.64230504e-01 2.64980229e-01 6.70925795e-03 3.38096953e+02] [-2.64974708e-01 9.64253837e-01 -1.71505005e-03 -5.84084004e+01] [-6.92388208e-03 -1.24080092e-04 9.99976022e-01 -4.55989851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.13, Y:-58.42, Z:-4.56 [[ 9.63690222e-01 2.66921859e-01 7.34007066e-03 3.38128197e+02] [-2.66915295e-01 9.63718164e-01 -1.87790591e-03 -5.84157323e+01] [-7.57501355e-03 -1.49457563e-04 9.99971298e-01 -4.55946258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.89576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.16, Y:-58.42, Z:-4.56 [[ 9.63241120e-01 2.68491299e-01 8.88635315e-03 3.38159748e+02] [-2.68481727e-01 9.63282090e-01 -2.27543138e-03 -5.84237039e+01] [-9.17099836e-03 -1.94034369e-04 9.99957927e-01 -4.55912052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.19, Y:-58.43, Z:-4.56 [[ 9.62709244e-01 2.70319341e-01 1.08796343e-02 3.38190239e+02] [-2.70305082e-01 9.62770683e-01 -2.78829338e-03 -5.84315888e+01] [-1.12283225e-02 -2.56504616e-04 9.99936927e-01 -4.55878236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.22, Y:-58.44, Z:-4.56 [[ 9.62699228e-01 2.70389443e-01 9.98726574e-03 3.38222757e+02] [-2.70377413e-01 9.62751003e-01 -2.56127613e-03 -5.84394795e+01] [-1.03077921e-02 -2.34592524e-04 9.99946846e-01 -4.56028223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.25, Y:-58.45, Z:-4.56 [[ 9.62578242e-01 2.70891908e-01 7.79119608e-03 3.38253268e+02] [-2.70884603e-01 9.62609754e-01 -1.99815617e-03 -5.84472005e+01] [-8.04116568e-03 -1.87133407e-04 9.99967652e-01 -4.56323736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.28, Y:-58.46, Z:-4.56 [[ 9.62498768e-01 2.71182154e-01 7.50733807e-03 3.38284357e+02] [-2.71175371e-01 9.62528029e-01 -1.92659835e-03 -5.84554305e+01] [-7.74848240e-03 -1.81456645e-04 9.99969964e-01 -4.56330136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.32, Y:-58.46, Z:-4.56 [[ 9.62392101e-01 2.71551152e-01 7.83687346e-03 3.38316722e+02] [-2.71543761e-01 9.62423989e-01 -2.01256639e-03 -5.84640078e+01] [-8.08890975e-03 -1.91176105e-04 9.99967266e-01 -4.56274284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.35, Y:-58.47, Z:-4.56 [[ 9.62311765e-01 2.71816102e-01 8.48959521e-03 3.38347379e+02] [-2.71807421e-01 9.62349190e-01 -2.18215263e-03 -5.84715107e+01] [-8.76309929e-03 -2.07623831e-04 9.99961582e-01 -4.56194765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.38, Y:-58.48, Z:-4.56 [[ 9.62329671e-01 2.71747590e-01 8.65163632e-03 3.38379209e+02] [-2.71738566e-01 9.62368538e-01 -2.22462574e-03 -5.84793249e+01] [-8.93059928e-03 -2.10159885e-04 9.99960099e-01 -4.56133126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.41, Y:-58.49, Z:-4.56 [[ 9.62597435e-01 2.70777411e-01 9.26125363e-03 3.38411266e+02] [-2.70767008e-01 9.62641962e-01 -2.38320846e-03 -5.84876636e+01] [-9.56059039e-03 -2.13571585e-04 9.99954274e-01 -4.56171334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.44, Y:-58.50, Z:-4.56 [[ 9.62701620e-01 2.70388253e-01 9.78685940e-03 3.38442090e+02] [-2.70376596e-01 9.62751341e-01 -2.52037353e-03 -5.84967361e+01] [-1.01037914e-02 -2.19770047e-04 9.99948931e-01 -4.56243184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.19576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.47, Y:-58.51, Z:-4.56 [[ 9.62751730e-01 2.70173791e-01 1.07344393e-02 3.38474046e+02] [-2.70159732e-01 9.62811543e-01 -2.76639049e-03 -5.85057441e+01] [-1.10826483e-02 -2.36666009e-04 9.99938558e-01 -4.56342823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.51, Y:-58.51, Z:-4.56 [[ 9.62791952e-01 2.70004349e-01 1.13713573e-02 3.38505180e+02] [-2.69988535e-01 9.62859071e-01 -2.93268940e-03 -5.85137802e+01] [-1.17408534e-02 -2.46566352e-04 9.99931043e-01 -4.56332539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.54, Y:-58.52, Z:-4.56 [[ 9.62983149e-01 2.69313082e-01 1.15722923e-02 3.38537871e+02] [-2.69296630e-01 9.63052650e-01 -2.98647235e-03 -5.85208753e+01] [-1.19490229e-02 -2.40456774e-04 9.99928579e-01 -4.56395014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.57, Y:-58.53, Z:-4.56 [[ 9.63106490e-01 2.68897827e-01 1.09475311e-02 3.38569196e+02] [-2.68883056e-01 9.63168682e-01 -2.82707968e-03 -5.85287888e+01] [-1.13045147e-02 -2.20826839e-04 9.99936078e-01 -4.56437762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.60, Y:-58.54, Z:-4.56 [[ 9.63124319e-01 2.68844951e-01 1.06741918e-02 3.38600885e+02] [-2.68830886e-01 9.63183444e-01 -2.75819929e-03 -5.85375294e+01] [-1.10227328e-02 -2.13063622e-04 9.99939225e-01 -4.56492799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.63, Y:-58.55, Z:-4.57 [[ 9.63437516e-01 2.67728643e-01 1.04655090e-02 3.38632424e+02] [-2.67715037e-01 9.63494336e-01 -2.70607779e-03 -5.85465932e+01] [-1.08079532e-02 -1.94637257e-04 9.99941573e-01 -4.56604185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.66, Y:-58.55, Z:-4.57 [[ 9.63703454e-01 2.66772389e-01 1.03993281e-02 3.38664447e+02] [-2.66758880e-01 9.63759545e-01 -2.69076168e-03 -5.85546506e+01] [-1.07402726e-02 -1.81016790e-04 9.99942305e-01 -4.56648040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.70, Y:-58.56, Z:-4.57 [[ 9.63971286e-01 2.65812848e-01 1.01434713e-02 3.38695690e+02] [-2.65799922e-01 9.64024638e-01 -2.62654592e-03 -5.85622011e+01] [-1.04767259e-02 -1.64219021e-04 9.99945104e-01 -4.56713779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.73, Y:-58.57, Z:-4.57 [[ 9.64245717e-01 2.64837498e-01 9.55490576e-03 3.38727657e+02] [-2.64825972e-01 9.64293046e-01 -2.47503705e-03 -5.85706956e+01] [-9.86921180e-03 -1.43843330e-04 9.99951288e-01 -4.56742435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.76, Y:-58.58, Z:-4.57 [[ 9.64911707e-01 2.62431955e-01 8.65255612e-03 3.38757534e+02] [-2.62422390e-01 9.64950495e-01 -2.24302256e-03 -5.85816227e+01] [-8.93792911e-03 -1.06305732e-04 9.99960050e-01 -4.56786800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.79, Y:-58.59, Z:-4.57 [[ 9.64891205e-01 2.62507333e-01 8.65226709e-03 3.38789913e+02] [-2.62497762e-01 9.64929992e-01 -2.24413686e-03 -5.85901675e+01] [-8.93793439e-03 -1.05852821e-04 9.99960050e-01 -4.56827006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.82, Y:-58.60, Z:-4.57 [[ 9.64928560e-01 2.62338685e-01 9.55453312e-03 3.38821531e+02] [-2.62326999e-01 9.64975855e-01 -2.47880333e-03 -5.85995926e+01] [-9.87017977e-03 -1.14543876e-04 9.99951282e-01 -4.56798806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.85, Y:-58.61, Z:-4.57 [[ 9.64749813e-01 2.62938600e-01 1.10041719e-02 3.38853035e+02] [-2.62923107e-01 9.64812559e-01 -2.85756695e-03 -5.86074138e+01] [-1.13683279e-02 -1.36413895e-04 9.99935369e-01 -4.56718107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.88, Y:-58.61, Z:-4.57 [[ 9.63852505e-01 2.66136148e-01 1.26451440e-02 3.38884561e+02] [-2.66115941e-01 9.63935429e-01 -3.28553053e-03 -5.86123793e+01] [-1.30635008e-02 -1.98307579e-04 9.99914649e-01 -4.56570817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.92, Y:-58.62, Z:-4.57 [[ 9.63257537e-01 2.68318777e-01 1.18300693e-02 3.38917337e+02] [-2.68301239e-01 9.63330156e-01 -3.07512154e-03 -5.86189748e+01] [-1.22213754e-02 -2.11888248e-04 9.99925294e-01 -4.56606783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.95, Y:-58.63, Z:-4.57 [[ 9.62681651e-01 2.70451063e-01 1.00130825e-02 3.38948583e+02] [-2.70438596e-01 9.62733703e-01 -2.60449892e-03 -5.86251584e+01] [-1.03443215e-02 -2.00620646e-04 9.99946476e-01 -4.56658789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.98, Y:-58.63, Z:-4.57 [[ 9.62161673e-01 2.72333553e-01 8.90794361e-03 3.38980976e+02] [-2.72323754e-01 9.62202888e-01 -2.31845270e-03 -5.86311130e+01] [-9.20264153e-03 -1.95118317e-04 9.99957636e-01 -4.56755228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.01, Y:-58.63, Z:-4.57 [[ 9.61548562e-01 2.74500301e-01 8.59926883e-03 3.39013671e+02] [-2.74491241e-01 9.61586991e-01 -2.23980519e-03 -5.86329268e+01] [-8.88377224e-03 -2.06742507e-04 9.99960517e-01 -4.56875429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.05, Y:-58.64, Z:-4.57 [[ 9.61517119e-01 2.74602733e-01 8.84133905e-03 3.39046717e+02] [-2.74593144e-01 9.61557744e-01 -2.30456253e-03 -5.86388480e+01] [-9.13429720e-03 -2.11894759e-04 9.99958259e-01 -4.56913044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.08, Y:-58.65, Z:-4.57 [[ 9.61815458e-01 2.73544380e-01 9.19221976e-03 3.39077644e+02] [-2.73533949e-01 9.61859360e-01 -2.39794216e-03 -5.86451010e+01] [-9.49756622e-03 -2.08006331e-04 9.99954875e-01 -4.56929760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.11, Y:-58.65, Z:-4.57 [[ 9.62345525e-01 2.71650123e-01 9.86412249e-03 3.39109781e+02] [-2.71637991e-01 9.62396057e-01 -2.57515888e-03 -5.86519176e+01] [-1.01927348e-02 -2.01277787e-04 9.99948032e-01 -4.56949400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.14, Y:-58.66, Z:-4.57 [[ 9.63410800e-01 2.67829734e-01 1.03375025e-02 3.39141853e+02] [-2.67816167e-01 9.63466245e-01 -2.70086188e-03 -5.86576499e+01] [-1.06832058e-02 -1.66510793e-04 9.99942919e-01 -4.56932149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.17, Y:-58.67, Z:-4.57 [[ 9.63773522e-01 2.66530662e-01 1.00997303e-02 3.39173953e+02] [-2.66517623e-01 9.63826429e-01 -2.64049623e-03 -5.86653056e+01] [-1.04381602e-02 -1.46915751e-04 9.99945510e-01 -4.56935963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.21, Y:-58.67, Z:-4.57 [[ 9.64184919e-01 2.65079972e-01 8.94703801e-03 3.39205494e+02] [-2.65069663e-01 9.64226423e-01 -2.34064242e-03 -5.86728191e+01] [-9.24742789e-03 -1.14776230e-04 9.99957235e-01 -4.57053317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.24, Y:-58.68, Z:-4.57 [[ 9.64415163e-01 2.64284022e-01 7.57294050e-03 3.39237146e+02] [-2.64276604e-01 9.64444891e-01 -1.98215928e-03 -5.86805349e+01] [-7.82753680e-03 -8.97265326e-05 9.99969360e-01 -4.57133454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.27, Y:-58.69, Z:-4.57 [[ 9.64512324e-01 2.63951429e-01 6.75428346e-03 3.39268654e+02] [-2.63945510e-01 9.64535970e-01 -1.76930084e-03 -5.86879946e+01] [-6.98175884e-03 -7.62503259e-05 9.99975624e-01 -4.57275650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.30, Y:-58.70, Z:-4.57 [[ 9.64488171e-01 2.64001819e-01 8.09985624e-03 3.39300643e+02] [-2.63993300e-01 9.64522178e-01 -2.12279155e-03 -5.86973489e+01] [-8.37291181e-03 -9.09004365e-05 9.99964942e-01 -4.57348474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.33, Y:-58.71, Z:-4.57 [[ 9.64445905e-01 2.64097918e-01 9.81760905e-03 3.39331811e+02] [-2.64085383e-01 9.64495867e-01 -2.57532022e-03 -5.87069355e+01] [-1.01491801e-02 -1.08930005e-04 9.99948490e-01 -4.57312428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.36, Y:-58.72, Z:-4.57 [[ 9.64289770e-01 2.64604403e-01 1.13907934e-02 3.39362512e+02] [-2.64587533e-01 9.64357036e-01 -2.99068163e-03 -5.87164010e+01] [-1.17761393e-02 -1.29978236e-04 9.99930650e-01 -4.57257459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.39, Y:-58.73, Z:-4.57 [[ 9.63868471e-01 2.66096238e-01 1.22622171e-02 3.39393622e+02] [-2.66076778e-01 9.63946455e-01 -3.22196794e-03 -5.87258861e+01] [-1.26774742e-02 -1.57137892e-04 9.99919625e-01 -4.57194474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.42, Y:-58.74, Z:-4.57 [[ 9.62504899e-01 2.71047629e-01 1.08398281e-02 3.39424070e+02] [-2.71032713e-01 9.62565917e-01 -2.85018424e-03 -5.87355688e+01] [-1.12065848e-02 -1.94631729e-04 9.99937185e-01 -4.57117538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.46, Y:-58.74, Z:-4.57 [[ 9.61490644e-01 2.74693657e-01 8.89588441e-03 3.39456528e+02] [-2.74683755e-01 9.61531777e-01 -2.34031332e-03 -5.87435965e+01] [-9.19654477e-03 -1.93365574e-04 9.99957692e-01 -4.57261693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.49, Y:-58.75, Z:-4.57 [[ 9.60348474e-01 2.78716806e-01 6.91020274e-03 3.39488506e+02] [-2.78710929e-01 9.60373318e-01 -1.81880381e-03 -5.87508258e+01] [-7.14330552e-03 -1.79263561e-04 9.99974470e-01 -4.57336854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18576923100005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.52, Y:-58.76, Z:-4.57 [[ 9.59029745e-01 2.83234378e-01 6.34319458e-03 3.39520285e+02] [-2.83229517e-01 9.59050702e-01 -1.67062479e-03 -5.87581476e+01] [-6.55662359e-03 -1.94401074e-04 9.99978486e-01 -4.57415339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.55, Y:-58.77, Z:-4.57 [[ 9.57682801e-01 2.87747852e-01 6.69524716e-03 3.39551727e+02] [-2.87742533e-01 9.57706175e-01 -1.76526945e-03 -5.87652700e+01] [-6.92003204e-03 -2.35939189e-04 9.99976028e-01 -4.57411252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.58, Y:-58.77, Z:-4.57 [[ 9.56454396e-01 2.91780173e-01 7.70186134e-03 3.39581042e+02] [-2.91773252e-01 9.56485357e-01 -2.03249484e-03 -5.87713114e+01] [-7.95975929e-03 -3.03208497e-04 9.99968275e-01 -4.57357905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.61, Y:-58.77, Z:-4.57 [[ 9.54572419e-01 2.97857128e-01 8.52223171e-03 3.39613599e+02] [-2.97848902e-01 9.54610380e-01 -2.24815427e-03 -5.87736834e+01] [-8.80503963e-03 -3.92311298e-04 9.99961158e-01 -4.57328806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.65, Y:-58.77, Z:-4.57 [[ 9.53630683e-01 3.00890226e-01 7.32069121e-03 3.39645633e+02] [-3.00884233e-01 9.53658714e-01 -1.93282732e-03 -5.87746273e+01] [-7.56300981e-03 -3.59477123e-04 9.99971335e-01 -4.57381947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.68, Y:-58.78, Z:-4.57 [[ 9.53450938e-01 3.01476894e-01 6.55681307e-03 3.39675740e+02] [-3.01472101e-01 9.53473427e-01 -1.73109798e-03 -5.87787623e+01] [-6.77363307e-03 -3.26179216e-04 9.99977005e-01 -4.57397163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.71, Y:-58.78, Z:-4.57 [[ 9.53426560e-01 3.01557142e-01 6.40966762e-03 3.39706425e+02] [-3.01552559e-01 9.53448052e-01 -1.69293990e-03 -5.87820939e+01] [-6.62180322e-03 -3.18757806e-04 9.99978025e-01 -4.57457194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.74, Y:-58.78, Z:-4.58 [[ 9.53408290e-01 3.01601965e-01 6.99198989e-03 3.39736385e+02] [-3.01596511e-01 9.53433864e-01 -1.84685917e-03 -5.87842542e+01] [-7.22341629e-03 -3.47948920e-04 9.99973850e-01 -4.57503328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.77, Y:-58.79, Z:-4.57 [[ 9.53367653e-01 3.01705456e-01 7.99596432e-03 3.39765894e+02] [-3.01698328e-01 9.53401101e-01 -2.11185162e-03 -5.87859961e+01] [-8.26051834e-03 -3.98998045e-04 9.99965802e-01 -4.57487000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.80, Y:-58.78, Z:-4.58 [[ 9.53936825e-01 2.99856832e-01 9.50859735e-03 3.39796528e+02] [-2.99846665e-01 9.53984105e-01 -2.51095090e-03 -5.87833231e+01] [-9.82397652e-03 -4.55832677e-04 9.99951640e-01 -4.57560366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.83, Y:-58.79, Z:-4.58 [[ 9.54643669e-01 2.97593341e-01 9.67822056e-03 3.39825601e+02] [-2.97582697e-01 9.54692626e-01 -2.55526313e-03 -5.87871427e+01] [-1.00001551e-02 -4.40705199e-04 9.99949900e-01 -4.57590896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.85, Y:-58.79, Z:-4.58 [[ 9.55636463e-01 2.94395996e-01 9.48413798e-03 3.39853540e+02] [-2.94385622e-01 9.55683440e-01 -2.50359603e-03 -5.87913840e+01] [-9.80088226e-03 -3.99466195e-04 9.99951890e-01 -4.57570099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.88, Y:-58.80, Z:-4.58 [[ 9.56749615e-01 2.90773455e-01 8.99847141e-03 3.39882163e+02] [-2.90763961e-01 9.56791868e-01 -2.37485363e-03 -5.87965679e+01] [-9.30020866e-03 -3.44290896e-04 9.99956693e-01 -4.57551616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.91, Y:-58.80, Z:-4.58 [[ 9.59228627e-01 2.82525251e-01 7.74108820e-03 3.39910495e+02] [-2.82517957e-01 9.59259835e-01 -2.04275109e-03 -5.87989903e+01] [-8.00284375e-03 -2.27531106e-04 9.99967951e-01 -4.57608847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.94, Y:-58.80, Z:-4.58 [[ 9.60367905e-01 2.78635206e-01 7.47722193e-03 3.39938810e+02] [-2.78628288e-01 9.60396994e-01 -1.97262877e-03 -5.88033409e+01] [-7.73074529e-03 -1.88916178e-04 9.99970099e-01 -4.57634999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.97, Y:-58.81, Z:-4.58 [[ 9.61278865e-01 2.75465081e-01 7.86980050e-03 3.39966764e+02] [-2.75457313e-01 9.61311063e-01 -2.07582373e-03 -5.88079464e+01] [-8.13714323e-03 -1.72348628e-04 9.99966878e-01 -4.57653113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.00, Y:-58.81, Z:-4.58 [[ 9.62553001e-01 2.70957487e-01 8.58837914e-03 3.39995261e+02] [-2.70948062e-01 9.62591304e-01 -2.26472870e-03 -5.88110586e+01] [-8.88074427e-03 -1.47083276e-04 9.99960555e-01 -4.57695505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.02, Y:-58.82, Z:-4.58 [[ 9.62876753e-01 2.69814172e-01 8.28678602e-03 3.40023109e+02] [-2.69805358e-01 9.62912403e-01 -2.18485132e-03 -5.88162237e+01] [-8.56895288e-03 -1.32076718e-04 9.99963277e-01 -4.57723374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.05, Y:-58.82, Z:-4.58 [[ 9.63006403e-01 2.69345268e-01 8.47314562e-03 3.40050980e+02] [-2.69336040e-01 9.63043670e-01 -2.23344560e-03 -5.88211568e+01] [-8.76157725e-03 -1.31301072e-04 9.99961608e-01 -4.57758404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.08, Y:-58.83, Z:-4.58 [[ 9.62863028e-01 2.69838370e-01 9.05777753e-03 3.40079514e+02] [-2.69827851e-01 9.62905620e-01 -2.38693801e-03 -5.88267648e+01] [-9.36587235e-03 -1.45746287e-04 9.99956129e-01 -4.57720268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.11, Y:-58.83, Z:-4.58 [[ 9.62678800e-01 2.70460946e-01 1.00202521e-02 3.40107074e+02] [-2.70448114e-01 9.62730932e-01 -2.64000784e-03 -5.88302889e+01] [-1.03608257e-02 -1.68478701e-04 9.99946311e-01 -4.57652994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.14, Y:-58.84, Z:-4.58 [[ 9.62562046e-01 2.70877508e-01 9.98415614e-03 3.40135127e+02] [-2.70864796e-01 9.62613809e-01 -2.62983281e-03 -5.88350019e+01] [-1.03232491e-02 -1.72979173e-04 9.99946699e-01 -4.57736509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.16, Y:-58.84, Z:-4.58 [[ 9.62393869e-01 2.71486794e-01 9.64169742e-03 3.40162869e+02] [-2.71474975e-01 9.62442149e-01 -2.53917938e-03 -5.88392441e+01] [-9.96892965e-03 -1.73788907e-04 9.99950294e-01 -4.57804297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.19, Y:-58.84, Z:-4.58 [[ 9.61941638e-01 2.73133056e-01 8.16201823e-03 3.40191390e+02] [-2.73124649e-01 9.61976251e-01 -2.14913311e-03 -5.88406162e+01] [-8.43866699e-03 -1.61907743e-04 9.99964381e-01 -4.57871952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.22, Y:-58.84, Z:-4.58 [[ 9.61679009e-01 2.74086492e-01 7.07660105e-03 3.40219700e+02] [-2.74080201e-01 9.61705034e-01 -1.86291450e-03 -5.88447474e+01] [-7.31620256e-03 -1.48030470e-04 9.99973225e-01 -4.57846966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.25, Y:-58.85, Z:-4.58 [[ 9.61341992e-01 2.75278861e-01 6.56677646e-03 3.40246924e+02] [-2.75273474e-01 9.61364409e-01 -1.72832244e-03 -5.88477429e+01] [-6.78883580e-03 -1.46150435e-04 9.99976945e-01 -4.57889738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.28, Y:-58.85, Z:-4.58 [[ 9.60158332e-01 2.79410367e-01 5.08165120e-03 3.40276965e+02] [-2.79407201e-01 9.60171770e-01 -1.33716897e-03 -5.88454737e+01] [-5.25287690e-03 -1.35956005e-04 9.99986194e-01 -4.57909227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.30, Y:-58.85, Z:-4.58 [[ 9.59539536e-01 2.81538201e-01 4.48564375e-03 3.40304543e+02] [-2.81535758e-01 9.59550011e-01 -1.18017851e-03 -5.88481060e+01] [-4.63646485e-03 -1.30441170e-04 9.99989243e-01 -4.57944471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.33, Y:-58.85, Z:-4.58 [[ 9.59105913e-01 2.83009432e-01 4.63774477e-03 3.40331413e+02] [-2.83006840e-01 9.59117115e-01 -1.21972231e-03 -5.88507516e+01] [-4.79333331e-03 -1.42670608e-04 9.99988502e-01 -4.58017775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.36, Y:-58.85, Z:-4.58 [[ 9.58956583e-01 2.83505972e-01 5.16106226e-03 3.40359435e+02] [-2.83502773e-01 9.58970457e-01 -1.35666548e-03 -5.88529572e+01] [-5.33392900e-03 -1.62192168e-04 9.99985761e-01 -4.57985933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.39, Y:-58.85, Z:-4.58 [[ 9.59317390e-01 2.82253070e-01 6.58403885e-03 3.40388700e+02] [-2.82247836e-01 9.59339963e-01 -1.73029598e-03 -5.88485519e+01] [-6.80471295e-03 -1.98427696e-04 9.99976828e-01 -4.57835672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.42, Y:-58.85, Z:-4.58 [[ 9.59629338e-01 2.81185767e-01 6.78962298e-03 3.40417548e+02] [-2.81180183e-01 9.59653336e-01 -1.78306110e-03 -5.88500643e+01] [-7.01705575e-03 -1.98029694e-04 9.99975361e-01 -4.57910658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.45, Y:-58.85, Z:-4.58 [[ 9.60035613e-01 2.79800650e-01 6.57396920e-03 3.40446036e+02] [-2.79795386e-01 9.60058104e-01 -1.72597082e-03 -5.88528226e+01] [-6.79432017e-03 -1.82372792e-04 9.99976902e-01 -4.58007995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.17576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:340.47, Y:-58.86, Z:-4.58 [[ 9.60517686e-01 2.78138579e-01 6.68620817e-03 3.40473985e+02] [-2.78133097e-01 9.60540942e-01 -1.75493641e-03 -5.88555592e+01] [-6.91049221e-03 -1.74008329e-04 9.99976107e-01 -4.58102251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.50, Y:-58.85, Z:-4.58 [[ 9.61273841e-01 2.75500909e-01 7.20089585e-03 3.40503693e+02] [-2.75494480e-01 9.61300796e-01 -1.88943627e-03 -5.88545543e+01] [-7.44276833e-03 -1.67541400e-04 9.99972288e-01 -4.58083204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.53, Y:-58.86, Z:-4.58 [[ 9.61497842e-01 2.74708217e-01 7.56938769e-03 3.40530623e+02] [-2.74701093e-01 9.61527621e-01 -1.98575283e-03 -5.88570930e+01] [-7.82367796e-03 -1.70022011e-04 9.99969380e-01 -4.58069252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.56, Y:-58.86, Z:-4.58 [[ 9.61620183e-01 2.74269229e-01 7.93809138e-03 3.40558004e+02] [-2.74261390e-01 9.61652931e-01 -2.08110439e-03 -5.88604790e+01] [-8.20447174e-03 -1.75879990e-04 9.99966327e-01 -4.58085052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.59, Y:-58.86, Z:-4.58 [[ 9.61813584e-01 2.73588391e-01 8.00142803e-03 3.40585500e+02] [-2.73580405e-01 9.61846850e-01 -2.09741537e-03 -5.88643239e+01] [-8.26997685e-03 -1.71711328e-04 9.99965788e-01 -4.58172581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.61, Y:-58.86, Z:-4.58 [[ 9.61991646e-01 2.72966410e-01 7.83654881e-03 3.40614383e+02] [-2.72958742e-01 9.62023551e-01 -2.05267479e-03 -5.88642191e+01] [-8.09925577e-03 -1.64398505e-04 9.99967187e-01 -4.58234035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.64, Y:-58.87, Z:-4.58 [[ 9.61842595e-01 2.73507751e-01 7.23415488e-03 3.40641644e+02] [-2.73501243e-01 9.61869786e-01 -1.89333640e-03 -5.88671150e+01] [-7.47615719e-03 -1.57458756e-04 9.99972041e-01 -4.58257600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.67, Y:-58.87, Z:-4.58 [[ 9.61890385e-01 2.73339627e-01 7.23434370e-03 3.40669252e+02] [-2.73333120e-01 9.61917576e-01 -1.89261463e-03 -5.88741370e+01] [-7.47616893e-03 -1.56897925e-04 9.99972041e-01 -4.58291772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.70, Y:-58.88, Z:-4.58 [[ 9.61568029e-01 2.74477882e-01 6.98704325e-03 3.40695849e+02] [-2.74471854e-01 9.61593400e-01 -1.82622385e-03 -5.88773543e+01] [-7.21995273e-03 -1.61708250e-04 9.99973923e-01 -4.58273108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.72, Y:-58.88, Z:-4.58 [[ 9.60903817e-01 2.76813022e-01 6.19714102e-03 3.40724332e+02] [-2.76808328e-01 9.60923788e-01 -1.61991261e-03 -5.88781001e+01] [-6.40339312e-03 -1.58840036e-04 9.99979485e-01 -4.58257084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.75, Y:-58.88, Z:-4.58 [[ 9.60815001e-01 2.77136320e-01 5.47665593e-03 3.40752034e+02] [-2.77132663e-01 9.60830599e-01 -1.43081156e-03 -5.88823674e+01] [-5.65866845e-03 -1.43015033e-04 9.99983979e-01 -4.58386592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.78, Y:-58.89, Z:-4.59 [[ 9.60891016e-01 2.76874472e-01 5.38351435e-03 3.40778220e+02] [-2.76870944e-01 9.60906087e-01 -1.40477057e-03 -5.88872151e+01] [-5.56199682e-03 -1.40707279e-04 9.99984522e-01 -4.58562435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.81, Y:-58.89, Z:-4.59 [[ 9.61104720e-01 2.76123168e-01 5.80632268e-03 3.40805631e+02] [-2.76119050e-01 9.61122247e-01 -1.51516407e-03 -5.88931670e+01] [-5.99895780e-03 -1.47004963e-04 9.99981995e-01 -4.58598057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.83, Y:-58.90, Z:-4.58 [[ 9.61935638e-01 2.73201437e-01 6.38780980e-03 3.40833578e+02] [-2.73196398e-01 9.61956836e-01 -1.66543115e-03 -5.88979377e+01] [-6.59979549e-03 -1.43089049e-04 9.99978211e-01 -4.58493178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.86, Y:-58.90, Z:-4.58 [[ 9.62448896e-01 2.71405455e-01 5.58583501e-03 3.40860442e+02] [-2.71401579e-01 9.62465098e-01 -1.45516612e-03 -5.89028452e+01] [-5.77111127e-03 -1.15481418e-04 9.99983340e-01 -4.58465465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.89, Y:-58.91, Z:-4.58 [[ 9.62742808e-01 2.70357525e-01 5.75279083e-03 3.40886561e+02] [-2.70353400e-01 9.62759989e-01 -1.49783671e-03 -5.89076672e+01] [-5.94350826e-03 -1.13255035e-04 9.99982331e-01 -4.58486649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.91, Y:-58.91, Z:-4.59 [[ 9.62869497e-01 2.69888338e-01 6.52818418e-03 3.40914011e+02] [-2.69883020e-01 9.62891619e-01 -1.69896727e-03 -5.89132753e+01] [-6.74446529e-03 -1.25962305e-04 9.99977248e-01 -4.58583876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.94, Y:-58.92, Z:-4.59 [[ 9.62925667e-01 2.69677235e-01 6.95340254e-03 3.40941676e+02] [-2.69671206e-01 9.62950763e-01 -1.80815201e-03 -5.89193256e+01] [-7.18340171e-03 -1.34016469e-04 9.99974190e-01 -4.58665319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.97, Y:-58.92, Z:-4.59 [[ 9.63028830e-01 2.69348115e-01 5.20236312e-03 3.40969187e+02] [-2.69344739e-01 9.63042877e-01 -1.35237058e-03 -5.89244430e+01] [-5.37435721e-03 -9.88572792e-05 9.99985553e-01 -4.58797112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.00, Y:-58.93, Z:-4.59 [[ 9.63265387e-01 2.68535674e-01 2.89587949e-03 3.40996623e+02] [-2.68534623e-01 9.63269738e-01 -7.53221047e-04 -5.89291828e+01] [-2.99177980e-03 -5.20921421e-05 9.99995523e-01 -4.58856913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.02, Y:-58.93, Z:-4.59 [[ 9.63754490e-01 2.66787139e-01 1.38010147e-03 3.41024271e+02] [-2.66786897e-01 9.63755478e-01 -3.59851801e-04 -5.89336793e+01] [-1.42608419e-03 -2.13842009e-05 9.99998983e-01 -4.58940163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.05, Y:-58.94, Z:-4.59 [[ 9.64939709e-01 2.62458336e-01 2.64213122e-03 3.41051276e+02] [-2.62457441e-01 9.64943325e-01 -6.86296576e-04 -5.89392480e+01] [-2.72963114e-03 -3.12121795e-05 9.99996274e-01 -4.58927758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.08, Y:-58.95, Z:-4.59 [[ 9.65495829e-01 2.60382800e-01 4.31288329e-03 3.41076847e+02] [-2.60380405e-01 9.65505461e-01 -1.11752653e-03 -5.89473290e+01] [-4.45509706e-03 -4.40230905e-05 9.99990075e-01 -4.58961122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.10, Y:-58.95, Z:-4.59 [[ 9.66092682e-01 2.58142179e-01 5.24826744e-03 3.41102863e+02] [-2.58138604e-01 9.66106937e-01 -1.35925203e-03 -5.89548903e+01] [-5.42126786e-03 -4.16169927e-05 9.99985304e-01 -4.58900609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.13, Y:-58.96, Z:-4.59 [[ 9.67101317e-01 2.54362053e-01 3.87138103e-03 3.41130056e+02] [-2.54360075e-01 9.67109066e-01 -1.00339075e-03 -5.89612597e+01] [-3.99927222e-03 -1.43442483e-05 9.99992003e-01 -4.58984900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:341.16, Y:-58.97, Z:-4.59 [[ 9.67461671e-01 2.53009042e-01 2.08340972e-03 3.41157356e+02] [-2.53008464e-01 9.67463914e-01 -5.40585129e-04 -5.89682886e+01] [-2.15239664e-03 -4.12490111e-06 9.99997684e-01 -4.59140902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.18, Y:-58.98, Z:-4.59 [[ 9.67848792e-01 2.51531830e-01 6.73971040e-04 3.41184458e+02] [-2.51531769e-01 9.67849027e-01 -1.76191756e-04 -5.89760561e+01] [-6.96620050e-04 1.00185028e-06 9.99999757e-01 -4.59230664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.21, Y:-58.99, Z:-4.59 [[ 9.68819651e-01 2.47766831e-01 -2.85774147e-04 3.41209445e+02] [-2.47766821e-01 9.68819693e-01 7.28484973e-05 -5.89855172e+01] [ 2.94913062e-04 2.28295952e-07 9.99999957e-01 -4.59318438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.24, Y:-58.99, Z:-4.59 [[ 9.69449037e-01 2.45292658e-01 2.77483111e-04 3.41236677e+02] [-2.45292647e-01 9.69449077e-01 -7.36976419e-05 -5.89932495e+01] [-2.87083236e-04 3.38154139e-06 9.99999959e-01 -4.59321985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.26, Y:-59.00, Z:-4.59 [[ 9.70071436e-01 2.42815086e-01 1.49800591e-03 3.41263295e+02] [-2.42814775e-01 9.70072592e-01 -3.88501960e-04 -5.90011652e+01] [-1.54750862e-03 1.31366849e-05 9.99998803e-01 -4.59304091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.29, Y:-59.01, Z:-4.59 [[ 9.71042930e-01 2.38867395e-01 4.24212121e-03 3.41288160e+02] [-2.38864894e-01 9.71052195e-01 -1.09423104e-03 -5.90119035e+01] [-4.38069724e-03 4.92514833e-05 9.99990403e-01 -4.59266665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.31, Y:-59.02, Z:-4.59 [[ 9.71405208e-01 2.37377636e-01 4.87653418e-03 3.41314989e+02] [-2.37374315e-01 9.71417446e-01 -1.25722215e-03 -5.90206313e+01] [-5.03558679e-03 6.37081813e-05 9.99987319e-01 -4.59259163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.34, Y:-59.03, Z:-4.59 [[ 9.71628105e-01 2.36457961e-01 5.14376242e-03 3.41340976e+02] [-2.36454256e-01 9.71641718e-01 -1.32575738e-03 -5.90287195e+01] [-5.31138004e-03 7.18786172e-05 9.99985892e-01 -4.59264232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.37, Y:-59.04, Z:-4.59 [[ 9.71754063e-01 2.35949778e-01 4.66297774e-03 3.41367573e+02] [-2.35946725e-01 9.71765248e-01 -1.20214639e-03 -5.90365227e+01] [-4.81496589e-03 6.79763122e-05 9.99988406e-01 -4.59319615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.39, Y:-59.04, Z:-4.59 [[ 9.71698806e-01 2.36196151e-01 3.57879522e-03 3.41394858e+02] [-2.36194358e-01 9.71705396e-01 -9.21664045e-04 -5.90442192e+01] [-3.69522813e-03 5.02886107e-05 9.99993171e-01 -4.59356888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.42, Y:-59.05, Z:-4.59 [[ 9.71138777e-01 2.38513484e-01 8.91430670e-04 3.41420981e+02] [-2.38513372e-01 9.71139186e-01 -2.30837236e-04 -5.90524760e+01] [-9.20761048e-04 1.15568554e-05 9.99999576e-01 -4.59398715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.45, Y:-59.06, Z:-4.59 [[ 9.70770871e-01 2.40007970e-01 -3.01870329e-04 3.41447801e+02] [-2.40007958e-01 9.70770918e-01 7.67369598e-05 -5.90595448e+01] [ 3.11464418e-04 -2.04272415e-06 9.99999951e-01 -4.59413372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.47, Y:-59.07, Z:-4.59 [[ 9.70302004e-01 2.41896483e-01 -3.35395582e-04 3.41473860e+02] [-2.41896468e-01 9.70302062e-01 8.51855953e-05 -5.90660744e+01] [ 3.46041121e-04 -1.52474712e-06 9.99999940e-01 -4.59429946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.50, Y:-59.07, Z:-4.59 [[ 9.69788250e-01 2.43946806e-01 8.40616368e-04 3.41500790e+02] [-2.43946710e-01 9.69788614e-01 -2.16867338e-04 -5.90730509e+01] [-8.68124277e-04 5.24979956e-06 9.99999623e-01 -4.59396363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.53, Y:-59.08, Z:-4.59 [[ 9.68825182e-01 2.47694516e-01 5.01940587e-03 3.41526830e+02] [-2.47691157e-01 9.68838184e-01 -1.29005854e-03 -5.90829227e+01] [-5.18253250e-03 6.57875355e-06 9.99986571e-01 -4.59290915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.55, Y:-59.09, Z:-4.59 [[ 9.68435296e-01 2.49168873e-01 6.92466606e-03 3.41552395e+02] [-2.49162523e-01 9.68460052e-01 -1.77891140e-03 -5.90913633e+01] [-7.14951181e-03 -2.60667666e-06 9.99974442e-01 -4.59308786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.58, Y:-59.10, Z:-4.59 [[ 9.68159155e-01 2.50219964e-01 7.60401815e-03 3.41578073e+02] [-2.50212343e-01 9.68189015e-01 -1.95284767e-03 -5.90994833e+01] [-7.85076832e-03 -1.19518493e-05 9.99969182e-01 -4.59336528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.60, Y:-59.11, Z:-4.59 [[ 9.67944984e-01 2.51053532e-01 7.39135404e-03 3.41604672e+02] [-2.51046366e-01 9.67973204e-01 -1.89696810e-03 -5.91068640e+01] [-7.63087319e-03 -1.94118085e-05 9.99970884e-01 -4.59366429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.63, Y:-59.11, Z:-4.60 [[ 9.67312155e-01 2.53544325e-01 4.74020232e-03 3.41630343e+02] [-2.53541406e-01 9.67323769e-01 -1.21694807e-03 -5.91146947e+01] [-4.89386065e-03 -2.46689060e-05 9.99988025e-01 -4.59504446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.66, Y:-59.12, Z:-4.60 [[ 9.66983109e-01 2.54822133e-01 3.05739926e-03 3.41657522e+02] [-2.54820926e-01 9.66987942e-01 -7.84527485e-04 -5.91226597e+01] [-3.15638319e-03 -2.04644842e-05 9.99995018e-01 -4.59584947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.68, Y:-59.13, Z:-4.60 [[ 9.66592992e-01 2.56310179e-01 1.75510323e-03 3.41684272e+02] [-2.56309783e-01 9.66594585e-01 -4.50600999e-04 -5.91304590e+01] [-1.81196690e-03 -1.43023596e-05 9.99998358e-01 -4.59613463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.71, Y:-59.14, Z:-4.60 [[ 9.66110736e-01 2.58122018e-01 1.75171555e-03 3.41710862e+02] [-2.58121627e-01 9.66112324e-01 -4.49717488e-04 -5.91373207e+01] [-1.80843597e-03 -1.76787746e-05 9.99998365e-01 -4.59616364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.74, Y:-59.14, Z:-4.60 [[ 9.64895641e-01 2.62616460e-01 2.99954185e-03 3.41737997e+02] [-2.62615335e-01 9.64900302e-01 -7.70047785e-04 -5.91423129e+01] [-3.09648606e-03 -4.47099370e-05 9.99995205e-01 -4.59583948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.76, Y:-59.15, Z:-4.60 [[ 9.64486276e-01 2.64112145e-01 3.31647018e-03 3.41764918e+02] [-2.64110781e-01 9.64491976e-01 -8.50503995e-04 -5.91481981e+01] [-3.42333731e-03 -5.56161006e-05 9.99994139e-01 -4.59633483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.79, Y:-59.15, Z:-4.60 [[ 9.64402234e-01 2.64417969e-01 3.38655211e-03 3.41792416e+02] [-2.64416551e-01 9.64408178e-01 -8.67750189e-04 -5.91545720e+01] [-3.49546729e-03 -5.86002087e-05 9.99993889e-01 -4.59697451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.82, Y:-59.16, Z:-4.60 [[ 9.65319639e-01 2.61049047e-01 3.37498926e-03 3.41818030e+02] [-2.61047621e-01 9.65325537e-01 -8.64104546e-04 -5.91620353e+01] [-3.48353699e-03 -4.68958287e-05 9.99993931e-01 -4.59822920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.84, Y:-59.17, Z:-4.60 [[ 9.66297814e-01 2.57396292e-01 3.96018706e-03 3.41844673e+02] [-2.57394303e-01 9.66305928e-01 -1.01273274e-03 -5.91696465e+01] [-4.08742589e-03 -4.07281589e-05 9.99991646e-01 -4.59845701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.87, Y:-59.18, Z:-4.60 [[ 9.67328811e-01 2.53479664e-01 4.79917115e-03 3.41871173e+02] [-2.53476706e-01 9.67340715e-01 -1.22498285e-03 -5.91774149e+01] [-4.95294189e-03 -3.15168911e-05 9.99987734e-01 -4.59914426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.90, Y:-59.19, Z:-4.60 [[ 9.68272558e-01 2.49843216e-01 5.15959427e-03 3.41897799e+02] [-2.49839748e-01 9.68286304e-01 -1.31653112e-03 -5.91855836e+01] [-5.32489083e-03 -1.43107720e-05 9.99985823e-01 -4.59882757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.92, Y:-59.20, Z:-4.60 [[ 9.69625596e-01 2.44565442e-01 3.73461162e-03 3.41923212e+02] [-2.44563586e-01 9.69632788e-01 -9.52984686e-04 -5.91959240e+01] [-3.85426900e-03 1.06883354e-05 9.99992572e-01 -4.59903110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.95, Y:-59.20, Z:-4.60 [[ 9.70094893e-01 2.42710471e-01 2.74331963e-03 3.41949012e+02] [-2.42709462e-01 9.70098772e-01 -6.99941142e-04 -5.92043930e+01] [-2.83117405e-03 1.31796941e-05 9.99995992e-01 -4.59950259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.98, Y:-59.21, Z:-4.60 [[ 9.70374908e-01 2.41592719e-01 2.34433783e-03 3.41975801e+02] [-2.41591979e-01 9.70377740e-01 -5.98107972e-04 -5.92134212e+01] [-2.41939178e-03 1.40157513e-05 9.99997073e-01 -4.60042603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.00, Y:-59.23, Z:-4.60 [[ 9.70710924e-01 2.40241631e-01 2.06401817e-03 3.42000756e+02] [-2.40241054e-01 9.70713119e-01 -5.26649738e-04 -5.92260461e+01] [-2.13009271e-03 1.53627527e-05 9.99997731e-01 -4.60126370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.03, Y:-59.24, Z:-4.60 [[ 9.71000423e-01 2.39072062e-01 1.65150553e-03 3.42027552e+02] [-2.39071692e-01 9.71001827e-01 -4.21318397e-04 -5.92356646e+01] [-1.70434035e-03 1.42721202e-05 9.99998548e-01 -4.60109593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.05, Y:-59.25, Z:-4.60 [[ 9.71176182e-01 2.38360382e-01 1.07334174e-03 3.42054302e+02] [-2.38360224e-01 9.71176775e-01 -2.74086061e-04 -5.92454115e+01] [-1.10773583e-03 1.03438761e-05 9.99999386e-01 -4.60096469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.08, Y:-59.25, Z:-4.60 [[ 9.71270451e-01 2.37976694e-01 8.96343348e-04 3.42080055e+02] [-2.37976583e-01 9.71270865e-01 -2.29598452e-04 -5.92543674e+01] [-9.25231259e-04 9.69346511e-06 9.99999572e-01 -4.60129355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.10, Y:-59.27, Z:-4.60 [[ 9.71084021e-01 2.38735333e-01 1.12475442e-03 3.42104894e+02] [-2.38735160e-01 9.71084672e-01 -2.87501240e-04 -5.92660818e+01] [-1.16086849e-03 1.06694334e-05 9.99999326e-01 -4.60176768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:342.13, Y:-59.28, Z:-4.60 [[ 9.70815237e-01 2.39825058e-01 1.31021561e-03 3.42131847e+02] [-2.39824826e-01 9.70816121e-01 -3.33786404e-04 -5.92750234e+01] [-1.35202878e-03 9.82269520e-06 9.99999086e-01 -4.60239705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:342.16, Y:-59.28, Z:-4.60 [[ 9.70412416e-01 2.41450658e-01 1.14985797e-03 3.42157559e+02] [-2.41450480e-01 9.70413097e-01 -2.93215361e-04 -5.92829220e+01] [-1.18663428e-03 6.90606706e-06 9.99999296e-01 -4.60306637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.18, Y:-59.29, Z:-4.60 [[ 9.69875760e-01 2.43599556e-01 5.15858654e-04 3.42184685e+02] [-2.43599520e-01 9.69875897e-01 -1.31919607e-04 -5.92908472e+01] [-5.32454433e-04 2.28270863e-06 9.99999858e-01 -4.60355206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.21, Y:-59.30, Z:-4.60 [[ 9.68785969e-01 2.47897714e-01 6.84720533e-04 3.42210506e+02] [-2.47897652e-01 9.68786211e-01 -1.75439184e-04 -5.92996748e+01] [-7.06838783e-04 2.22407202e-07 9.99999750e-01 -4.60215735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.24, Y:-59.31, Z:-4.60 [[ 9.68331526e-01 2.49663241e-01 1.52352886e-03 3.42237542e+02] [-2.49662940e-01 9.68332725e-01 -3.87568011e-04 -5.93072136e+01] [-1.57204434e-03 -5.07437177e-06 9.99998764e-01 -4.60113245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.26, Y:-59.31, Z:-4.60 [[ 9.66774308e-01 2.55600396e-01 3.98444127e-03 3.42264327e+02] [-2.55598396e-01 9.66782517e-01 -1.01200414e-03 -5.93131490e+01] [-4.11075682e-03 -4.00371941e-05 9.99991550e-01 -4.59948403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.29, Y:-59.32, Z:-4.60 [[ 9.65838316e-01 2.59073199e-01 6.11762285e-03 3.42291605e+02] [-2.59068560e-01 9.65857686e-01 -1.55268060e-03 -5.93180146e+01] [-6.31101098e-03 -8.52453313e-05 9.99980082e-01 -4.60009890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.32, Y:-59.32, Z:-4.60 [[ 9.64793862e-01 2.62921716e-01 6.70633860e-03 3.42319418e+02] [-2.62916239e-01 9.64817162e-01 -1.70153007e-03 -5.93224451e+01] [-6.91775978e-03 -1.21579553e-04 9.99976065e-01 -4.60039377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.35, Y:-59.33, Z:-4.60 [[ 9.63744592e-01 2.66766909e-01 5.63710859e-03 3.42347710e+02] [-2.66763106e-01 9.63761070e-01 -1.42996960e-03 -5.93267121e+01] [-5.81429437e-03 -1.25647125e-04 9.99983089e-01 -4.60142405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.38, Y:-59.33, Z:-4.60 [[ 9.63789524e-01 2.66604534e-01 5.63705230e-03 3.42375376e+02] [-2.66600727e-01 9.63806001e-01 -1.43019198e-03 -5.93335224e+01] [-5.81432050e-03 -1.24438192e-04 9.99983089e-01 -4.60176581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.40, Y:-59.33, Z:-4.60 [[ 9.61935250e-01 2.73274196e-01 1.33714545e-03 3.42403416e+02] [-2.73273987e-01 9.61936179e-01 -3.39611960e-04 -5.93343937e+01] [-1.37905577e-03 -3.87223537e-05 9.99999048e-01 -4.60348922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.43, Y:-59.34, Z:-4.60 [[ 9.61217962e-01 2.75786120e-01 1.42995658e-03 3.42430294e+02] [-2.75785885e-01 9.61219025e-01 -3.62993329e-04 -5.93377906e+01] [-1.47460999e-03 -4.54461323e-05 9.99998912e-01 -4.60330811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.46, Y:-59.34, Z:-4.60 [[ 9.60769790e-01 2.77329595e-01 3.11562948e-03 3.42457156e+02] [-2.77328491e-01 9.60774836e-01 -7.89506902e-04 -5.93410255e+01] [-3.21237204e-03 -1.05518443e-04 9.99994835e-01 -4.60255738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.49, Y:-59.35, Z:-4.60 [[ 9.60681946e-01 2.77601817e-01 5.23735779e-03 3.42485270e+02] [-2.77598705e-01 9.60696205e-01 -1.32674537e-03 -5.93453846e+01] [-5.39981668e-03 -1.79303413e-04 9.99985405e-01 -4.60240918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.51, Y:-59.35, Z:-4.60 [[ 9.61412633e-01 2.75024916e-01 6.85898247e-03 3.42511909e+02] [-2.75019529e-01 9.61437074e-01 -1.73507495e-03 -5.93510615e+01] [-7.07166888e-03 -2.18231151e-04 9.99974972e-01 -4.60240752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.54, Y:-59.36, Z:-4.60 [[ 9.62088525e-01 2.72673074e-01 5.92161600e-03 3.42538071e+02] [-2.72669017e-01 9.62106732e-01 -1.49759846e-03 -5.93570084e+01] [-6.10558140e-03 -1.73818916e-04 9.99981346e-01 -4.60342985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.57, Y:-59.36, Z:-4.60 [[ 9.62867141e-01 2.69936797e-01 4.58186949e-03 3.42565830e+02] [-2.69934335e-01 9.62878035e-01 -1.15935073e-03 -5.93624276e+01] [-4.72473292e-03 -1.20503171e-04 9.99988831e-01 -4.60469296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.59, Y:-59.37, Z:-4.61 [[ 9.63547560e-01 2.67509778e-01 3.82328354e-03 3.42592007e+02] [-2.67508049e-01 9.63555141e-01 -9.66236548e-04 -5.93669568e+01] [-3.94242223e-03 -9.17442491e-05 9.99992224e-01 -4.60561835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.62, Y:-59.37, Z:-4.61 [[ 9.64070391e-01 2.65619668e-01 3.80428439e-03 3.42619620e+02] [-2.65617939e-01 9.64077894e-01 -9.61934782e-04 -5.93725916e+01] [-3.92313528e-03 -8.31133354e-05 9.99992301e-01 -4.60563634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.65, Y:-59.38, Z:-4.61 [[ 9.64429040e-01 2.64305382e-01 4.39233309e-03 3.42647050e+02] [-2.64303069e-01 9.64439037e-01 -1.10949608e-03 -5.93801617e+01] [-4.52938328e-03 -9.08768784e-05 9.99989738e-01 -4.60501137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:342.67, Y:-59.39, Z:-4.60 [[ 9.64364607e-01 2.64542777e-01 4.24542212e-03 3.42674574e+02] [-2.64540622e-01 9.64373948e-01 -1.07167775e-03 -5.93874308e+01] [-4.37767910e-03 -8.95985126e-05 9.99990414e-01 -4.60480152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.70, Y:-59.39, Z:-4.60 [[ 9.64063551e-01 2.65643049e-01 3.90385656e-03 3.42701867e+02] [-2.65641238e-01 9.64071451e-01 -9.84907731e-04 -5.93936773e+01] [-4.02523055e-03 -8.75116455e-05 9.99991895e-01 -4.60463873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.73, Y:-59.40, Z:-4.60 [[ 9.63618403e-01 2.67262140e-01 3.24381359e-03 3.42729250e+02] [-2.67260899e-01 9.63623859e-01 -8.18146580e-04 -5.93987167e+01] [-3.34447578e-03 -7.85634368e-05 9.99994404e-01 -4.60488793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.76, Y:-59.40, Z:-4.61 [[ 9.63162578e-01 2.68909348e-01 2.36889469e-03 3.42756830e+02] [-2.68908691e-01 9.63165489e-01 -5.97608071e-04 -5.94036813e+01] [-2.44234000e-03 -6.14226402e-05 9.99997016e-01 -4.60541813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.75576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:342.79, Y:-59.41, Z:-4.61 [[ 9.62535740e-01 2.71142357e-01 2.60232533e-03 3.42785177e+02] [-2.71141574e-01 9.62539255e-01 -6.55890484e-04 -5.94066315e+01] [-2.68267998e-03 -7.42805551e-05 9.99996399e-01 -4.60586871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.81, Y:-59.41, Z:-4.61 [[ 9.62333216e-01 2.71848370e-01 3.63926401e-03 3.42812985e+02] [-2.71846849e-01 9.62340092e-01 -9.15703860e-04 -5.94118533e+01] [-3.75114227e-03 -1.08110215e-04 9.99992959e-01 -4.60566119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.81576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:342.84, Y:-59.42, Z:-4.61 [[ 9.62276873e-01 2.72037931e-01 4.31089971e-03 3.42839309e+02] [-2.72035806e-01 9.62286520e-01 -1.08303832e-03 -5.94164603e+01] [-4.44294818e-03 -1.30536355e-04 9.99990122e-01 -4.60579439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.87, Y:-59.42, Z:-4.61 [[ 9.62660983e-01 2.70693515e-01 2.97549302e-03 3.42867447e+02] [-2.70692494e-01 9.62665577e-01 -7.48167248e-04 -5.94206543e+01] [-3.06692873e-03 -8.52122092e-05 9.99995293e-01 -4.60698069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.89, Y:-59.43, Z:-4.61 [[ 9.63142460e-01 2.68982092e-01 2.28828704e-03 3.42893410e+02] [-2.68981485e-01 9.63145176e-01 -5.74438526e-04 -5.94264196e+01] [-2.35846630e-03 -6.22407109e-05 9.99997217e-01 -4.60807173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.92, Y:-59.43, Z:-4.61 [[ 9.63851559e-01 2.66429854e-01 2.30336613e-03 3.42920699e+02] [-2.66429230e-01 9.63854310e-01 -5.78959892e-04 -5.94323984e+01] [-2.37436157e-03 -5.56526715e-05 9.99997180e-01 -4.60841470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.95, Y:-59.44, Z:-4.61 [[ 9.65365048e-01 2.60886041e-01 2.96621327e-03 3.42948323e+02] [-2.60884984e-01 9.65369603e-01 -7.44537220e-04 -5.94383839e+01] [-3.05773149e-03 -5.50902937e-05 9.99995324e-01 -4.60862781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.97, Y:-59.44, Z:-4.61 [[ 9.65958151e-01 2.58673914e-01 3.55753532e-03 3.42974609e+02] [-2.58672387e-01 9.65964700e-01 -8.90896494e-04 -5.94441163e+01] [-3.66690522e-03 -5.96674223e-05 9.99993275e-01 -4.60817180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.00, Y:-59.45, Z:-4.61 [[ 9.66456541e-01 2.56795294e-01 4.23449766e-03 3.43001793e+02] [-2.56793111e-01 9.66465816e-01 -1.06071116e-03 -5.94500591e+01] [-4.36488287e-03 -6.22585869e-05 9.99990472e-01 -4.60698439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.03, Y:-59.46, Z:-4.61 [[ 9.66934570e-01 2.54971646e-01 5.19596873e-03 3.43029072e+02] [-2.54968341e-01 9.66948528e-01 -1.29998346e-03 -5.94560893e+01] [-5.35569324e-03 -6.78085754e-05 9.99985656e-01 -4.60657481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.06, Y:-59.46, Z:-4.61 [[ 9.68337184e-01 2.49583080e-01 5.60217752e-03 3.43056031e+02] [-2.49579160e-01 9.68353388e-01 -1.39956689e-03 -5.94632142e+01] [-5.77419580e-03 -4.29340947e-05 9.99983328e-01 -4.60656947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.08, Y:-59.47, Z:-4.61 [[ 9.69152662e-01 2.46414659e-01 4.78884919e-03 3.43082472e+02] [-2.46411757e-01 9.69164493e-01 -1.19614786e-03 -5.94711374e+01] [-4.93593097e-03 -2.07788554e-05 9.99987818e-01 -4.60731211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.11, Y:-59.48, Z:-4.61 [[ 9.70004600e-01 2.43049454e-01 4.24721689e-03 3.43108619e+02] [-2.43047138e-01 9.70013898e-01 -1.06110092e-03 -5.94793518e+01] [-4.37775941e-03 -3.00113016e-06 9.99990418e-01 -4.60840265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.14, Y:-59.49, Z:-4.61 [[ 9.70936157e-01 2.39308792e-01 3.77896705e-03 3.43135479e+02] [-2.39306933e-01 9.70943511e-01 -9.43276721e-04 -5.94874986e+01] [-3.89489795e-03 1.15284588e-05 9.99992415e-01 -4.60909625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.16, Y:-59.50, Z:-4.61 [[ 9.72434368e-01 2.33150071e-01 3.52765733e-03 3.43161435e+02] [-2.33148411e-01 9.72440766e-01 -8.80343718e-04 -5.94975377e+01] [-3.63569000e-03 3.36087848e-05 9.99993390e-01 -4.60910553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.19, Y:-59.51, Z:-4.61 [[ 9.72919775e-01 2.31118625e-01 3.36045993e-03 3.43187646e+02] [-2.31117108e-01 9.72925578e-01 -8.38404511e-04 -5.95063193e+01] [-3.46324831e-03 3.90405500e-05 9.99994002e-01 -4.60914914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.21, Y:-59.52, Z:-4.61 [[ 9.73414609e-01 2.29035952e-01 2.55592180e-03 3.43212871e+02] [-2.29035066e-01 9.73417963e-01 -6.37808137e-04 -5.95157957e+01] [-2.63406119e-03 3.54560392e-05 9.99996530e-01 -4.60928275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.24, Y:-59.53, Z:-4.61 [[ 9.74433760e-01 2.24666234e-01 1.98261367e-03 3.43238118e+02] [-2.24665692e-01 9.74435776e-01 -4.94676348e-04 -5.95304550e+01] [-2.04306677e-03 3.66040602e-05 9.99997912e-01 -4.60892133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.26, Y:-59.54, Z:-4.61 [[ 9.74889102e-01 2.22678696e-01 2.33155432e-03 3.43262865e+02] [-2.22677942e-01 9.74891889e-01 -5.81521811e-04 -5.95408096e+01] [-2.40250591e-03 4.77335587e-05 9.99997113e-01 -4.60812748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.29, Y:-59.55, Z:-4.61 [[ 9.75263166e-01 2.21024451e-01 3.15428688e-03 3.43288719e+02] [-2.21023064e-01 9.75268264e-01 -7.85990732e-04 -5.95515775e+01] [-3.24999906e-03 6.93776564e-05 9.99994716e-01 -4.60796533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.35576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:343.31, Y:-59.56, Z:-4.61 [[ 9.75401757e-01 2.20396110e-01 4.11901070e-03 3.43313832e+02] [-2.20393742e-01 9.75410450e-01 -1.02590147e-03 -5.95624139e+01] [-4.24383078e-03 9.28619192e-05 9.99990991e-01 -4.60818013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:343.34, Y:-59.58, Z:-4.61 [[ 9.75043216e-01 2.21945715e-01 5.55220617e-03 3.43338740e+02] [-2.21941442e-01 9.75059017e-01 -1.38196369e-03 -5.95765725e+01] [-5.72044961e-03 1.15209673e-04 9.99983631e-01 -4.60811995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:343.37, Y:-59.59, Z:-4.61 [[ 9.74661286e-01 2.23634500e-01 4.79464359e-03 3.43365298e+02] [-2.23631336e-01 9.74673075e-01 -1.19307404e-03 -5.95869768e+01] [-4.94002252e-03 9.06105235e-05 9.99987794e-01 -4.60842707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.39, Y:-59.60, Z:-4.61 [[ 9.74169496e-01 2.25809728e-01 1.93918114e-03 3.43391023e+02] [-2.25809214e-01 9.74171425e-01 -4.82938087e-04 -5.95965311e+01] [-1.99814697e-03 3.25785851e-05 9.99998003e-01 -4.60873991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.4757692310001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:343.42, Y:-59.61, Z:-4.61 [[ 9.73575465e-01 2.28363717e-01 -9.09242568e-04 3.43417948e+02] [-2.28363606e-01 9.73575890e-01 2.25101503e-04 -5.96055938e+01] [ 9.36621658e-04 -1.15153892e-05 9.99999561e-01 -4.60953555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.44, Y:-59.62, Z:-4.61 [[ 9.72413822e-01 2.33240242e-01 -3.21702257e-03 3.43442852e+02] [-2.33238877e-01 9.72419143e-01 7.98245776e-04 -5.96161528e+01] [ 3.31447737e-03 -2.58904929e-05 9.99994507e-01 -4.61027145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.47, Y:-59.63, Z:-4.61 [[ 9.71822067e-01 2.35698600e-01 -2.83548593e-03 3.43469740e+02] [-2.35697551e-01 9.71826203e-01 7.03357487e-04 -5.96255503e+01] [ 2.92137990e-03 -1.52212365e-05 9.99995733e-01 -4.61084729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:343.49, Y:-59.63, Z:-4.61 [[ 9.71336704e-01 2.37702456e-01 -1.59689228e-03 3.43494986e+02] [-2.37702127e-01 9.71338017e-01 3.95439174e-04 -5.96344583e+01] [ 1.64511904e-03 -4.51989262e-06 9.99998647e-01 -4.61069014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.52, Y:-59.64, Z:-4.61 [[ 9.70930832e-01 2.39359889e-01 4.02661632e-04 3.43521840e+02] [-2.39359868e-01 9.70930916e-01 -1.00830320e-04 -5.96430079e+01] [-4.15091361e-04 1.51823158e-06 9.99999914e-01 -4.61031929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.55, Y:-59.65, Z:-4.61 [[ 9.70576472e-01 2.40779491e-01 2.55907642e-03 3.43548146e+02] [-2.40778651e-01 9.70579846e-01 -6.35868954e-04 -5.96520819e+01] [-2.63689220e-03 9.88478262e-07 9.99996523e-01 -4.60841448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.57, Y:-59.66, Z:-4.61 [[ 9.70473383e-01 2.41200931e-01 1.87729452e-03 3.43574063e+02] [-2.41200479e-01 9.70475199e-01 -4.66673465e-04 -5.96594868e+01] [-1.93442984e-03 8.98394049e-08 9.99998129e-01 -4.60886281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.60, Y:-59.67, Z:-4.61 [[ 9.70389030e-01 2.41543676e-01 1.33536204e-03 3.43599905e+02] [-2.41543448e-01 9.70389949e-01 -3.32070556e-04 -5.96672140e+01] [-1.37603145e-03 -3.10327249e-07 9.99999053e-01 -4.60963774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.63, Y:-59.68, Z:-4.61 [[ 9.70305749e-01 2.41877418e-01 1.43773539e-03 3.43626831e+02] [-2.41877154e-01 9.70306815e-01 -3.57271841e-04 -5.96752736e+01] [-1.48146043e-03 -1.09242270e-06 9.99998903e-01 -4.60989578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.65, Y:-59.68, Z:-4.61 [[ 9.70196282e-01 2.42312745e-01 1.92559523e-03 3.43653107e+02] [-2.42312274e-01 9.70198193e-01 -4.78177649e-04 -5.96824076e+01] [-1.98407755e-03 -2.66918025e-06 9.99998032e-01 -4.60944817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.68, Y:-59.69, Z:-4.61 [[ 9.70007871e-01 2.43051016e-01 3.30647107e-03 3.43680030e+02] [-2.43049633e-01 9.70013507e-01 -8.19979810e-04 -5.96889954e+01] [-3.40661853e-03 -8.24971145e-06 9.99994197e-01 -4.60944764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.71, Y:-59.70, Z:-4.61 [[ 9.70039850e-01 2.42925849e-01 3.11790146e-03 3.43706556e+02] [-2.42924619e-01 9.70044861e-01 -7.72910766e-04 -5.96961634e+01] [-3.21226429e-03 -7.66078201e-06 9.99994841e-01 -4.60972780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.73, Y:-59.70, Z:-4.61 [[ 9.70080731e-01 2.42768033e-01 2.65646483e-03 3.43733820e+02] [-2.42767140e-01 9.70084369e-01 -6.58574401e-04 -5.97040611e+01] [-2.73687582e-03 -6.03203349e-06 9.99996255e-01 -4.61023124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.76, Y:-59.71, Z:-4.61 [[ 9.70082434e-01 2.42771564e-01 1.42798027e-03 3.43760763e+02] [-2.42771305e-01 9.70083485e-01 -3.54327538e-04 -5.97120800e+01] [-1.47128072e-03 -2.94571227e-06 9.99998918e-01 -4.61090603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.79, Y:-59.72, Z:-4.61 [[ 9.70095018e-01 2.42722894e-01 1.11952529e-03 3.43788392e+02] [-2.42722735e-01 9.70095664e-01 -2.77756633e-04 -5.97183480e+01] [-1.15346453e-03 -2.28391584e-06 9.99999335e-01 -4.61171956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.82, Y:-59.72, Z:-4.61 [[ 9.70107572e-01 2.42674044e-01 7.78988278e-04 3.43815976e+02] [-2.42673967e-01 9.70107885e-01 -1.93573561e-04 -5.97249698e+01] [-8.02677949e-04 -1.25299790e-06 9.99999678e-01 -4.61227252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.84, Y:-59.73, Z:-4.61 [[ 9.70130360e-01 2.42584176e-01 4.90298824e-05 3.43843050e+02] [-2.42584176e-01 9.70130361e-01 -1.30278715e-05 -5.97314551e+01] [-5.07257331e-05 7.44860043e-07 9.99999999e-01 -4.61314365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:343.87, Y:-59.74, Z:-4.61 [[ 9.70093413e-01 2.42731003e-01 6.55628308e-04 3.43870595e+02] [-2.42730948e-01 9.70093635e-01 -1.62832192e-04 -5.97373235e+01] [-6.75545270e-04 -1.17884379e-06 9.99999772e-01 -4.61324546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.90, Y:-59.74, Z:-4.61 [[ 9.69992252e-01 2.43128600e-01 1.87458157e-03 3.43897323e+02] [-2.43128157e-01 9.69994064e-01 -4.64503199e-04 -5.97425078e+01] [-1.93126701e-03 -5.19905722e-06 9.99998135e-01 -4.61239631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.92, Y:-59.75, Z:-4.61 [[ 9.69599817e-01 2.44681177e-01 2.70487459e-03 3.43924513e+02] [-2.44680263e-01 9.69603590e-01 -6.69066997e-04 -5.97476907e+01] [-2.78636421e-03 -1.31021866e-05 9.99996118e-01 -4.61178543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.95, Y:-59.75, Z:-4.61 [[ 9.69220099e-01 2.46179089e-01 2.87341606e-03 3.43951357e+02] [-2.46178064e-01 9.69224358e-01 -7.10592224e-04 -5.97524472e+01] [-2.95991778e-03 -1.86517375e-05 9.99995619e-01 -4.61179839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.98, Y:-59.76, Z:-4.61 [[ 9.68772831e-01 2.47936585e-01 2.57907540e-03 3.43979766e+02] [-2.47935767e-01 9.68776264e-01 -6.37570564e-04 -5.97557060e+01] [-2.65662410e-03 -2.17839960e-05 9.99996471e-01 -4.61303329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.01, Y:-59.76, Z:-4.61 [[ 9.68703299e-01 2.48212300e-01 2.13850421e-03 3.44006883e+02] [-2.48211738e-01 9.68705659e-01 -5.28662617e-04 -5.97607402e+01] [-2.20280169e-03 -1.86846244e-05 9.99997574e-01 -4.61377169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.03, Y:-59.77, Z:-4.61 [[ 9.68785745e-01 2.47894184e-01 1.62891470e-03 3.44033271e+02] [-2.47893857e-01 9.68787115e-01 -4.02899110e-04 -5.97661657e+01] [-1.67794792e-03 -1.34750340e-05 9.99998592e-01 -4.61490568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.06, Y:-59.77, Z:-4.62 [[ 9.68799921e-01 2.47838777e-01 1.62901272e-03 3.44060971e+02] [-2.47838451e-01 9.68801290e-01 -4.02501871e-04 -5.97728628e+01] [-1.67794520e-03 -1.37882091e-05 9.99998592e-01 -4.61524748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.09, Y:-59.78, Z:-4.62 [[ 9.69052399e-01 2.46854559e-01 5.24316190e-04 3.44088266e+02] [-2.46854525e-01 9.69052541e-01 -1.30135866e-04 -5.97779124e+01] [-5.40214568e-04 -3.32135124e-06 9.99999854e-01 -4.61568724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.12, Y:-59.78, Z:-4.62 [[ 9.69200923e-01 2.46270927e-01 -4.49016345e-04 3.44115766e+02] [-2.46270902e-01 9.69201027e-01 1.09808775e-04 -5.97832534e+01] [ 4.62229811e-04 4.15289423e-06 9.99999893e-01 -4.61576198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.14, Y:-59.79, Z:-4.62 [[ 9.69284052e-01 2.45941717e-01 -1.04852499e-03 3.44143181e+02] [-2.45941582e-01 9.69284619e-01 2.57508659e-04 -5.97884351e+01] [ 1.07965127e-03 8.27685883e-06 9.99999417e-01 -4.61691363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.17, Y:-59.79, Z:-4.62 [[ 9.69605679e-01 2.44667166e-01 -1.67460826e-03 3.44170285e+02] [-2.44666820e-01 9.69607125e-01 4.11507592e-04 -5.97927838e+01] [ 1.72439450e-03 1.07209790e-05 9.99998513e-01 -4.61773958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.20, Y:-59.80, Z:-4.62 [[ 9.69920524e-01 2.43417130e-01 -1.50916731e-03 3.44198179e+02] [-2.43416848e-01 9.69921698e-01 3.70793095e-04 -5.97983017e+01] [ 1.55403151e-03 7.71691687e-06 9.99998792e-01 -4.61795958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.22, Y:-59.80, Z:-4.62 [[ 9.70246564e-01 2.42117220e-01 -9.25152089e-04 3.44224551e+02] [-2.42117114e-01 9.70247006e-01 2.26750137e-04 -5.98036977e+01] [ 9.52526157e-04 3.99161270e-06 9.99999546e-01 -4.61765023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.25, Y:-59.81, Z:-4.62 [[ 9.70480622e-01 2.41179107e-01 1.73813019e-05 3.44252155e+02] [-2.41179107e-01 9.70480622e-01 -5.13615679e-06 -5.98098034e+01] [-1.81069505e-05 7.92533763e-07 1.00000000e+00 -4.61766775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.28, Y:-59.82, Z:-4.62 [[ 9.71365424e-01 2.37579648e-01 2.26361932e-03 3.44278442e+02] [-2.37578993e-01 9.71368061e-01 -5.57891252e-04 -5.98168026e+01] [-2.33135112e-03 4.12787357e-06 9.99997282e-01 -4.61774693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.31, Y:-59.82, Z:-4.62 [[ 9.72070897e-01 2.34673775e-01 2.52806202e-03 3.44306669e+02] [-2.34671623e-01 9.72074058e-01 -1.12064954e-03 -5.98248458e+01] [-2.72045057e-03 4.96086386e-04 9.99996177e-01 -4.61767847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.33, Y:-59.83, Z:-4.62 [[ 9.72705845e-01 2.32022739e-01 2.96434467e-03 3.44332433e+02] [-2.32023072e-01 9.72710254e-01 -2.35995450e-04 -5.98330845e+01] [-2.93820477e-03 -4.58242201e-04 9.99995578e-01 -4.61768085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.36, Y:-59.84, Z:-4.62 [[ 9.73482376e-01 2.28745774e-01 2.72679142e-03 3.44358027e+02] [-2.28744790e-01 9.73486194e-01 -6.71469110e-04 -5.98406565e+01] [-2.80808952e-03 2.99240125e-05 9.99996057e-01 -4.61806980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.55576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:344.38, Y:-59.85, Z:-4.62 [[ 9.74565334e-01 2.24099074e-01 1.41964449e-03 3.44384349e+02] [-2.24098802e-01 9.74566367e-01 -3.49679626e-04 -5.98514667e+01] [-1.46190066e-03 2.26450101e-05 9.99998931e-01 -4.61972270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.41, Y:-59.86, Z:-4.62 [[ 9.74878435e-01 2.22735606e-01 9.41781822e-04 3.44410507e+02] [-2.22735486e-01 9.74878890e-01 -2.32057394e-04 -5.98605476e+01] [-9.69810661e-04 1.64595175e-05 9.99999530e-01 -4.62000576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.44, Y:-59.87, Z:-4.62 [[ 9.74888829e-01 2.22691737e-01 -4.02203759e-04 3.44437198e+02] [-2.22691715e-01 9.74888912e-01 9.82022470e-05 -5.98729903e+01] [ 4.13972814e-04 -6.16882857e-06 9.99999914e-01 -4.61981019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.46, Y:-59.88, Z:-4.62 [[ 9.74733418e-01 2.23369872e-01 -8.14660496e-04 3.44464614e+02] [-2.23369783e-01 9.74733759e-01 1.99464183e-04 -5.98828940e+01] [ 8.38631376e-04 -1.24538672e-05 9.99999648e-01 -4.62030782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.49, Y:-59.89, Z:-4.62 [[ 9.74547130e-01 2.24181567e-01 -7.18538829e-04 3.44490794e+02] [-2.24181498e-01 9.74547395e-01 1.75675783e-04 -5.98922546e+01] [ 7.39633416e-04 -1.01212185e-05 9.99999726e-01 -4.62006774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.52, Y:-59.90, Z:-4.62 [[ 9.74349327e-01 2.25040629e-01 3.22664735e-04 3.44517812e+02] [-2.25040615e-01 9.74349380e-01 -7.97677043e-05 -5.99016425e+01] [-3.32339159e-04 5.10893861e-06 9.99999945e-01 -4.62009953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.54, Y:-59.91, Z:-4.62 [[ 9.74064670e-01 2.26263339e-01 1.70889915e-03 3.44543783e+02] [-2.26262950e-01 9.74066169e-01 -4.20100118e-04 -5.99108922e+01] [-1.75963410e-03 2.25441205e-05 9.99998452e-01 -4.61919578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.57, Y:-59.92, Z:-4.62 [[ 9.73272695e-01 2.29580490e-01 5.74969754e-03 3.44570730e+02] [-2.29576159e-01 9.73289677e-01 -1.41116441e-03 -5.99235338e+01] [-5.92009708e-03 5.34543114e-05 9.99982475e-01 -4.61791544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.60, Y:-59.93, Z:-4.62 [[ 9.72855921e-01 2.31304150e-01 7.05315367e-03 3.44596970e+02] [-2.31297681e-01 9.72881487e-01 -1.73063623e-03 -5.99326650e+01] [-7.26218597e-03 5.22816180e-05 9.99973629e-01 -4.61807285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.62, Y:-59.94, Z:-4.62 [[ 9.72469017e-01 2.32932544e-01 6.81468978e-03 3.44623181e+02] [-2.32926549e-01 9.72492894e-01 -1.67170598e-03 -5.99417297e+01] [-7.01663211e-03 3.83601000e-05 9.99975382e-01 -4.61889286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.65, Y:-59.95, Z:-4.62 [[ 9.72086559e-01 2.34558796e-01 5.46749048e-03 3.44649999e+02] [-2.34554964e-01 9.72101934e-01 -1.34102913e-03 -5.99510933e+01] [-5.62950825e-03 2.11693618e-05 9.99984154e-01 -4.61949405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.68, Y:-59.96, Z:-4.62 [[ 9.71422817e-01 2.37332861e-01 3.28985917e-03 3.44675395e+02] [-2.37331488e-01 9.71428388e-01 -8.07067161e-04 -5.99630384e+01] [-3.38740615e-03 3.21628147e-06 9.99994263e-01 -4.62038456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.70, Y:-59.97, Z:-4.62 [[ 9.71055068e-01 2.38836267e-01 3.04833327e-03 3.44703682e+02] [-2.38835097e-01 9.71059853e-01 -7.47292222e-04 -5.99721442e+01] [-3.13859454e-03 -2.38707347e-06 9.99995075e-01 -4.61999364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.73, Y:-59.98, Z:-4.62 [[ 9.70671711e-01 2.40383722e-01 3.47777573e-03 3.44730829e+02] [-2.40382211e-01 9.70677942e-01 -8.52463882e-04 -5.99799646e+01] [-3.58071863e-03 -8.53284353e-06 9.99993589e-01 -4.62022360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.76, Y:-59.99, Z:-4.62 [[ 9.70202312e-01 2.42264374e-01 3.93029384e-03 3.44759217e+02] [-2.42262461e-01 9.70210272e-01 -9.63102403e-04 -5.99883231e+01] [-4.04653686e-03 -1.77584788e-05 9.99991813e-01 -4.62004923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.79, Y:-60.00, Z:-4.62 [[ 9.69779387e-01 2.43938226e-01 4.69917026e-03 3.44786943e+02] [-2.43935509e-01 9.69790772e-01 -1.15160175e-03 -5.99962376e+01] [-4.83813164e-03 -2.94948501e-05 9.99988296e-01 -4.62110134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.81, Y:-60.01, Z:-4.62 [[ 9.69339526e-01 2.45691959e-01 4.04279424e-03 3.44814779e+02] [-2.45689964e-01 9.69347956e-01 -9.90551809e-04 -6.00064214e+01] [-4.16224495e-03 -3.30929500e-05 9.99991337e-01 -4.62293606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.84, Y:-60.01, Z:-4.62 [[ 9.69358398e-01 2.45624744e-01 3.57496473e-03 3.44842303e+02] [-2.45623184e-01 9.69364990e-01 -8.75970477e-04 -6.00146680e+01] [-3.68060568e-03 -2.89648820e-05 9.99993226e-01 -4.62281833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.87, Y:-60.02, Z:-4.62 [[ 9.69379190e-01 2.45545384e-01 3.38401426e-03 3.44871197e+02] [-2.45543986e-01 9.69385096e-01 -8.28970665e-04 -6.00230551e+01] [-3.48396291e-03 -2.73374379e-05 9.99993931e-01 -4.62300798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.90, Y:-60.03, Z:-4.62 [[ 9.69210380e-01 2.46213656e-01 3.17423527e-03 3.44899212e+02] [-2.46212430e-01 9.69215577e-01 -7.77523076e-04 -6.00324840e+01] [-3.26795507e-03 -2.79527433e-05 9.99994660e-01 -4.62360876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.93, Y:-60.04, Z:-4.62 [[ 9.69099079e-01 2.46654676e-01 2.90605440e-03 3.44926494e+02] [-2.46653650e-01 9.69103436e-01 -7.11805985e-04 -6.00403018e+01] [-2.99183758e-03 -2.69784012e-05 9.99995524e-01 -4.62404272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.95, Y:-60.05, Z:-4.62 [[ 9.68991678e-01 2.47081296e-01 2.44140089e-03 3.44954947e+02] [-2.47080574e-01 9.68994754e-01 -5.97955231e-04 -6.00474435e+01] [-2.51344821e-03 -2.38090893e-05 9.99996841e-01 -4.62415363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.98, Y:-60.05, Z:-4.63 [[ 9.68940082e-01 2.47283792e-01 2.41727823e-03 3.44983091e+02] [-2.47283085e-01 9.68943097e-01 -5.92103489e-04 -6.00542916e+01] [-2.48862265e-03 -2.40392132e-05 9.99996903e-01 -4.62500541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.01, Y:-60.06, Z:-4.63 [[ 9.68935419e-01 2.47300063e-01 2.61405146e-03 3.45010837e+02] [-2.47299235e-01 9.68938945e-01 -6.40280341e-04 -6.00608980e+01] [-2.69119763e-03 -2.60626263e-05 9.99996378e-01 -4.62543676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.04, Y:-60.07, Z:-4.62 [[ 9.69121391e-01 2.46545327e-01 4.37399113e-03 3.45038562e+02] [-2.46543006e-01 9.69131260e-01 -1.07065727e-03 -6.00674999e+01] [-4.50293708e-03 -4.07800580e-05 9.99989861e-01 -4.62487266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.07, Y:-60.07, Z:-4.62 [[ 9.69329024e-01 2.45704703e-01 5.51746855e-03 3.45067645e+02] [-2.45700997e-01 9.69344726e-01 -1.35016422e-03 -6.00743512e+01] [-5.68007074e-03 -4.68941564e-05 9.99983867e-01 -4.62440895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.10, Y:-60.08, Z:-4.62 [[ 9.70148781e-01 2.42418069e-01 6.69497669e-03 3.45096753e+02] [-2.42412536e-01 9.70171881e-01 -1.63808502e-03 -6.00798080e+01] [-6.89237954e-03 -3.37600954e-05 9.99976247e-01 -4.62443981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.13, Y:-60.09, Z:-4.63 [[ 9.70608758e-01 2.40591410e-01 5.86627995e-03 3.45126381e+02] [-2.40587131e-01 9.70626485e-01 -1.43507040e-03 -6.00868708e+01] [-6.03923230e-03 -1.84595589e-05 9.99981763e-01 -4.62552956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.16, Y:-60.10, Z:-4.63 [[ 9.70921643e-01 2.39350038e-01 4.76672138e-03 3.45156199e+02] [-2.39347198e-01 9.70933344e-01 -1.16608495e-03 -6.00951335e+01] [-4.90727121e-03 -8.72428737e-06 9.99987959e-01 -4.62649703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.18, Y:-60.10, Z:-4.63 [[ 9.71166524e-01 2.38362739e-01 4.33453801e-03 3.45184788e+02] [-2.38360381e-01 9.71176197e-01 -1.06025737e-03 -6.01033518e+01] [-4.46232599e-03 -3.49566799e-06 9.99990044e-01 -4.62747488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.21, Y:-60.11, Z:-4.63 [[ 9.71478483e-01 2.37106019e-01 3.20825250e-03 3.45214069e+02] [-2.37104720e-01 9.71483781e-01 -7.84880978e-04 -6.01119810e+01] [-3.30286527e-03 1.80317239e-06 9.99994546e-01 -4.62778246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.24, Y:-60.12, Z:-4.63 [[ 9.71619694e-01 2.36537561e-01 2.27003941e-03 3.45242541e+02] [-2.36536909e-01 9.71622346e-01 -5.55221496e-04 -6.01196135e+01] [-2.33695175e-03 2.51603594e-06 9.99997269e-01 -4.62843815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.27, Y:-60.13, Z:-4.63 [[ 9.71813617e-01 2.35744796e-01 1.63872552e-03 3.45269790e+02] [-2.35744455e-01 9.71814998e-01 -4.01291953e-04 -6.01269504e+01] [-1.68714053e-03 3.66053031e-06 9.99998577e-01 -4.62858818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.30, Y:-60.13, Z:-4.63 [[ 9.71873268e-01 2.35502671e-01 9.18576709e-04 3.45297978e+02] [-2.35502564e-01 9.71873702e-01 -2.24988474e-04 -6.01343047e+01] [-9.45725933e-04 2.33311345e-06 9.99999553e-01 -4.62906029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.33, Y:-60.14, Z:-4.63 [[ 9.71872853e-01 2.35500470e-01 1.63890522e-03 3.45327113e+02] [-2.35500129e-01 9.71874235e-01 -4.01115250e-04 -6.01411832e+01] [-1.68727259e-03 3.87063072e-06 9.99998577e-01 -4.62906646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.36, Y:-60.15, Z:-4.63 [[ 9.71771623e-01 2.35906271e-01 2.85364674e-03 3.45355255e+02] [-2.35905238e-01 9.71775813e-01 -6.98154792e-04 -6.01479378e+01] [-2.93780397e-03 5.25680411e-06 9.99995685e-01 -4.62862443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.38, Y:-60.16, Z:-4.63 [[ 9.71595358e-01 2.36605768e-01 4.49115341e-03 3.45383459e+02] [-2.36603218e-01 9.71605738e-01 -1.09845890e-03 -6.01556072e+01] [-4.62353213e-03 4.63622251e-06 9.99989311e-01 -4.62825594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.41, Y:-60.16, Z:-4.63 [[ 9.71095805e-01 2.38570487e-01 7.55379907e-03 3.45411215e+02] [-2.38563336e-01 9.71125184e-01 -1.84720144e-03 -6.01643766e+01] [-7.77637226e-03 -8.24993788e-06 9.99969764e-01 -4.62695550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.44, Y:-60.17, Z:-4.63 [[ 9.70723195e-01 2.40037137e-01 8.86855121e-03 3.45442029e+02] [-2.40027346e-01 9.70763706e-01 -2.16814513e-03 -6.01712236e+01] [-9.12970299e-03 -2.40260368e-05 9.99958323e-01 -4.62686985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.47, Y:-60.18, Z:-4.63 [[ 9.70297428e-01 2.41745616e-01 9.05310825e-03 3.45472707e+02] [-2.41735486e-01 9.70339660e-01 -2.21350016e-03 -6.01769096e+01] [-9.31969394e-03 -4.07040075e-05 9.99956570e-01 -4.62692817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.50, Y:-60.18, Z:-4.63 [[ 9.69568893e-01 2.44711703e-01 7.23496116e-03 3.45502274e+02] [-2.44705314e-01 9.69595884e-01 -1.76925102e-03 -6.01800955e+01] [-7.44794499e-03 -5.50226909e-05 9.99972262e-01 -4.62957861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.53, Y:-60.19, Z:-4.63 [[ 9.69291330e-01 2.45829790e-01 6.48319718e-03 3.45531690e+02] [-2.45824684e-01 9.69313010e-01 -1.58541245e-03 -6.01855574e+01] [-6.67398898e-03 -5.70033528e-05 9.99977727e-01 -4.63033174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.56, Y:-60.19, Z:-4.63 [[ 9.69187252e-01 2.46239434e-01 6.49711622e-03 3.45561467e+02] [-2.46234317e-01 9.69209027e-01 -1.58852189e-03 -6.01909081e+01] [-6.68822042e-03 -6.02378126e-05 9.99977632e-01 -4.63021158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.59, Y:-60.20, Z:-4.63 [[ 9.69204630e-01 2.46164556e-01 6.73767492e-03 3.45590994e+02] [-2.46159051e-01 9.69228047e-01 -1.64740033e-03 -6.01961202e+01] [-6.93587508e-03 -6.18716344e-05 9.99975945e-01 -4.63035933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.62, Y:-60.20, Z:-4.63 [[ 9.69566065e-01 2.44682679e-01 8.48722362e-03 3.45619823e+02] [-2.44673888e-01 9.69603209e-01 -2.07510511e-03 -6.01994358e+01] [-8.73698153e-03 -6.46505015e-05 9.99961830e-01 -4.63131439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.65, Y:-60.21, Z:-4.63 [[ 9.69792398e-01 2.43778774e-01 8.63799514e-03 3.45648066e+02] [-2.43769634e-01 9.69830865e-01 -2.11167335e-03 -6.02051329e+01] [-8.89217544e-03 -5.77961535e-05 9.99960462e-01 -4.63102291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.68, Y:-60.21, Z:-4.63 [[ 9.69979292e-01 2.43020524e-01 9.01095293e-03 3.45676948e+02] [-2.43010550e-01 9.70021145e-01 -2.20233159e-03 -6.02104326e+01] [-9.27602666e-03 -5.35405951e-05 9.99956975e-01 -4.63116511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.70, Y:-60.22, Z:-4.63 [[ 9.70028625e-01 2.42834571e-01 8.70850864e-03 3.45703916e+02] [-2.42825249e-01 9.70067714e-01 -2.12831574e-03 -6.02152844e+01] [-8.96467171e-03 -5.01185848e-05 9.99959815e-01 -4.63088143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.73, Y:-60.22, Z:-4.63 [[ 9.69555689e-01 2.44764533e-01 7.21727174e-03 3.45733479e+02] [-2.44758188e-01 9.69582549e-01 -1.76338434e-03 -6.02182510e+01] [-7.42935468e-03 -5.67870324e-05 9.99972400e-01 -4.63171856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.76, Y:-60.22, Z:-4.63 [[ 9.69105418e-01 2.46562870e-01 6.43740750e-03 3.45762449e+02] [-2.46557862e-01 9.69126796e-01 -1.57270998e-03 -6.02230565e+01] [-6.62643599e-03 -6.30716690e-05 9.99978043e-01 -4.63204366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.79, Y:-60.23, Z:-4.63 [[ 9.68667038e-01 2.48288845e-01 6.06793606e-03 3.45790450e+02] [-2.48284429e-01 9.68686040e-01 -1.48251965e-03 -6.02273548e+01] [-6.24601804e-03 -7.05061248e-05 9.99980491e-01 -4.63257437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.82, Y:-60.23, Z:-4.63 [[ 9.67944020e-01 2.51091610e-01 6.11374456e-03 3.45818077e+02] [-2.51087185e-01 9.67963323e-01 -1.49330573e-03 -6.02295179e+01] [-6.29283704e-03 -8.96465622e-05 9.99980196e-01 -4.63284992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.85, Y:-60.24, Z:-4.63 [[ 9.67952739e-01 2.51057992e-01 6.11386395e-03 3.45846592e+02] [-2.51053570e-01 9.67972043e-01 -1.49281671e-03 -6.02363924e+01] [-6.29283294e-03 -8.99313546e-05 9.99980196e-01 -4.63320175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.87, Y:-60.24, Z:-4.63 [[ 9.67698599e-01 2.52038228e-01 6.01272805e-03 3.45873416e+02] [-2.52033970e-01 9.67717274e-01 -1.46804499e-03 -6.02419557e+01] [-6.18862425e-03 -9.47866401e-05 9.99980846e-01 -4.63374702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.90, Y:-60.25, Z:-4.63 [[ 9.67527444e-01 2.52696668e-01 5.91939317e-03 3.45901239e+02] [-2.52692556e-01 9.67545546e-01 -1.44484238e-03 -6.02488457e+01] [-6.09238936e-03 -9.78619386e-05 9.99981436e-01 -4.63457431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.93, Y:-60.26, Z:-4.64 [[ 9.67537801e-01 2.52669588e-01 5.35568318e-03 3.45929213e+02] [-2.52666223e-01 9.67552620e-01 -1.30703944e-03 -6.02550490e+01] [-5.51215441e-03 -8.85901715e-05 9.99984804e-01 -4.63524912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.96, Y:-60.26, Z:-4.64 [[ 9.68078695e-01 2.50602568e-01 4.68959423e-03 3.45957216e+02] [-2.50599964e-01 9.68090052e-01 -1.14440441e-03 -6.02591685e+01] [-4.82674021e-03 -6.73386242e-05 9.99988349e-01 -4.63646062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.99, Y:-60.27, Z:-4.64 [[ 9.68419609e-01 2.49271157e-01 5.22986020e-03 3.45985845e+02] [-2.49267901e-01 9.68433728e-01 -1.27575381e-03 -6.02652103e+01] [-5.38278164e-03 -6.81712753e-05 9.99985510e-01 -4.63706809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.01, Y:-60.27, Z:-4.64 [[ 9.68786787e-01 2.47836733e-01 5.39576610e-03 3.46012640e+02] [-2.47833247e-01 9.68801811e-01 -1.31604266e-03 -6.02715251e+01] [-5.55359169e-03 -6.22854939e-05 9.99984577e-01 -4.63710972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.04, Y:-60.28, Z:-4.64 [[ 9.69287104e-01 2.45869227e-01 5.55274497e-03 3.46040067e+02] [-2.45865505e-01 9.69303008e-01 -1.35383281e-03 -6.02789669e+01] [-5.71515823e-03 -5.29757600e-05 9.99983667e-01 -4.63773893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.07, Y:-60.29, Z:-4.64 [[ 9.70429417e-01 2.41335083e-01 4.91174890e-03 3.46068239e+02] [-2.41332113e-01 9.70441846e-01 -1.19739205e-03 -6.02867111e+01] [-5.05553938e-03 -2.33782710e-05 9.99987220e-01 -4.63876914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.10, Y:-60.29, Z:-4.64 [[ 9.71025728e-01 2.38926015e-01 4.83682213e-03 3.46095379e+02] [-2.38923107e-01 9.71037774e-01 -1.17897076e-03 -6.02932344e+01] [-4.97842378e-03 -1.08176279e-05 9.99987608e-01 -4.63910064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.12, Y:-60.30, Z:-4.64 [[ 9.72199273e-01 2.34085172e-01 5.71892988e-03 3.46121688e+02] [-2.34081025e-01 9.72216093e-01 -1.39347188e-03 -6.03020142e+01] [-5.88622677e-03 1.60393843e-05 9.99982676e-01 -4.63920567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.15, Y:-60.31, Z:-4.64 [[ 9.72775773e-01 2.31655465e-01 6.56061012e-03 3.46149533e+02] [-2.31649957e-01 9.72797895e-01 -1.59785095e-03 -6.03109048e+01] [-6.75229862e-03 3.45856434e-05 9.99977202e-01 -4.63937002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.18, Y:-60.32, Z:-4.64 [[ 9.73250015e-01 2.29635153e-01 7.21837042e-03 3.46177911e+02] [-2.29628431e-01 9.73276782e-01 -1.75780154e-03 -6.03190368e+01] [-7.42912535e-03 5.32373045e-05 9.99972402e-01 -4.63965293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.21, Y:-60.33, Z:-4.64 [[ 9.73594948e-01 2.28149294e-01 7.79600895e-03 3.46206294e+02] [-2.28141407e-01 9.73626158e-01 -1.89824959e-03 -6.03272559e+01] [-8.02348255e-03 6.95337572e-05 9.99967809e-01 -4.63994322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5357692310001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:346.24, Y:-60.34, Z:-4.64 [[ 9.73825599e-01 2.27151065e-01 8.13001381e-03 3.46236021e+02] [-2.27142457e-01 9.73859532e-01 -1.97917029e-03 -6.03363326e+01] [-8.36706208e-03 8.06953759e-05 9.99964992e-01 -4.63981873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.26, Y:-60.35, Z:-4.64 [[ 9.73953057e-01 2.26668740e-01 6.06016944e-03 3.46263809e+02] [-2.26663947e-01 9.73971908e-01 -1.47544520e-03 -6.03491191e+01] [-6.23687210e-03 6.33924365e-05 9.99980549e-01 -4.63968249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.29, Y:-60.36, Z:-4.64 [[ 9.74069826e-01 2.26202832e-01 4.50040055e-03 3.46292388e+02] [-2.26200183e-01 9.74080221e-01 -1.09580920e-03 -6.03589983e+01] [-4.63162631e-03 4.94032438e-05 9.99989273e-01 -4.64074054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.32, Y:-60.37, Z:-4.64 [[ 9.74103514e-01 2.26081685e-01 3.06849265e-03 3.46322440e+02] [-2.26080458e-01 9.74108347e-01 -7.45533486e-04 -6.03696844e+01] [-3.15759577e-03 3.25005649e-05 9.99995014e-01 -4.64170887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.35, Y:-60.38, Z:-4.64 [[ 9.74159717e-01 2.25821125e-01 4.20295328e-03 3.46352003e+02] [-2.25818814e-01 9.74168783e-01 -1.02267688e-03 -6.03835079e+01] [-4.32532792e-03 4.71447014e-05 9.99990645e-01 -4.64211591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.38, Y:-60.39, Z:-4.64 [[ 9.74080622e-01 2.26131997e-01 5.59119723e-03 3.46381157e+02] [-2.26127896e-01 9.74096667e-01 -1.36343340e-03 -6.03943414e+01] [-5.75468250e-03 6.37683898e-05 9.99983440e-01 -4.64164001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.41, Y:-60.41, Z:-4.64 [[ 9.73921350e-01 2.26782747e-01 6.84029846e-03 3.46411376e+02] [-2.26776628e-01 9.73945368e-01 -1.66752875e-03 -6.04051870e+01] [-7.04024376e-03 7.28220337e-05 9.99975215e-01 -4.64127243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.44, Y:-60.42, Z:-4.64 [[ 9.73407565e-01 2.28932837e-01 8.21387390e-03 3.46441415e+02] [-2.28924074e-01 9.73442218e-01 -2.00427408e-03 -6.04186266e+01] [-8.45457578e-03 7.06220772e-05 9.99964257e-01 -4.64153200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.47, Y:-60.43, Z:-4.64 [[ 9.73145877e-01 2.30045507e-01 8.13431550e-03 3.46472646e+02] [-2.30036941e-01 9.73179871e-01 -1.98619440e-03 -6.04282495e+01] [-8.37306720e-03 6.16638363e-05 9.99964943e-01 -4.64253274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.50, Y:-60.44, Z:-4.64 [[ 9.72842256e-01 2.31347933e-01 7.48859162e-03 3.46503218e+02] [-2.31340698e-01 9.72871077e-01 -1.83021000e-03 -6.04376589e+01] [-7.70884949e-03 4.80896130e-05 9.99970285e-01 -4.64402069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.53, Y:-60.45, Z:-4.65 [[ 9.72502672e-01 2.32794909e-01 6.71435876e-03 3.46533490e+02] [-2.32789122e-01 9.72525850e-01 -1.64171257e-03 -6.04470129e+01] [-6.91206979e-03 3.35401806e-05 9.99976111e-01 -4.64523815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.56, Y:-60.46, Z:-4.64 [[ 9.71900675e-01 2.35340515e-01 4.89092282e-03 3.46564742e+02] [-2.35337478e-01 9.71912981e-01 -1.19555880e-03 -6.04576253e+01] [-5.03491480e-03 1.09469651e-05 9.99987325e-01 -4.64486240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.60, Y:-60.47, Z:-4.64 [[ 9.71518549e-01 2.36928186e-01 4.09188928e-03 3.46595443e+02] [-2.36926072e-01 9.71527166e-01 -1.00078669e-03 -6.04659517e+01] [-4.21249617e-03 2.80758002e-06 9.99991127e-01 -4.64487540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.63, Y:-60.47, Z:-4.65 [[ 9.71064925e-01 2.38771896e-01 4.57087803e-03 3.46626132e+02] [-2.38769274e-01 9.71075683e-01 -1.11916447e-03 -6.04743984e+01] [-4.70589353e-03 -4.60386921e-06 9.99988927e-01 -4.64589538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.66, Y:-60.48, Z:-4.65 [[ 9.70478590e-01 2.41114723e-01 5.91575043e-03 3.46657616e+02] [-2.41110364e-01 9.70496620e-01 -1.44993558e-03 -6.04845103e+01] [-6.09081661e-03 -1.92173029e-05 9.99981451e-01 -4.64577800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.69, Y:-60.49, Z:-4.65 [[ 9.70317963e-01 2.41741945e-01 6.62434385e-03 3.46688347e+02] [-2.41736482e-01 9.70340575e-01 -1.62533042e-03 -6.04928256e+01] [-6.82078016e-03 -2.42582711e-05 9.99976738e-01 -4.64590010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.72, Y:-60.50, Z:-4.65 [[ 9.70385540e-01 2.41451397e-01 7.28878033e-03 3.46719267e+02] [-2.41444763e-01 9.70412913e-01 -1.78998440e-03 -6.05009602e+01] [-7.50532079e-03 -2.28628625e-05 9.99971834e-01 -4.64640342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.75, Y:-60.51, Z:-4.65 [[ 9.70590138e-01 2.40628458e-01 7.26145041e-03 3.46751517e+02] [-2.40621841e-01 9.70617301e-01 -1.78457331e-03 -6.05093293e+01] [-7.47750853e-03 -1.51743150e-05 9.99972043e-01 -4.64647592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:346.78, Y:-60.52, Z:-4.64 [[ 9.70814904e-01 2.39738759e-01 6.61431062e-03 3.46782418e+02] [-2.39733240e-01 9.70837436e-01 -1.62671396e-03 -6.05174693e+01] [-6.81140675e-03 -6.43195525e-06 9.99976802e-01 -4.64381255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.81, Y:-60.53, Z:-4.65 [[ 9.70950032e-01 2.39244742e-01 4.24125606e-03 3.46813993e+02] [-2.39242469e-01 9.70959295e-01 -1.04300060e-03 -6.05259593e+01] [-4.36761940e-03 -1.98710645e-06 9.99990462e-01 -4.64681138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.84, Y:-60.53, Z:-4.65 [[ 9.71004665e-01 2.39031171e-01 3.74694622e-03 3.46844594e+02] [-2.39029391e-01 9.71011895e-01 -9.22513926e-04 -6.05338522e+01] [-3.85883893e-03 1.35054559e-07 9.99992555e-01 -4.64705111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.88, Y:-60.54, Z:-4.65 [[ 9.71096008e-01 2.38648759e-01 4.39468609e-03 3.46876389e+02] [-2.38646305e-01 9.71105952e-01 -1.08225926e-03 -6.05420536e+01] [-4.52598565e-03 2.20205508e-06 9.99989758e-01 -4.64696620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.91, Y:-60.55, Z:-4.65 [[ 9.71374906e-01 2.37417759e-01 7.97492326e-03 3.46907065e+02] [-2.37409607e-01 9.71407642e-01 -1.96748020e-03 -6.05499376e+01] [-8.21401615e-03 1.78374956e-05 9.99966264e-01 -4.64677549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.94, Y:-60.56, Z:-4.65 [[ 9.71547485e-01 2.36657561e-01 9.41717719e-03 3.46938088e+02] [-2.36646136e-01 9.71593124e-01 -2.32558194e-03 -6.05583757e+01] [-9.70003115e-03 3.08746903e-05 9.99952953e-01 -4.64626045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.25576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:346.97, Y:-60.57, Z:-4.65 [[ 9.71687878e-01 2.36046960e-01 1.02225914e-02 3.46970508e+02] [-2.36033450e-01 9.71741648e-01 -2.52575168e-03 -6.05667418e+01] [-1.05299139e-02 4.13687642e-05 9.99944558e-01 -4.64651272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.00, Y:-60.58, Z:-4.65 [[ 9.71606055e-01 2.36421024e-01 9.31525424e-03 3.47002300e+02] [-2.36409808e-01 9.71650708e-01 -2.30320055e-03 -6.05759114e+01] [-9.59569841e-03 3.55861309e-05 9.99953960e-01 -4.64794043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.03, Y:-60.58, Z:-4.65 [[ 9.71446747e-01 2.37124053e-01 7.96247655e-03 3.47033071e+02] [-2.37115869e-01 9.71479378e-01 -1.97022411e-03 -6.05843985e+01] [-8.20256929e-03 2.59382518e-05 9.99966358e-01 -4.64893274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.06, Y:-60.59, Z:-4.65 [[ 9.71277488e-01 2.37867842e-01 6.23949306e-03 3.47064694e+02] [-2.37862832e-01 9.71297529e-01 -1.54395560e-03 -6.05932085e+01] [-6.42766158e-03 1.54658313e-05 9.99979342e-01 -4.64911217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.10, Y:-60.60, Z:-4.65 [[ 9.71194049e-01 2.38246628e-01 4.54560980e-03 3.47096399e+02] [-2.38243972e-01 9.71204687e-01 -1.12501539e-03 -6.06018313e+01] [-4.68274867e-03 9.64411812e-06 9.99989036e-01 -4.64973093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.13, Y:-60.61, Z:-4.65 [[ 9.71102300e-01 2.38607295e-01 5.18483361e-03 3.47127259e+02] [-2.38603837e-01 9.71116141e-01 -1.28468608e-03 -6.06108203e+01] [-5.34161108e-03 1.04404096e-05 9.99985733e-01 -4.65037632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.16, Y:-60.62, Z:-4.65 [[ 9.71012114e-01 2.38904782e-01 7.74463154e-03 3.47159008e+02] [-2.38897055e-01 9.71042999e-01 -1.92145114e-03 -6.06193909e+01] [-7.97941410e-03 1.55826700e-05 9.99968164e-01 -4.64965692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.19, Y:-60.63, Z:-4.65 [[ 9.70771512e-01 2.39778370e-01 1.04405553e-02 3.47190196e+02] [-2.39764348e-01 9.70827654e-01 -2.59317867e-03 -6.06272434e+01] [-1.07577680e-02 1.41110380e-05 9.99942133e-01 -4.64885449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.22, Y:-60.63, Z:-4.65 [[ 9.69908908e-01 2.43233333e-01 1.06890962e-02 3.47222598e+02] [-2.43218823e-01 9.69967806e-01 -2.65690209e-03 -6.06343507e+01] [-1.10143264e-02 -2.28363928e-05 9.99939340e-01 -4.64926504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.25, Y:-60.64, Z:-4.65 [[ 9.69575178e-01 2.44614120e-01 9.37583845e-03 3.47253826e+02] [-2.44603005e-01 9.69620509e-01 -2.33211322e-03 -6.06423943e+01] [-9.66147308e-03 -3.21991771e-05 9.99953326e-01 -4.65064441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.29, Y:-60.65, Z:-4.65 [[ 9.69437802e-01 2.45177220e-01 8.85879009e-03 3.47285113e+02] [-2.45167306e-01 9.69478277e-01 -2.20504158e-03 -6.06512439e+01] [-9.12903052e-03 -3.42350394e-05 9.99958329e-01 -4.65129988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.32, Y:-60.66, Z:-4.65 [[ 9.69366692e-01 2.45453790e-01 8.98077001e-03 3.47316921e+02] [-2.45443598e-01 9.69408291e-01 -2.23714267e-03 -6.06610861e+01] [-9.25514806e-03 -3.56609102e-05 9.99957170e-01 -4.65143330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.35, Y:-60.67, Z:-4.65 [[ 9.69180423e-01 2.46208150e-01 8.41753209e-03 3.47346880e+02] [-2.46199211e-01 9.69216975e-01 -2.09843090e-03 -6.06724065e+01] [-8.67506579e-03 -3.86316096e-05 9.99962370e-01 -4.65194865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.38, Y:-60.68, Z:-4.65 [[ 9.68849816e-01 2.47529974e-01 7.67756783e-03 3.47378100e+02] [-2.47522569e-01 9.68880235e-01 -1.91517003e-03 -6.06821851e+01] [-7.91270571e-03 -4.48591824e-05 9.99968693e-01 -4.65279603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.41, Y:-60.69, Z:-4.65 [[ 9.68262571e-01 2.49835277e-01 7.06594983e-03 3.47409361e+02] [-2.49829057e-01 9.68288351e-01 -1.76380826e-03 -6.06920229e+01] [-7.28253844e-03 -5.74500675e-05 9.99973480e-01 -4.65321801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.44, Y:-60.70, Z:-4.65 [[ 9.66211649e-01 2.57636652e-01 7.64234599e-03 3.47440277e+02] [-2.57629606e-01 9.66241864e-01 -1.90945989e-03 -6.07020306e+01] [-7.87630149e-03 -1.23952195e-04 9.99968974e-01 -4.65156311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.47, Y:-60.71, Z:-4.65 [[ 9.65020539e-01 2.62067564e-01 7.48000438e-03 3.47470572e+02] [-2.62060936e-01 9.65049516e-01 -1.87036195e-03 -6.07090798e+01] [-7.70873581e-03 -1.55279248e-04 9.99970275e-01 -4.65195665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.50, Y:-60.71, Z:-4.65 [[ 9.63971688e-01 2.65920415e-01 6.70205297e-03 3.47499761e+02] [-2.65915175e-01 9.63994972e-01 -1.67759669e-03 -6.07147197e+01] [-6.90685257e-03 -1.65021879e-04 9.99976134e-01 -4.65251196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.53, Y:-60.72, Z:-4.65 [[ 9.63101357e-01 2.69067590e-01 6.19743650e-03 3.47529525e+02] [-2.69063175e-01 9.63121281e-01 -1.55103782e-03 -6.07199006e+01] [-6.38621699e-03 -1.73695311e-04 9.99979593e-01 -4.65384736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.56, Y:-60.72, Z:-4.65 [[ 9.61893277e-01 2.73363113e-01 5.82513961e-03 3.47558013e+02] [-2.73359290e-01 9.61910896e-01 -1.45807029e-03 -6.07231897e+01] [-6.00184790e-03 -1.89848018e-04 9.99981971e-01 -4.65472203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.59, Y:-60.73, Z:-4.65 [[ 9.61686819e-01 2.74083229e-01 6.07001919e-03 3.47586589e+02] [-2.74079094e-01 9.61705954e-01 -1.51918586e-03 -6.07286186e+01] [-6.25395697e-03 -2.02684339e-04 9.99980423e-01 -4.65477675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.62, Y:-60.73, Z:-4.66 [[ 9.61822169e-01 2.73607164e-01 6.10205062e-03 3.47615470e+02] [-2.73602978e-01 9.61841504e-01 -1.52680140e-03 -6.07335478e+01] [-6.28694935e-03 -2.01027786e-04 9.99980217e-01 -4.65502657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.64, Y:-60.74, Z:-4.66 [[ 9.62290793e-01 2.71964476e-01 5.63496952e-03 3.47643809e+02] [-2.71960878e-01 9.62307276e-01 -1.40989030e-03 -6.07380526e+01] [-5.80601225e-03 -1.75766801e-04 9.99983130e-01 -4.65501224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.67, Y:-60.74, Z:-4.66 [[ 9.63776555e-01 2.66643577e-01 5.99633113e-03 3.47673430e+02] [-2.66639402e-01 9.63795196e-01 -1.49999651e-03 -6.07411358e+01] [-6.17919957e-03 -1.53196678e-04 9.99980897e-01 -4.65562463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.70, Y:-60.75, Z:-4.66 [[ 9.64528660e-01 2.63903064e-01 6.29577290e-03 3.47704179e+02] [-2.63898406e-01 9.64549196e-01 -1.57448165e-03 -6.07466636e+01] [-6.48809322e-03 -1.42811756e-04 9.99978942e-01 -4.65570580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.73, Y:-60.75, Z:-4.66 [[ 9.64525555e-01 2.63914412e-01 6.29572017e-03 3.47734248e+02] [-2.63909753e-01 9.64546092e-01 -1.57469245e-03 -6.07541904e+01] [-6.48809632e-03 -1.42670840e-04 9.99978942e-01 -4.65607773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.76, Y:-60.76, Z:-4.66 [[ 9.65206245e-01 2.61403933e-01 6.69990496e-03 3.47764081e+02] [-2.61398595e-01 9.65229489e-01 -1.67588098e-03 -6.07596317e+01] [-6.90502772e-03 -1.33774953e-04 9.99976151e-01 -4.65672988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.79, Y:-60.76, Z:-4.66 [[ 9.66238828e-01 2.57571847e-01 6.26661182e-03 3.47792720e+02] [-2.57567095e-01 9.66259144e-01 -1.56782292e-03 -6.07645374e+01] [-6.45899802e-03 -9.91816196e-05 9.99979136e-01 -4.65664381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.82, Y:-60.77, Z:-4.66 [[ 9.66563969e-01 2.56343327e-01 6.49558920e-03 3.47822061e+02] [-2.56338195e-01 9.66585790e-01 -1.62481024e-03 -6.07707719e+01] [-6.69505348e-03 -9.45845784e-05 9.99977583e-01 -4.65656236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.85, Y:-60.78, Z:-4.66 [[ 9.66782436e-01 2.55497406e-01 7.26617971e-03 3.47850545e+02] [-2.55490962e-01 9.66809736e-01 -1.81741035e-03 -6.07767980e+01] [-7.48935692e-03 -9.94028364e-05 9.99971949e-01 -4.65675095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.88, Y:-60.78, Z:-4.66 [[ 9.67001577e-01 2.54642920e-01 8.05812743e-03 3.47879724e+02] [-2.54634967e-01 9.67035146e-01 -2.01511821e-03 -6.07824564e+01] [-8.30562802e-03 -1.03258528e-04 9.99965502e-01 -4.65685287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.91, Y:-60.79, Z:-4.66 [[ 9.67626683e-01 2.52284228e-01 7.16038884e-03 3.47909830e+02] [-2.52277886e-01 9.67653173e-01 -1.79036578e-03 -6.07882657e+01] [-7.38045403e-03 -7.40020639e-05 9.99972761e-01 -4.65775946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.94, Y:-60.80, Z:-4.66 [[ 9.67861243e-01 2.51407566e-01 6.23292774e-03 3.47938639e+02] [-2.51402741e-01 9.67881311e-01 -1.55859782e-03 -6.07953114e+01] [-6.42457756e-03 -5.84686989e-05 9.99979360e-01 -4.65744617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.97, Y:-60.80, Z:-4.66 [[ 9.67948689e-01 2.51075779e-01 6.02397662e-03 3.47967875e+02] [-2.51071267e-01 9.67967432e-01 -1.50621009e-03 -6.08016996e+01] [-6.20918606e-03 -5.45133576e-05 9.99980721e-01 -4.65728368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.00, Y:-60.81, Z:-4.66 [[ 9.68007613e-01 2.50833579e-01 6.61637083e-03 3.47996589e+02] [-2.50828132e-01 9.68030223e-01 -1.65420109e-03 -6.08068739e+01] [-6.81977611e-03 -5.82926827e-05 9.99976743e-01 -4.65697178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.03, Y:-60.81, Z:-4.66 [[ 9.68374621e-01 2.49323143e-01 9.41088730e-03 3.48026801e+02] [-2.49312055e-01 9.68420346e-01 -2.35232415e-03 -6.08095827e+01] [-9.70018358e-03 -6.83166440e-05 9.99952950e-01 -4.65728618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.06, Y:-60.81, Z:-4.66 [[ 9.68591479e-01 2.48428706e-01 1.06642318e-02 3.48055289e+02] [-2.48414417e-01 9.68650181e-01 -2.66532564e-03 -6.08146518e+01] [-1.09920535e-02 -6.75372162e-05 9.99939583e-01 -4.65754406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.08, Y:-60.82, Z:-4.66 [[ 9.68721527e-01 2.47910260e-01 1.09136025e-02 3.48082722e+02] [-2.47895266e-01 9.68782999e-01 -2.72726629e-03 -6.08192771e+01] [-1.12490299e-02 -6.34688333e-05 9.99936726e-01 -4.65755374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.11, Y:-60.82, Z:-4.66 [[ 9.68743835e-01 2.47876023e-01 9.63638252e-03 3.48112016e+02] [-2.47864337e-01 9.68791760e-01 -2.40757788e-03 -6.08205166e+01] [-9.93242881e-03 -5.61893293e-05 9.99950671e-01 -4.65851183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.14, Y:-60.83, Z:-4.66 [[ 9.68757870e-01 2.47842868e-01 9.06107131e-03 3.48140948e+02] [-2.47832538e-01 9.68800243e-01 -2.26344424e-03 -6.08250506e+01] [-9.33934659e-03 -5.28988787e-05 9.99956386e-01 -4.66011978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.17, Y:-60.83, Z:-4.66 [[ 9.68909182e-01 2.47280538e-01 8.20569690e-03 3.48169098e+02] [-2.47272049e-01 9.68943927e-01 -2.04944204e-03 -6.08304856e+01] [-8.45764730e-03 -4.33162776e-05 9.99964233e-01 -4.66070501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.20, Y:-60.84, Z:-4.66 [[ 9.70101665e-01 2.42611358e-01 6.51825593e-03 3.48198634e+02] [-2.42605898e-01 9.70123564e-01 -1.62765901e-03 -6.08361801e+01] [-6.71840223e-03 -2.37261801e-06 9.99977431e-01 -4.66117228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.23, Y:-60.84, Z:-4.66 [[ 9.70981587e-01 2.39071867e-01 6.27691804e-03 3.48225570e+02] [-2.39066730e-01 9.71001875e-01 -1.56744830e-03 -6.08422432e+01] [-6.46963198e-03 2.13611679e-05 9.99979071e-01 -4.66130771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:348.25, Y:-60.85, Z:-4.66 [[ 9.71857719e-01 2.35465984e-01 6.95304134e-03 3.48253309e+02] [-2.35459592e-01 9.71882590e-01 -1.73562004e-03 -6.08488158e+01] [-7.16621931e-03 4.96154512e-05 9.99974321e-01 -4.66116027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.28, Y:-60.86, Z:-4.66 [[ 9.72588093e-01 2.32402733e-01 7.83397607e-03 3.48282483e+02] [-2.32394522e-01 9.72619639e-01 -1.95526594e-03 -6.08565259e+01] [-8.07388813e-03 8.10952505e-05 9.99967402e-01 -4.66071251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.31, Y:-60.86, Z:-4.66 [[ 9.73687067e-01 2.27667735e-01 1.00447972e-02 3.48309560e+02] [-2.27653986e-01 9.73738866e-01 -2.50673581e-03 -6.08644315e+01] [-1.03517123e-02 1.54038115e-04 9.99946408e-01 -4.66092545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.34, Y:-60.87, Z:-4.66 [[ 9.74112758e-01 2.25849246e-01 9.82107640e-03 3.48340030e+02] [-2.25836015e-01 9.74162250e-01 -2.45055159e-03 -6.08731363e+01] [-1.01207771e-02 1.69160815e-04 9.99948769e-01 -4.66159153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.37, Y:-60.88, Z:-4.66 [[ 9.74446770e-01 2.24449602e-01 8.71024281e-03 3.48371316e+02] [-2.24439141e-01 9.74485685e-01 -2.17310756e-03 -6.08823618e+01] [-8.97576006e-03 1.62658228e-04 9.99959704e-01 -4.66274379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.40, Y:-60.89, Z:-4.66 [[ 9.74691193e-01 2.23438619e-01 7.22923553e-03 3.48400893e+02] [-2.23431378e-01 9.74717991e-01 -1.80463461e-03 -6.08919208e+01] [-7.44969100e-03 1.43723408e-04 9.99972240e-01 -4.66342359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.43, Y:-60.90, Z:-4.66 [[ 9.75262502e-01 2.20978899e-01 5.60160114e-03 3.48428972e+02] [-2.20974504e-01 9.75278581e-01 -1.39950160e-03 -6.09035278e+01] [-5.77238193e-03 1.27070406e-04 9.99983332e-01 -4.66342550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.46, Y:-60.91, Z:-4.66 [[ 9.75461457e-01 2.20078857e-01 6.34372435e-03 3.48458207e+02] [-2.20073197e-01 9.75482073e-01 -1.58567600e-03 -6.09129255e+01] [-6.53716314e-03 1.50682125e-04 9.99978621e-01 -4.66306335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.49, Y:-60.93, Z:-4.66 [[ 9.75649052e-01 2.19144300e-01 9.20340581e-03 3.48487059e+02] [-2.19132343e-01 9.75692433e-01 -2.30042079e-03 -6.09250273e+01] [-9.48381752e-03 2.27639480e-04 9.99955002e-01 -4.66222771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.52, Y:-60.94, Z:-4.66 [[ 9.75725304e-01 2.18789100e-01 9.56355638e-03 3.48518814e+02] [-2.18776174e-01 9.75772142e-01 -2.39031588e-03 -6.09358736e+01] [-9.85482695e-03 2.40013421e-04 9.99951411e-01 -4.66244341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.55, Y:-60.95, Z:-4.66 [[ 9.75754704e-01 2.18666407e-01 9.36801911e-03 3.48549610e+02] [-2.18653980e-01 9.75799644e-01 -2.34335186e-03 -6.09459535e+01] [-9.65372205e-03 2.38181935e-04 9.99953373e-01 -4.66284912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.58, Y:-60.96, Z:-4.66 [[ 9.75659398e-01 2.19113624e-01 8.82943648e-03 3.48581553e+02] [-2.19102589e-01 9.75699324e-01 -2.21015374e-03 -6.09559107e+01] [-9.09915000e-03 2.21804866e-04 9.99958577e-01 -4.66317165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.61, Y:-60.97, Z:-4.66 [[ 9.75147777e-01 2.21425021e-01 7.60083799e-03 3.48612423e+02] [-2.21416904e-01 9.75177384e-01 -1.90385218e-03 -6.09660173e+01] [-7.83372582e-03 1.73583212e-04 9.99969301e-01 -4.66342374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.64, Y:-60.98, Z:-4.66 [[ 9.74794057e-01 2.22987012e-01 7.30327998e-03 3.48644269e+02] [-2.22979552e-01 9.74821403e-01 -1.83072052e-03 -6.09751672e+01] [-7.52762054e-03 1.56093383e-04 9.99971655e-01 -4.66454168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.68, Y:-60.98, Z:-4.66 [[ 9.74382512e-01 2.24794376e-01 6.79773917e-03 3.48675377e+02] [-2.24787947e-01 9.74406215e-01 -1.70529365e-03 -6.09833395e+01] [-7.00709971e-03 1.33558479e-04 9.99975441e-01 -4.66438703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.71, Y:-60.99, Z:-4.66 [[ 9.73855438e-01 2.27061345e-01 6.98085021e-03 3.48706210e+02] [-2.27054613e-01 9.73880450e-01 -1.75268954e-03 -6.09907244e+01] [-7.19648159e-03 1.21831994e-04 9.99974098e-01 -4.66487906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.74, Y:-61.00, Z:-4.66 [[ 9.72694032e-01 2.31983442e-01 7.07131479e-03 3.48738438e+02] [-2.31976656e-01 9.72719731e-01 -1.77651860e-03 -6.09984644e+01] [-7.29053032e-03 8.76290807e-05 9.99973420e-01 -4.66470971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.77, Y:-61.01, Z:-4.67 [[ 9.72241797e-01 2.33881261e-01 6.74121953e-03 3.48769708e+02] [-2.33875130e-01 9.72265165e-01 -1.69496389e-03 -6.10068395e+01] [-6.95067321e-03 7.13111439e-05 9.99975841e-01 -4.66568416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.80, Y:-61.01, Z:-4.67 [[ 9.72058580e-01 2.34662933e-01 5.95187721e-03 3.48799752e+02] [-2.34658157e-01 9.72076800e-01 -1.49836365e-03 -6.10148721e+01] [-6.13729216e-03 5.98407007e-05 9.99981165e-01 -4.66712044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.83, Y:-61.02, Z:-4.67 [[ 9.72009815e-01 2.34886111e-01 5.04329882e-03 3.48829811e+02] [-2.34882689e-01 9.72022897e-01 -1.26881257e-03 -6.10224836e+01] [-5.20022839e-03 4.87146837e-05 9.99986478e-01 -4.66832284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.86, Y:-61.03, Z:-4.67 [[ 9.72122938e-01 2.34403532e-01 5.65493552e-03 3.48859959e+02] [-2.34399210e-01 9.72139383e-01 -1.42465496e-03 -6.10299701e+01] [-5.83132968e-03 5.94273461e-05 9.99982996e-01 -4.66823733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.89, Y:-61.04, Z:-4.67 [[ 9.72190090e-01 2.34121119e-01 5.80778314e-03 3.48891660e+02] [-2.34116561e-01 9.72207435e-01 -1.46223850e-03 -6.10387815e+01] [-5.98871087e-03 6.18755655e-05 9.99982066e-01 -4.66744787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.92, Y:-61.05, Z:-4.67 [[ 9.72363763e-01 2.33404548e-01 5.57043996e-03 3.48922352e+02] [-2.33400334e-01 9.72379716e-01 -1.40402595e-03 -6.10480153e+01] [-5.74428887e-03 6.50814124e-05 9.99983499e-01 -4.66731113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.95, Y:-61.06, Z:-4.67 [[ 9.72639017e-01 2.32252764e-01 5.65660363e-03 3.48951284e+02] [-2.32248391e-01 9.72655462e-01 -1.42721318e-03 -6.10563046e+01] [-5.83340062e-03 7.44261385e-05 9.99982983e-01 -4.66824486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.98, Y:-61.07, Z:-4.67 [[ 9.72760147e-01 2.31698857e-01 7.30311817e-03 3.48982690e+02] [-2.31691557e-01 9.72787556e-01 -1.84192226e-03 -6.10653698e+01] [-7.53115376e-03 9.96777425e-05 9.99971635e-01 -4.66842458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.01, Y:-61.07, Z:-4.67 [[ 9.72690690e-01 2.31960673e-01 8.18945405e-03 3.49013322e+02] [-2.31951485e-01 9.72725158e-01 -2.06752292e-03 -6.10737501e+01] [-8.44567200e-03 1.11504266e-04 9.99964328e-01 -4.66898038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.04, Y:-61.08, Z:-4.67 [[ 9.72509565e-01 2.32718422e-01 8.20260640e-03 3.49044690e+02] [-2.32709219e-01 9.72544150e-01 -2.07243730e-03 -6.10823054e+01] [-8.45969121e-03 1.06642967e-04 9.99964210e-01 -4.66893480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.07, Y:-61.09, Z:-4.67 [[ 9.71871681e-01 2.35400321e-01 7.21966842e-03 3.49074832e+02] [-2.35393255e-01 9.71898494e-01 -1.82542701e-03 -6.10896641e+01] [-7.44649098e-03 7.46195678e-05 9.99972272e-01 -4.66859001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.10, Y:-61.10, Z:-4.67 [[ 9.71368638e-01 2.37479884e-01 6.80255179e-03 3.49104606e+02] [-2.37473649e-01 9.71392455e-01 -1.72167770e-03 -6.10963495e+01] [-7.01681130e-03 5.69569229e-05 9.99975380e-01 -4.66838194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.13, Y:-61.10, Z:-4.67 [[ 9.70840017e-01 2.39644750e-01 6.32889524e-03 3.49134095e+02] [-2.39639399e-01 9.70860645e-01 -1.60193041e-03 -6.11034149e+01] [-6.52836953e-03 3.85654935e-05 9.99978689e-01 -4.66882839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.16, Y:-61.11, Z:-4.67 [[ 9.69969933e-01 2.43148248e-01 6.10388797e-03 3.49164774e+02] [-2.43143341e-01 9.69989139e-01 -1.54483710e-03 -6.11112181e+01] [-6.29632947e-03 1.43258248e-05 9.99980178e-01 -4.66922949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.19, Y:-61.12, Z:-4.67 [[ 9.69702363e-01 2.44192857e-01 6.86847381e-03 3.49193848e+02] [-2.44186667e-01 9.69726688e-01 -1.73862006e-03 -6.11180703e+01] [-7.08510096e-03 8.75424811e-06 9.99974900e-01 -4.66983485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.22, Y:-61.13, Z:-4.67 [[ 9.69528036e-01 2.44872183e-01 7.28019464e-03 3.49223920e+02] [-2.44865248e-01 9.69555369e-01 -1.84288510e-03 -6.11250498e+01] [-7.50982310e-03 4.06210929e-06 9.99971801e-01 -4.67059630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.25, Y:-61.13, Z:-4.67 [[ 9.69430054e-01 2.45263610e-01 7.15073633e-03 3.49254795e+02] [-2.45256929e-01 9.69456426e-01 -1.81029023e-03 -6.11318983e+01] [-7.37632560e-03 1.18212627e-06 9.99972795e-01 -4.67077447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.29, Y:-61.14, Z:-4.67 [[ 9.69285247e-01 2.45852432e-01 6.53392061e-03 3.49285029e+02] [-2.45846866e-01 9.69307269e-01 -1.65427537e-03 -6.11387660e+01] [-6.74008436e-03 -2.87919475e-06 9.99977285e-01 -4.67089011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.31, Y:-61.14, Z:-4.67 [[ 9.69467207e-01 2.45140588e-01 6.27903192e-03 3.49314705e+02] [-2.45135433e-01 9.69487541e-01 -1.58971052e-03 -6.11446183e+01] [-6.47714579e-03 1.95900841e-06 9.99979023e-01 -4.67100399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.34, Y:-61.15, Z:-4.67 [[ 9.69683267e-01 2.44266262e-01 6.95380993e-03 3.49343033e+02] [-2.44259911e-01 9.69708200e-01 -1.76147524e-03 -6.11511460e+01] [-7.17343549e-03 9.53606961e-06 9.99974271e-01 -4.67158370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6557692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:349.37, Y:-61.16, Z:-4.67 [[ 9.69934497e-01 2.43248860e-01 7.55402627e-03 3.49373177e+02] [-2.43241338e-01 9.69963913e-01 -1.91295514e-03 -6.11582796e+01] [-7.79245703e-03 1.79897180e-05 9.99969638e-01 -4.67220332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:349.40, Y:-61.17, Z:-4.67 [[ 9.70264938e-01 2.41915960e-01 7.91323232e-03 3.49402037e+02] [-2.41907660e-01 9.70297206e-01 -2.00417461e-03 -6.11658962e+01] [-8.16302903e-03 3.03088406e-05 9.99966681e-01 -4.67234378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7157692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:349.43, Y:-61.17, Z:-4.67 [[ 9.71407742e-01 2.37299577e-01 7.47730710e-03 3.49432675e+02] [-2.37292033e-01 9.71436517e-01 -1.89318503e-03 -6.11747511e+01] [-7.71298118e-03 6.47491867e-05 9.99970252e-01 -4.67311211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.46, Y:-61.18, Z:-4.67 [[ 9.72112921e-01 2.34424160e-01 6.46397836e-03 3.49462054e+02] [-2.34418453e-01 9.72134408e-01 -1.63753213e-03 -6.11836546e+01] [-6.66773287e-03 7.65903328e-05 9.99977767e-01 -4.67411704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.49, Y:-61.19, Z:-4.67 [[ 9.72726347e-01 2.31880906e-01 5.89061092e-03 3.49491896e+02] [-2.31876115e-01 9.72744179e-01 -1.49306345e-03 -6.11930934e+01] [-6.07627039e-03 8.64501800e-05 9.99981536e-01 -4.67456076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.52, Y:-61.20, Z:-4.67 [[ 9.73190956e-01 2.29933004e-01 5.49332731e-03 3.49522810e+02] [-2.29928802e-01 9.73206456e-01 -1.39304779e-03 -6.12030054e+01] [-5.66644927e-03 9.26273423e-05 9.99983941e-01 -4.67447753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.55, Y:-61.21, Z:-4.67 [[ 9.74008165e-01 2.26441721e-01 5.67812471e-03 3.49552599e+02] [-2.26437167e-01 9.74024709e-01 -1.44095072e-03 -6.12144890e+01] [-5.85692513e-03 1.17759292e-04 9.99982841e-01 -4.67456532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:349.58, Y:-61.23, Z:-4.68 [[ 9.74389314e-01 2.24775373e-01 6.44176776e-03 3.49583567e+02] [-2.24769468e-01 9.74410596e-01 -1.63592387e-03 -6.12250857e+01] [-6.64464216e-03 1.46114032e-04 9.99977913e-01 -4.67521189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.89576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:349.61, Y:-61.24, Z:-4.68 [[ 9.74716872e-01 2.23332711e-01 7.03696203e-03 3.49613605e+02] [-2.23325611e-01 9.74742259e-01 -1.78909769e-03 -6.12364330e+01] [-7.25878830e-03 1.72329861e-04 9.99973640e-01 -4.67583877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:349.65, Y:-61.24, Z:-4.68 [[ 9.74699116e-01 2.23410201e-01 7.03669951e-03 3.49646026e+02] [-2.23403096e-01 9.74724501e-01 -1.79012944e-03 -6.12448372e+01] [-7.25877660e-03 1.72817131e-04 9.99973640e-01 -4.67624082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.68, Y:-61.26, Z:-4.68 [[ 9.75018157e-01 2.21991926e-01 7.69271912e-03 3.49676498e+02] [-2.21983388e-01 9.75048483e-01 -1.95730889e-03 -6.12574628e+01] [-7.93528088e-03 2.00755857e-04 9.99968495e-01 -4.67609959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.71, Y:-61.27, Z:-4.68 [[ 9.75738078e-01 2.18782423e-01 8.33389564e-03 3.49705348e+02] [-2.18772269e-01 9.75773637e-01 -2.12235421e-03 -6.12742091e+01] [-8.59632946e-03 2.47636563e-04 9.99963020e-01 -4.67638550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.74, Y:-61.29, Z:-4.68 [[ 9.75901162e-01 2.18092819e-01 7.24188167e-03 3.49736749e+02] [-2.18085125e-01 9.75928006e-01 -1.84523382e-03 -6.12863466e+01] [-7.46998739e-03 2.21419159e-04 9.99972075e-01 -4.67678348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.77, Y:-61.30, Z:-4.68 [[ 9.75961584e-01 2.17890294e-01 4.77554109e-03 3.49767010e+02] [-2.17874430e-01 9.75970063e-01 -3.62880731e-03 -6.12976958e+01] [-5.45146703e-03 2.50110824e-03 9.99982013e-01 -4.67781107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:349.80, Y:-61.31, Z:-4.68 [[ 9.75909114e-01 2.18104758e-01 5.63162886e-03 3.49796218e+02] [-2.18114011e-01 9.75922701e-01 1.07731848e-03 -6.13119234e+01] [-5.26106616e-03 -2.27970209e-03 9.99983562e-01 -4.67751217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:349.82, Y:-61.33, Z:-4.68 [[ 9.75880216e-01 2.18225733e-01 5.94414919e-03 3.49824853e+02] [-2.18220531e-01 9.75898302e-01 -1.51804679e-03 -6.13270749e+01] [-6.13216198e-03 1.84296441e-04 9.99981181e-01 -4.67765032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:349.86, Y:-61.34, Z:-4.68 [[ 9.75912435e-01 2.18057264e-01 6.77863222e-03 3.49855927e+02] [-2.18050484e-01 9.75935953e-01 -1.73265283e-03 -6.13392080e+01] [-6.99332843e-03 2.12833407e-04 9.99975524e-01 -4.67750719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.89, Y:-61.35, Z:-4.68 [[ 9.76022088e-01 2.17551118e-01 7.23843152e-03 3.49886735e+02] [-2.17543362e-01 9.76048901e-01 -1.85173647e-03 -6.13521773e+01] [-7.46791047e-03 2.32662963e-04 9.99972088e-01 -4.67749732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.92, Y:-61.37, Z:-4.68 [[ 9.76433040e-01 2.15616176e-01 9.39056570e-03 3.49915545e+02] [-2.15603007e-01 9.76478141e-01 -2.40483905e-03 -6.13711800e+01] [-9.68820434e-03 3.23530098e-04 9.99953016e-01 -4.67774300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:349.94, Y:-61.38, Z:-4.68 [[ 9.76390583e-01 2.15722865e-01 1.11837419e-02 3.49944799e+02] [-2.15704162e-01 9.76454554e-01 -2.86672809e-03 -6.13849488e+01] [-1.15388345e-02 3.86666644e-04 9.99933351e-01 -4.67743135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.25576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:349.98, Y:-61.40, Z:-4.68 [[ 9.76151598e-01 2.16745441e-01 1.22258440e-02 3.49975865e+02] [-2.16723139e-01 9.76228070e-01 -3.13632477e-03 -6.13984157e+01] [-1.26149962e-02 4.11905132e-04 9.99920343e-01 -4.67760154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2857692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:350.00, Y:-61.42, Z:-4.68 [[ 9.74870426e-01 2.22517577e-01 1.06573800e-02 3.50004436e+02] [-2.22500955e-01 9.74928634e-01 -2.73582091e-03 -6.14155625e+01] [-1.09989532e-02 2.95793668e-04 9.99939466e-01 -4.67752953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.04, Y:-61.43, Z:-4.68 [[ 9.73830166e-01 2.27107063e-01 8.78578860e-03 3.50035437e+02] [-2.27095942e-01 9.73869776e-01 -2.25658364e-03 -6.14272312e+01] [-9.06870006e-03 2.02312277e-04 9.99958858e-01 -4.67846140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.07, Y:-61.44, Z:-4.68 [[ 9.72597939e-01 2.32384588e-01 7.11705520e-03 3.50065844e+02] [-2.32377424e-01 9.72623970e-01 -1.82905823e-03 -6.14381319e+01] [-7.34726343e-03 1.25095305e-04 9.99973001e-01 -4.67857949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.37576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.10, Y:-61.45, Z:-4.68 [[ 9.71228476e-01 2.38062347e-01 6.44716583e-03 3.50097492e+02] [-2.38056586e-01 9.71249872e-01 -1.65789568e-03 -6.14482705e+01] [-6.65649152e-03 7.54052084e-05 9.99977842e-01 -4.67870269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.13, Y:-61.46, Z:-4.68 [[ 9.68375652e-01 2.49426149e-01 5.93233203e-03 3.50129368e+02] [-2.49421478e-01 9.68393823e-01 -1.52646325e-03 -6.14568978e+01] [-6.12557354e-03 -1.46117588e-06 9.99981238e-01 -4.67848419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.43576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.16, Y:-61.46, Z:-4.68 [[ 9.67065249e-01 2.54458522e-01 5.97198154e-03 3.50160538e+02] [-2.54453876e-01 9.67083688e-01 -1.53799377e-03 -6.14642576e+01] [-6.16676155e-03 -3.22535243e-05 9.99980985e-01 -4.67941439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4657692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.19, Y:-61.47, Z:-4.68 [[ 9.66032697e-01 2.58346638e-01 6.15166823e-03 3.50192096e+02] [-2.58341779e-01 9.66052282e-01 -1.58544017e-03 -6.14719306e+01] [-6.35242626e-03 -5.76458756e-05 9.99979821e-01 -4.68017762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.22, Y:-61.48, Z:-4.68 [[ 9.65259862e-01 2.61213245e-01 6.40618591e-03 3.50223184e+02] [-2.61208030e-01 9.65281117e-01 -1.65251043e-03 -6.14794489e+01] [-6.61542791e-03 -7.82452101e-05 9.99978115e-01 -4.68113258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:350.26, Y:-61.48, Z:-4.68 [[ 9.64282342e-01 2.64799997e-01 6.36606660e-03 3.50255676e+02] [-2.64794917e-01 9.64303350e-01 -1.64329998e-03 -6.14847270e+01] [-6.57396518e-03 -1.01096922e-04 9.99978386e-01 -4.68202184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.55576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:350.29, Y:-61.49, Z:-4.68 [[ 9.63991384e-01 2.65867984e-01 5.90142930e-03 3.50287008e+02] [-2.65863632e-01 9.64009442e-01 -1.52446799e-03 -6.14902963e+01] [-6.09434080e-03 -9.94014230e-05 9.99981424e-01 -4.68253135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.58576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:350.32, Y:-61.50, Z:-4.68 [[ 9.63642061e-01 2.67139126e-01 5.53759731e-03 3.50319158e+02] [-2.67135310e-01 9.63657967e-01 -1.43131869e-03 -6.14963504e+01] [-5.71871099e-03 -1.00008878e-04 9.99983643e-01 -4.68200527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.35, Y:-61.50, Z:-4.68 [[ 9.63339628e-01 2.68227447e-01 5.54961247e-03 3.50350416e+02] [-2.68223623e-01 9.63355607e-01 -1.43600035e-03 -6.15019412e+01] [-5.73142500e-03 -1.05181125e-04 9.99983570e-01 -4.68134082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:350.38, Y:-61.50, Z:-4.68 [[ 9.62884359e-01 2.69828501e-01 6.80374250e-03 3.50382622e+02] [-2.69822788e-01 9.62908386e-01 -1.76139537e-03 -6.15035724e+01] [-7.02665538e-03 -1.39784719e-04 9.99975303e-01 -4.68109656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.67576923100006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:350.42, Y:-61.51, Z:-4.68 [[ 9.62736048e-01 2.70330973e-01 7.77600357e-03 3.50415570e+02] [-2.70323513e-01 9.62767438e-01 -2.01481121e-03 -6.15073448e+01] [-8.03114891e-03 -1.62305224e-04 9.99967737e-01 -4.68263260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:350.45, Y:-61.51, Z:-4.68 [[ 9.62699627e-01 2.70455782e-01 7.94339244e-03 3.50448205e+02] [-2.70447989e-01 9.62732384e-01 -2.05975164e-03 -6.15111027e+01] [-8.20443288e-03 -1.65352374e-04 9.99966329e-01 -4.68358705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.73576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:350.48, Y:-61.52, Z:-4.68 [[ 9.62703303e-01 2.70447820e-01 7.76701631e-03 3.50480572e+02] [-2.70440357e-01 9.62734621e-01 -2.01546811e-03 -6.15159040e+01] [-8.02265447e-03 -1.60216855e-04 9.99967805e-01 -4.68465173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.51, Y:-61.52, Z:-4.68 [[ 9.62962614e-01 2.69544293e-01 6.99127264e-03 3.50512921e+02] [-2.69538215e-01 9.62987983e-01 -1.81529231e-03 -6.15206189e+01] [-7.22181322e-03 -1.36356516e-04 9.99973913e-01 -4.68408723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.79576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.55, Y:-61.53, Z:-4.68 [[ 9.63355682e-01 2.68152126e-01 6.34557303e-03 3.50545498e+02] [-2.68147078e-01 9.63376575e-01 -1.64928622e-03 -6.15277973e+01] [-6.55543602e-03 -1.12697614e-04 9.99978507e-01 -4.68385131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.58, Y:-61.53, Z:-4.68 [[ 9.63857922e-01 2.66349409e-01 5.99147452e-03 3.50576964e+02] [-2.66344874e-01 9.63876539e-01 -1.55714925e-03 -6.15336685e+01] [-6.18978751e-03 -9.49278882e-05 9.99980839e-01 -4.68380025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.85576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:350.61, Y:-61.54, Z:-4.69 [[ 9.64345729e-01 2.64568194e-01 6.40193407e-03 3.50608944e+02] [-2.64562969e-01 9.64366975e-01 -1.66519553e-03 -6.15381250e+01] [-6.61437157e-03 -8.78904830e-05 9.99978121e-01 -4.68517061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:350.64, Y:-61.54, Z:-4.69 [[ 9.64797661e-01 2.62901735e-01 6.93911229e-03 3.50642226e+02] [-2.62895541e-01 9.64822611e-01 -1.80637658e-03 -6.15427731e+01] [-7.16991198e-03 -8.14737820e-05 9.99974293e-01 -4.68571130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.67, Y:-61.55, Z:-4.69 [[ 9.65580937e-01 2.59981775e-01 7.93292023e-03 3.50674482e+02] [-2.59973565e-01 9.65613521e-01 -2.06722469e-03 -6.15470713e+01] [-8.19757578e-03 -6.62767963e-05 9.99966397e-01 -4.68569054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.71, Y:-61.56, Z:-4.69 [[ 9.66088678e-01 2.58076161e-01 8.32840101e-03 3.50706541e+02] [-2.58067034e-01 9.66124574e-01 -2.17111838e-03 -6.15552737e+01] [-8.60658678e-03 -5.17928584e-05 9.99962961e-01 -4.68556665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.9757692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:350.74, Y:-61.56, Z:-4.69 [[ 9.66765448e-01 2.55524572e-01 8.47119815e-03 3.50738278e+02] [-2.55515017e-01 9.66802561e-01 -2.21001695e-03 -6.15640143e+01] [-8.75468970e-03 -2.79503051e-05 9.99961677e-01 -4.68593364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:350.77, Y:-61.57, Z:-4.69 [[ 9.68513547e-01 2.48801838e-01 8.89687343e-03 3.50768541e+02] [-2.48790996e-01 9.68554409e-01 -2.32295689e-03 -6.15737216e+01] [-9.19506194e-03 3.63532129e-05 9.99957724e-01 -4.68663778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0357692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:350.80, Y:-61.58, Z:-4.69 [[ 9.69287520e-01 2.45766678e-01 8.96902983e-03 3.50800063e+02] [-2.45755515e-01 9.69329013e-01 -2.34340873e-03 -6.15839193e+01] [-9.26987261e-03 6.72483002e-05 9.99957032e-01 -4.68748983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.83, Y:-61.60, Z:-4.69 [[ 9.70000159e-01 2.42959691e-01 8.38331459e-03 3.50831585e+02] [-2.42949820e-01 9.70036381e-01 -2.19188352e-03 -6.15952495e+01] [-8.66465949e-03 8.94025901e-05 9.99962457e-01 -4.68835906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0957692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:350.86, Y:-61.61, Z:-4.69 [[ 9.70707358e-01 2.40149290e-01 7.45270922e-03 3.50861819e+02] [-2.40141396e-01 9.70735962e-01 -1.94984444e-03 -6.16067982e+01] [-7.70286661e-03 1.03024349e-04 9.99970327e-01 -4.68942854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12576923100005 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:350.89, Y:-61.62, Z:-4.69 [[ 9.71391822e-01 2.37396564e-01 6.38738537e-03 3.50892974e+02] [-2.37390701e-01 9.71412816e-01 -1.67197085e-03 -6.16187830e+01] [-6.60170815e-03 1.07832923e-04 9.99978203e-01 -4.69106111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1557692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:350.92, Y:-61.63, Z:-4.69 [[ 9.71922847e-01 2.35247143e-01 4.97615803e-03 3.50923275e+02] [-2.35243554e-01 9.71935580e-01 -1.30296597e-03 -6.16342142e+01] [-5.14302406e-03 9.57732908e-05 9.99986770e-01 -4.69140680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18576923100005 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:350.95, Y:-61.65, Z:-4.69 [[ 9.71702796e-01 2.36159137e-01 4.74743102e-03 3.50953524e+02] [-2.36155877e-01 9.71714389e-01 -1.24399250e-03 -6.16467744e+01] [-4.90692723e-03 8.76572609e-05 9.99987957e-01 -4.69084717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2157692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.98, Y:-61.66, Z:-4.69 [[ 9.71240148e-01 2.38056811e-01 4.64004055e-03 3.50984114e+02] [-2.38053715e-01 9.71251229e-01 -1.21653635e-03 -6.16603756e+01] [-4.79624985e-03 7.69700519e-05 9.99988495e-01 -4.69007574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.01, Y:-61.67, Z:-4.69 [[ 9.70739872e-01 2.40089072e-01 4.61932053e-03 3.51013545e+02] [-2.40086022e-01 9.70750860e-01 -1.21212494e-03 -6.16728172e+01] [-4.77522733e-03 6.76237183e-05 9.99988596e-01 -4.68981907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:351.04, Y:-61.68, Z:-4.69 [[ 9.70198335e-01 2.42258559e-01 5.09716934e-03 3.51044443e+02] [-2.42254869e-01 9.70211722e-01 -1.33862128e-03 -6.16841247e+01] [-5.26962590e-03 6.39140474e-05 9.99986113e-01 -4.69062290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.08, Y:-61.70, Z:-4.69 [[ 9.69123827e-01 2.46505921e-01 5.81718006e-03 3.51075540e+02] [-2.46501182e-01 9.69141284e-01 -1.52919977e-03 -6.16967862e+01] [-6.01462615e-03 4.80421654e-05 9.99981911e-01 -4.69301137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.33576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:351.11, Y:-61.71, Z:-4.69 [[ 9.68723808e-01 2.48059885e-01 6.36214548e-03 3.51105744e+02] [-2.48054241e-01 9.68744699e-01 -1.67402366e-03 -6.17076679e+01] [-6.57855282e-03 4.35094145e-05 9.99978360e-01 -4.69353005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:351.14, Y:-61.72, Z:-4.69 [[ 9.68396113e-01 2.49329140e-01 6.62930796e-03 3.51135987e+02] [-2.49323032e-01 9.68418803e-01 -1.74566348e-03 -6.17187543e+01] [-6.85519126e-03 3.76545650e-05 9.99976502e-01 -4.69320303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.17, Y:-61.73, Z:-4.69 [[ 9.67399210e-01 2.53188993e-01 5.83970040e-03 3.51167140e+02] [-2.53184319e-01 9.67416835e-01 -1.53846997e-03 -6.17310660e+01] [-6.03894814e-03 9.79406287e-06 9.99981765e-01 -4.69237418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.20, Y:-61.74, Z:-4.69 [[ 9.66641637e-01 2.56084739e-01 4.95500274e-03 3.51197903e+02] [-2.56081408e-01 9.66654337e-01 -1.30609875e-03 -6.17401186e+01] [-5.12424684e-03 -6.35464189e-06 9.99986871e-01 -4.69376110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:351.23, Y:-61.75, Z:-4.69 [[ 9.65781978e-01 2.59320387e-01 4.25524748e-03 3.51229051e+02] [-2.59317961e-01 9.65791352e-01 -1.12203431e-03 -6.17494722e+01] [-4.40064759e-03 -1.98215820e-05 9.99990317e-01 -4.69444413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.26, Y:-61.76, Z:-4.69 [[ 9.64058195e-01 2.65636021e-01 5.41296349e-03 3.51260008e+02] [-2.65632185e-01 9.64073390e-01 -1.42889776e-03 -6.17609087e+01] [-5.59806078e-03 -6.03167217e-05 9.99984329e-01 -4.69376292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.29, Y:-61.77, Z:-4.69 [[ 9.63253977e-01 2.68495036e-01 7.22443796e-03 3.51292082e+02] [-2.68488266e-01 9.63281063e-01 -1.90923066e-03 -6.17704118e+01] [-7.47178323e-03 -1.00602804e-04 9.99972081e-01 -4.69320391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.32, Y:-61.78, Z:-4.69 [[ 9.62330300e-01 2.71747022e-01 8.59944343e-03 3.51323426e+02] [-2.71737541e-01 9.62368710e-01 -2.27477457e-03 -6.17796153e+01] [-8.89399850e-03 -1.47707125e-04 9.99960437e-01 -4.69336901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:351.35, Y:-61.79, Z:-4.69 [[ 9.61477011e-01 2.74732030e-01 9.17983492e-03 3.51354383e+02] [-2.74721342e-01 9.61520815e-01 -2.43036039e-03 -6.17882783e+01] [-9.49430019e-03 -1.85160923e-04 9.99954911e-01 -4.69430215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:351.39, Y:-61.80, Z:-4.69 [[ 9.60077947e-01 2.79598131e-01 8.67295677e-03 3.51385387e+02] [-2.79588775e-01 9.60117096e-01 -2.29768750e-03 -6.17971816e+01] [-8.96948319e-03 -2.18902266e-04 9.99959749e-01 -4.69476980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:351.42, Y:-61.80, Z:-4.70 [[ 9.59136121e-01 2.82820624e-01 8.39028555e-03 3.51417257e+02] [-2.82811979e-01 9.59172788e-01 -2.22422274e-03 -6.18045486e+01] [-8.67678965e-03 -2.39540889e-04 9.99962327e-01 -4.69517021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66576923100007 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:351.45, Y:-61.81, Z:-4.69 [[ 9.58035257e-01 2.86531914e-01 8.24069648e-03 3.51449914e+02] [-2.86523699e-01 9.58070661e-01 -2.18613640e-03 -6.18109180e+01] [-8.52156737e-03 -2.66759087e-04 9.99963655e-01 -4.69449314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.69576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.48, Y:-61.82, Z:-4.69 [[ 9.56803504e-01 2.90605251e-01 8.69731482e-03 3.51482409e+02] [-2.90596251e-01 9.56842979e-01 -2.30909142e-03 -6.18167006e+01] [-8.99299872e-03 -3.18060317e-04 9.99959512e-01 -4.69416913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:351.52, Y:-61.82, Z:-4.69 [[ 9.54504074e-01 2.98053068e-01 9.29196462e-03 3.51515078e+02] [-2.98043128e-01 9.54549212e-01 -2.46895704e-03 -6.18195177e+01] [-9.60551772e-03 -4.12776649e-04 9.99953781e-01 -4.69453139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.75576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.55, Y:-61.83, Z:-4.70 [[ 9.53587995e-01 3.00965569e-01 9.46899542e-03 3.51548032e+02] [-3.00955373e-01 9.53634901e-01 -2.51770403e-03 -6.18252735e+01] [-9.78770674e-03 -4.48892704e-04 9.99951998e-01 -4.69604097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.58, Y:-61.83, Z:-4.70 [[ 9.52836142e-01 3.03326586e-01 9.81166013e-03 3.51579704e+02] [-3.03315743e-01 9.52886532e-01 -2.61087230e-03 -6.18305015e+01] [-1.01413458e-02 -4.88297492e-04 9.99948456e-01 -4.69741742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.61, Y:-61.84, Z:-4.70 [[ 9.52812405e-01 3.03401158e-01 9.81116194e-03 3.51612029e+02] [-3.03390299e-01 9.52862792e-01 -2.61274296e-03 -6.18392484e+01] [-1.01414004e-02 -4.87157450e-04 9.99948456e-01 -4.69782273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8457692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.65, Y:-61.84, Z:-4.70 [[ 9.52112012e-01 3.05612182e-01 9.16031433e-03 3.51645185e+02] [-3.05602814e-01 9.52155957e-01 -2.43984729e-03 -6.18445006e+01] [-9.46769492e-03 -4.76409923e-04 9.99955067e-01 -4.69833148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.87576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.68, Y:-61.84, Z:-4.70 [[ 9.50677030e-01 3.10115629e-01 6.44058375e-03 3.51678953e+02] [-3.10111097e-01 9.50698776e-01 -1.71600128e-03 -6.18447874e+01] [-6.65521390e-03 -3.65933497e-04 9.99977787e-01 -4.69854874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9057692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:351.71, Y:-61.85, Z:-4.70 [[ 9.50026009e-01 3.12112199e-01 6.04621974e-03 3.51710504e+02] [-3.12108238e-01 9.50045183e-01 -1.61204969e-03 -6.18493355e+01] [-6.24732231e-03 -3.55585857e-04 9.99980422e-01 -4.69830757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.93576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:351.74, Y:-61.85, Z:-4.70 [[ 9.49546645e-01 3.13550010e-01 6.89639374e-03 3.51742068e+02] [-3.13544884e-01 9.49571598e-01 -1.84030869e-03 -6.18537327e+01] [-7.12564843e-03 -4.14870029e-04 9.99974526e-01 -4.69845015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.77, Y:-61.86, Z:-4.70 [[ 9.49303976e-01 3.14238677e-01 8.71864837e-03 3.51773447e+02] [-3.14230491e-01 9.49343865e-01 -2.32899871e-03 -6.18577664e+01] [-9.00885682e-03 -5.28737424e-04 9.99959280e-01 -4.69874442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.81, Y:-61.86, Z:-4.70 [[ 9.49185029e-01 3.14544543e-01 1.04647563e-02 3.51805138e+02] [-3.14532754e-01 9.49242500e-01 -2.79673394e-03 -6.18613479e+01] [-1.08132888e-02 -6.36890640e-04 9.99941332e-01 -4.69940149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:351.84, Y:-61.86, Z:-4.70 [[ 9.49450722e-01 3.13760215e-01 9.89208087e-03 3.51836701e+02] [-3.13749637e-01 9.49502067e-01 -2.64392794e-03 -6.18625233e+01] [-1.02221106e-02 -5.93357482e-04 9.99947577e-01 -4.70150886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.87, Y:-61.87, Z:-4.70 [[ 9.50012304e-01 3.12123778e-01 7.44099178e-03 3.51865294e+02] [-3.12117741e-01 9.50041346e-01 -1.98896231e-03 -6.18680090e+01] [-7.69005228e-03 -4.32926878e-04 9.99970337e-01 -4.70243359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.89, Y:-61.87, Z:-4.70 [[ 9.50752678e-01 3.09909098e-01 5.06922974e-03 3.51894834e+02] [-3.09906265e-01 9.50766149e-01 -1.35490088e-03 -6.18738909e+01] [-5.23954815e-03 -2.82810419e-04 9.99986233e-01 -4.70370304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.11576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:351.93, Y:-61.88, Z:-4.70 [[ 9.52454566e-01 3.04666407e-01 2.94620208e-03 3.51925188e+02] [-3.04665424e-01 9.52459111e-01 -7.87563795e-04 -6.18764662e+01] [-3.04608125e-03 -1.47487175e-04 9.99995350e-01 -4.70454110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.95, Y:-61.88, Z:-4.70 [[ 9.53245785e-01 3.02171061e-01 3.88895307e-03 3.51954158e+02] [-3.02169329e-01 9.53253700e-01 -1.03958109e-03 -6.18814348e+01] [-4.02129022e-03 -1.84146051e-04 9.99991898e-01 -4.70382772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.98, Y:-61.89, Z:-4.70 [[ 9.54029427e-01 2.99657247e-01 5.77806176e-03 3.51982412e+02] [-2.99653379e-01 9.54046890e-01 -1.54436194e-03 -6.18867312e+01] [-5.97532110e-03 -2.58048994e-04 9.99982114e-01 -4.70318095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:352.01, Y:-61.89, Z:-4.70 [[ 9.54631470e-01 2.97690962e-01 7.67116752e-03 3.52012079e+02] [-2.97684084e-01 9.54662236e-01 -2.04988350e-03 -6.18922651e+01] [-7.93360573e-03 -3.26701171e-04 9.99968475e-01 -4.70219352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.04, Y:-61.90, Z:-4.70 [[ 9.54979337e-01 2.96527601e-01 9.26539124e-03 3.52040360e+02] [-2.96517515e-01 9.55024206e-01 -2.47563546e-03 -6.18971615e+01] [-9.58276716e-03 -3.83170069e-04 9.99954011e-01 -4.70195185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.07, Y:-61.90, Z:-4.70 [[ 9.54937444e-01 2.96630655e-01 1.02338573e-02 3.52070115e+02] [-2.96618360e-01 9.54992185e-01 -2.73400146e-03 -6.18976789e+01] [-1.05842424e-02 -4.24749605e-04 9.99943895e-01 -4.70257618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.10, Y:-61.90, Z:-4.70 [[ 9.54677676e-01 2.97480023e-01 9.80664489e-03 3.52100107e+02] [-2.97468782e-01 9.54727952e-01 -2.61937513e-03 -6.19018172e+01] [-1.01418898e-02 -4.16511746e-04 9.99948483e-01 -4.70332744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.13, Y:-61.91, Z:-4.70 [[ 9.54545899e-01 2.97939308e-01 8.61953046e-03 3.52127955e+02] [-2.97930643e-01 9.54584743e-01 -2.30222922e-03 -6.19051661e+01] [-8.91399685e-03 -3.70438798e-04 9.99960201e-01 -4.70398728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.16, Y:-61.91, Z:-4.70 [[ 9.54442747e-01 2.98303802e-01 7.34062494e-03 3.52156473e+02] [-2.98297532e-01 9.54470922e-01 -1.96024305e-03 -6.19088916e+01] [-7.59116101e-03 -3.18750538e-04 9.99971136e-01 -4.70467958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.18, Y:-61.91, Z:-4.71 [[ 9.54808694e-01 2.97163242e-01 5.86217198e-03 3.52184825e+02] [-2.97159222e-01 9.54826658e-01 -1.56533382e-03 -6.19088381e+01] [-6.06251775e-03 -2.47404127e-04 9.99981592e-01 -4.70563844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.21, Y:-61.91, Z:-4.71 [[ 9.55087046e-01 2.96254411e-01 6.48525536e-03 3.52212499e+02] [-2.96249473e-01 9.55109026e-01 -1.73130646e-03 -6.19134326e+01] [-6.70703311e-03 -2.67705115e-04 9.99977472e-01 -4.70598144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.24, Y:-61.92, Z:-4.71 [[ 9.55447244e-01 2.95070916e-01 7.32928010e-03 3.52241474e+02] [-2.95064580e-01 9.55475310e-01 -1.95583037e-03 -6.19185208e+01] [-7.58005484e-03 -2.93918222e-04 9.99971228e-01 -4.70601747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.27, Y:-61.92, Z:-4.71 [[ 9.55835333e-01 2.93798482e-01 7.82743503e-03 3.52269553e+02] [-2.93791215e-01 9.55867334e-01 -2.08848844e-03 -6.19234476e+01] [-8.09558419e-03 -3.03380607e-04 9.99967184e-01 -4.70610824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:352.30, Y:-61.92, Z:-4.71 [[ 9.56315248e-01 2.92227208e-01 8.02525006e-03 3.52297731e+02] [-2.92219518e-01 9.56348875e-01 -2.14084829e-03 -6.19247926e+01] [-8.30055298e-03 -2.97808843e-04 9.99965505e-01 -4.70680329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:352.33, Y:-61.93, Z:-4.71 [[ 9.56378817e-01 2.92022170e-01 7.91264211e-03 3.52325336e+02] [-2.92014689e-01 9.56411505e-01 -2.11051181e-03 -6.19295254e+01] [-8.18405819e-03 -2.92158940e-04 9.99966467e-01 -4.70712478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.35, Y:-61.93, Z:-4.71 [[ 9.56288921e-01 2.92315798e-01 7.93567331e-03 3.52352110e+02] [-2.92308288e-01 9.56321801e-01 -2.11611428e-03 -6.19346327e+01] [-8.20763102e-03 -2.96046437e-04 9.99966273e-01 -4.70717215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.38, Y:-61.94, Z:-4.71 [[ 9.56113457e-01 2.92889944e-01 7.90814434e-03 3.52379558e+02] [-2.92882512e-01 9.56146113e-01 -2.10806661e-03 -6.19401123e+01] [-8.17877299e-03 -3.00606331e-04 9.99966508e-01 -4.70690217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.41, Y:-61.94, Z:-4.71 [[ 9.55873842e-01 2.93687095e-01 7.28618498e-03 3.52406931e+02] [-2.93680812e-01 9.55901569e-01 -1.94185392e-03 -6.19409770e+01] [-7.53517309e-03 -2.83645354e-04 9.99971570e-01 -4.70707997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.43, Y:-61.94, Z:-4.71 [[ 9.55775073e-01 2.93994172e-01 7.83812405e-03 3.52434778e+02] [-2.93986918e-01 9.55807162e-01 -2.08815764e-03 -6.19448454e+01] [-8.10564128e-03 -3.08496912e-04 9.99967101e-01 -4.70810156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.46, Y:-61.95, Z:-4.71 [[ 9.55697891e-01 2.94221184e-01 8.68537726e-03 3.52461387e+02] [-2.94212292e-01 9.55737294e-01 -2.31326304e-03 -6.19492690e+01] [-8.98154995e-03 -3.44564147e-04 9.99959606e-01 -4.70855018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.49, Y:-61.95, Z:-4.71 [[ 9.55951027e-01 2.93367608e-01 9.64781595e-03 3.52489686e+02] [-2.93356606e-01 9.55999637e-01 -2.56823475e-03 -6.19527191e+01] [-9.97674543e-03 -3.75143898e-04 9.99950161e-01 -4.70789557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.52, Y:-61.96, Z:-4.71 [[ 9.56184175e-01 2.92606625e-01 9.65332229e-03 3.52516129e+02] [-2.92595579e-01 9.56232831e-01 -2.56902005e-03 -6.19570240e+01] [-9.98253599e-03 -3.68063107e-04 9.99950106e-01 -4.70814201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.54, Y:-61.96, Z:-4.71 [[ 9.56499063e-01 2.91587924e-01 9.27490826e-03 3.52543516e+02] [-2.91577686e-01 9.56543969e-01 -2.46756316e-03 -6.19610112e+01] [-9.59136918e-03 -3.44134441e-04 9.99953943e-01 -4.70869823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.57, Y:-61.97, Z:-4.71 [[ 9.56849016e-01 2.90441559e-01 9.14664768e-03 3.52571610e+02] [-2.90431558e-01 9.56892676e-01 -2.43265794e-03 -6.19657090e+01] [-9.45890513e-03 -3.28788779e-04 9.99955210e-01 -4.71003565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.83576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:352.60, Y:-61.97, Z:-4.71 [[ 9.57390792e-01 2.88666319e-01 8.63873717e-03 3.52598137e+02] [-2.88657330e-01 9.57429720e-01 -2.29710380e-03 -6.19705132e+01] [-8.93408021e-03 -2.94408780e-04 9.99960047e-01 -4.70989568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.63, Y:-61.98, Z:-4.71 [[ 9.57499705e-01 2.88289094e-01 9.14949678e-03 3.52625418e+02] [-2.88279004e-01 9.57543369e-01 -2.43164128e-03 -6.19761423e+01] [-9.46205563e-03 -3.09312010e-04 9.99955186e-01 -4.70996707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.65, Y:-61.98, Z:-4.71 [[ 9.57431334e-01 2.88483532e-01 1.01238668e-02 3.52653362e+02] [-2.88471199e-01 9.57484795e-01 -2.68978997e-03 -6.19810451e+01] [-1.04694086e-02 -3.45154787e-04 9.99945135e-01 -4.70998572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.68, Y:-61.99, Z:-4.71 [[ 9.57225535e-01 2.89140380e-01 1.08219920e-02 3.52680754e+02] [-2.89126339e-01 9.57286633e-01 -2.87440679e-03 -6.19856609e+01] [-1.11908554e-02 -3.77467347e-04 9.99937309e-01 -4.70981880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.71, Y:-61.99, Z:-4.71 [[ 9.56391655e-01 2.91888961e-01 1.07627179e-02 3.52708496e+02] [-2.91875255e-01 9.56452125e-01 -2.85787014e-03 -6.19882517e+01] [-1.11282052e-02 -4.08127887e-04 9.99937996e-01 -4.71003963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.74, Y:-61.99, Z:-4.71 [[ 9.56047139e-01 2.93026319e-01 1.04615911e-02 3.52735990e+02] [-2.93013447e-01 9.56104287e-01 -2.77701045e-03 -6.19927307e+01] [-1.08161092e-02 -4.10433962e-04 9.99941420e-01 -4.71018949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.76, Y:-62.00, Z:-4.71 [[ 9.55755831e-01 2.93984483e-01 1.01939097e-02 3.52763441e+02] [-2.93972324e-01 9.55810104e-01 -2.70522643e-03 -6.19966944e+01] [-1.05387365e-02 -4.11191401e-04 9.99944381e-01 -4.71129244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.79, Y:-62.00, Z:-4.71 [[ 9.55692682e-01 2.94185092e-01 1.03261809e-02 3.52791419e+02] [-2.94172635e-01 9.55748375e-01 -2.73957509e-03 -6.19980755e+01] [-1.06751728e-02 -4.19487999e-04 9.99942931e-01 -4.71202024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.82, Y:-62.00, Z:-4.71 [[ 9.56052948e-01 2.92993140e-01 1.08526826e-02 3.52819040e+02] [-2.92979314e-01 9.56114448e-01 -2.87827505e-03 -6.20033085e+01] [-1.12197215e-02 -4.27828161e-04 9.99936965e-01 -4.71175463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.85, Y:-62.01, Z:-4.71 [[ 9.56580352e-01 2.91254349e-01 1.11774523e-02 3.52846521e+02] [-2.91239574e-01 9.56645560e-01 -2.96356830e-03 -6.20082088e+01] [-1.15560123e-02 -4.20425259e-04 9.99933139e-01 -4.71164956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.87, Y:-62.01, Z:-4.71 [[ 9.57143445e-01 2.89403143e-01 1.10565076e-02 3.52872959e+02] [-2.89388573e-01 9.57207222e-01 -2.93068828e-03 -6.20129955e+01] [-1.14315193e-02 -3.94537879e-04 9.99934580e-01 -4.71185595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.90, Y:-62.02, Z:-4.71 [[ 9.57777256e-01 2.87312953e-01 1.06768670e-02 3.52900285e+02] [-2.87299247e-01 9.57836697e-01 -2.82915135e-03 -6.20175714e+01] [-1.10395468e-02 -3.57759027e-04 9.99938998e-01 -4.71290146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.93, Y:-62.02, Z:-4.71 [[ 9.58672037e-01 2.84323087e-01 1.04071508e-02 3.52927387e+02] [-2.84309895e-01 9.58728472e-01 -2.75694223e-03 -6.20200563e+01] [-1.07614941e-02 -3.15852540e-04 9.99942044e-01 -4.71369523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.96, Y:-62.03, Z:-4.71 [[ 9.58809017e-01 2.83853746e-01 1.05981545e-02 3.52955012e+02] [-2.83840047e-01 9.58867535e-01 -2.80658536e-03 -6.20252483e+01] [-1.09588861e-02 -3.17201336e-04 9.99939899e-01 -4.71385426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.98, Y:-62.03, Z:-4.71 [[ 9.58845748e-01 2.83741709e-01 1.02700655e-02 3.52982312e+02] [-2.83728847e-01 9.58900698e-01 -2.71896101e-03 -6.20306420e+01] [-1.06194556e-02 -3.06849628e-04 9.99943565e-01 -4.71403296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.01, Y:-62.04, Z:-4.71 [[ 9.59064951e-01 2.83014785e-01 9.85146457e-03 3.53008796e+02] [-2.83002920e-01 9.59115503e-01 -2.60746050e-03 -6.20357816e+01] [-1.01866423e-02 -2.87269258e-04 9.99948074e-01 -4.71445788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.04, Y:-62.04, Z:-4.71 [[ 9.59695687e-01 2.80883211e-01 9.42389686e-03 3.53035266e+02] [-2.80872257e-01 9.59741922e-01 -2.49363067e-03 -6.20395939e+01] [-9.74492788e-03 -2.53784575e-04 9.99952485e-01 -4.71491221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.06, Y:-62.05, Z:-4.72 [[ 9.59807903e-01 2.80522522e-01 8.71228029e-03 3.53062967e+02] [-2.80513156e-01 9.59847415e-01 -2.30409704e-03 -6.20456873e+01] [-9.00881083e-03 -2.32418691e-04 9.99959393e-01 -4.71551146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.09, Y:-62.05, Z:-4.72 [[ 9.59703315e-01 2.80900778e-01 8.01871988e-03 3.53089048e+02] [-2.80892861e-01 9.59736790e-01 -2.12019879e-03 -6.20518567e+01] [-8.29142596e-03 -2.17639361e-04 9.99965602e-01 -4.71671122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.12, Y:-62.06, Z:-4.72 [[ 9.59524809e-01 2.81522617e-01 7.56019975e-03 3.53115111e+02] [-2.81515603e-01 9.59554569e-01 -1.99837175e-03 -6.20581055e+01] [-7.81701106e-03 -2.10826924e-04 9.99969424e-01 -4.71776199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.14, Y:-62.06, Z:-4.72 [[ 9.59156683e-01 2.82774034e-01 7.56988752e-03 3.53142909e+02] [-2.82767043e-01 9.59186528e-01 -2.00073403e-03 -6.20633044e+01] [-7.82668977e-03 -2.21497300e-04 9.99969346e-01 -4.71839362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.17, Y:-62.07, Z:-4.72 [[ 9.58958626e-01 2.83434306e-01 7.95918745e-03 3.53170558e+02] [-2.83426614e-01 9.58991625e-01 -2.10197534e-03 -6.20693785e+01] [-8.22856603e-03 -2.40138165e-04 9.99966116e-01 -4.71824978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.20, Y:-62.08, Z:-4.72 [[ 9.58707787e-01 2.84259099e-01 8.72606997e-03 3.53196938e+02] [-2.84249905e-01 9.58747459e-01 -2.30242650e-03 -6.20754570e+01] [-9.02058309e-03 -2.73030348e-04 9.99959276e-01 -4.71810376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.22, Y:-62.08, Z:-4.72 [[ 9.58050622e-01 2.86453977e-01 9.11724675e-03 3.53224198e+02] [-2.86444051e-01 9.58093954e-01 -2.40453600e-03 -6.20822291e+01] [-9.42396789e-03 -3.07913886e-04 9.99955546e-01 -4.71844760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.25, Y:-62.09, Z:-4.72 [[ 9.57609966e-01 2.87935000e-01 8.75146535e-03 3.53250544e+02] [-2.87925933e-01 9.57649904e-01 -2.30614235e-03 -6.20882917e+01] [-9.04485905e-03 -3.11388928e-04 9.99959046e-01 -4.71842194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.28, Y:-62.09, Z:-4.72 [[ 9.57086410e-01 2.89680169e-01 8.42639874e-03 3.53278340e+02] [-2.89671833e-01 9.57123451e-01 -2.22016314e-03 -6.20939218e+01] [-8.70824108e-03 -3.16002397e-04 9.99962033e-01 -4.71873038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.30, Y:-62.10, Z:-4.72 [[ 9.56490158e-01 2.91657499e-01 7.90452713e-03 3.53304707e+02] [-2.91650246e-01 9.56522767e-01 -2.08088076e-03 -6.20983007e+01] [-8.16776465e-03 -3.15015311e-04 9.99966594e-01 -4.71857333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.33, Y:-62.10, Z:-4.72 [[ 9.55820404e-01 2.93857164e-01 7.43790417e-03 3.53332175e+02] [-2.93850812e-01 9.55849292e-01 -1.95746235e-03 -6.21025508e+01] [-7.68472977e-03 -3.14651726e-04 9.99970423e-01 -4.71897740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.36, Y:-62.10, Z:-4.72 [[ 9.54604272e-01 2.97795550e-01 6.96378982e-03 3.53359571e+02] [-2.97790090e-01 9.54629617e-01 -1.83226056e-03 -6.21034160e+01] [-7.19347905e-03 -3.24663835e-04 9.99974074e-01 -4.72002339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.39, Y:-62.11, Z:-4.72 [[ 9.54192986e-01 2.99106094e-01 7.16168518e-03 3.53387501e+02] [-2.99100358e-01 9.54219800e-01 -1.88406678e-03 -6.21066846e+01] [-7.39735765e-03 -3.44299293e-04 9.99972580e-01 -4.72041106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.42, Y:-62.11, Z:-4.72 [[ 9.54224668e-01 2.99004997e-01 7.16208066e-03 3.53415099e+02] [-2.98999270e-01 9.54251483e-01 -1.88256188e-03 -6.21137648e+01] [-7.39732150e-03 -3.45069905e-04 9.99972580e-01 -4.72075542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.44, Y:-62.12, Z:-4.72 [[ 9.53956514e-01 2.99851891e-01 7.47078102e-03 3.53443314e+02] [-2.99845690e-01 9.53985696e-01 -1.96309440e-03 -6.21170184e+01] [-7.71565580e-03 -3.67374797e-04 9.99970166e-01 -4.72105970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.47, Y:-62.12, Z:-4.72 [[ 9.53866998e-01 3.00121619e-01 8.04760356e-03 3.53471854e+02] [-3.00114450e-01 9.53900862e-01 -2.11265382e-03 -6.21162092e+01] [-8.31066905e-03 -4.00011355e-04 9.99965386e-01 -4.72109162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.50, Y:-62.12, Z:-4.72 [[ 9.54152894e-01 2.99198656e-01 8.50997724e-03 3.53500218e+02] [-2.99190605e-01 9.54190753e-01 -2.23367777e-03 -6.21196265e+01] [-8.78845497e-03 -4.14835131e-04 9.99961295e-01 -4.72166536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.53, Y:-62.12, Z:-4.72 [[ 9.54506196e-01 2.98060816e-01 8.81319241e-03 3.53527814e+02] [-2.98052150e-01 9.54546789e-01 -2.31141924e-03 -6.21227608e+01] [-9.10154802e-03 -4.20526962e-04 9.99958492e-01 -4.72249662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.56, Y:-62.12, Z:-4.72 [[ 9.55223408e-01 2.95758253e-01 8.67740949e-03 3.53557315e+02] [-2.95749771e-01 9.55262739e-01 -2.27430205e-03 -6.21214055e+01] [-8.96184956e-03 -3.93875313e-04 9.99959764e-01 -4.72263230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.59, Y:-62.12, Z:-4.72 [[ 9.55364296e-01 2.95305583e-01 8.58334960e-03 3.53585539e+02] [-2.95297281e-01 9.55402775e-01 -2.24795302e-03 -6.21238895e+01] [-8.86438911e-03 -3.87025747e-04 9.99960636e-01 -4.72240290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.61, Y:-62.13, Z:-4.72 [[ 9.55411929e-01 2.95154694e-01 8.47065638e-03 3.53612741e+02] [-2.95146620e-01 9.55449402e-01 -2.21640404e-03 -6.21257856e+01] [-8.74746563e-03 -3.82506738e-04 9.99961667e-01 -4.72191550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.64, Y:-62.13, Z:-4.72 [[ 9.55421291e-01 2.95119672e-01 8.63342476e-03 3.53641338e+02] [-2.95111287e-01 9.55460217e-01 -2.25856348e-03 -6.21277392e+01] [-8.91544041e-03 -3.89941457e-04 9.99960181e-01 -4.72205680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.67, Y:-62.12, Z:-4.72 [[ 9.55635978e-01 2.94425961e-01 8.55756691e-03 3.53670162e+02] [-2.94417713e-01 9.55674216e-01 -2.23668304e-03 -6.21234988e+01] [-8.83678360e-03 -3.82044497e-04 9.99960882e-01 -4.72252812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.70, Y:-62.13, Z:-4.72 [[ 9.55836028e-01 2.93771578e-01 8.70333797e-03 3.53698731e+02] [-2.93763023e-01 9.55875574e-01 -2.27435031e-03 -6.21251909e+01] [-8.98744766e-03 -3.82812911e-04 9.99959539e-01 -4.72339831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.73, Y:-62.13, Z:-4.72 [[ 9.56004336e-01 2.93206775e-01 9.24640010e-03 3.53725697e+02] [-2.93197115e-01 9.56048966e-01 -2.41401140e-03 -6.21270056e+01] [-9.54781575e-03 -4.03212460e-04 9.99954337e-01 -4.72388939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.75, Y:-62.13, Z:-4.72 [[ 9.56265461e-01 2.92343916e-01 9.56046716e-03 3.53754341e+02] [-2.92333551e-01 9.56313164e-01 -2.49538695e-03 -6.21294411e+01] [-9.87231180e-03 -4.08592965e-04 9.99951184e-01 -4.72414894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.78, Y:-62.13, Z:-4.72 [[ 9.56625885e-01 2.91140777e-01 1.01962657e-02 3.53782427e+02] [-2.91128943e-01 9.56680128e-01 -2.65906459e-03 -6.21320149e+01] [-1.05287269e-02 -4.24698040e-04 9.99944481e-01 -4.72434655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.81, Y:-62.13, Z:-4.72 [[ 9.57774505e-01 2.87356655e-01 9.70309663e-03 3.53810719e+02] [-2.87345756e-01 9.57823585e-01 -2.52933852e-03 -6.21320667e+01] [-1.00206771e-02 -3.65607678e-04 9.99949725e-01 -4.72482026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.84, Y:-62.14, Z:-4.73 [[ 9.58726969e-01 2.84169884e-01 9.49082868e-03 3.53838666e+02] [-2.84159311e-01 9.58773889e-01 -2.47289729e-03 -6.21368503e+01] [-9.80228166e-03 -3.26074007e-04 9.99951903e-01 -4.72578191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.87, Y:-62.14, Z:-4.73 [[ 9.59888269e-01 2.80223022e-01 9.46410613e-03 3.53865471e+02] [-2.80212338e-01 9.59934881e-01 -2.46372742e-03 -6.21421404e+01] [-9.77531873e-03 -2.87056259e-04 9.99952179e-01 -4.72640265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.89, Y:-62.15, Z:-4.73 [[ 9.61244915e-01 2.75538381e-01 9.31736151e-03 3.53893267e+02] [-2.75527811e-01 9.61290042e-01 -2.42495006e-03 -6.21483109e+01] [-9.62485365e-03 -2.36221305e-04 9.99953652e-01 -4.72645126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.92, Y:-62.15, Z:-4.73 [[ 9.63851745e-01 2.66278633e-01 9.24681541e-03 3.53920919e+02] [-2.66267812e-01 9.63896088e-01 -2.40485366e-03 -6.21545974e+01] [-9.55333035e-03 -1.44206907e-04 9.99954355e-01 -4.72669900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.95, Y:-62.16, Z:-4.73 [[ 9.65035257e-01 2.61946933e-01 9.52661310e-03 3.53947454e+02] [-2.61935259e-01 9.65082273e-01 -2.47532786e-03 -6.21611146e+01] [-9.84236996e-03 -1.06577213e-04 9.99951557e-01 -4.72711556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.97, Y:-62.17, Z:-4.73 [[ 9.66135706e-01 2.57849874e-01 9.75912249e-03 3.53974187e+02] [-2.57837421e-01 9.66184992e-01 -2.53505546e-03 -6.21682400e+01] [-1.00827814e-02 -6.70593724e-05 9.99949165e-01 -4.72761054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.00, Y:-62.18, Z:-4.73 [[ 9.67945995e-01 2.50985598e-01 9.31559058e-03 3.53999911e+02] [-2.50973952e-01 9.67990821e-01 -2.41780449e-03 -6.21760922e+01] [-9.62424028e-03 2.33358950e-06 9.99953686e-01 -4.72777757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.03, Y:-62.18, Z:-4.73 [[ 9.68736236e-01 2.47922301e-01 9.19990471e-03 3.54027043e+02] [-2.47910809e-01 9.68779919e-01 -2.38726976e-03 -6.21840331e+01] [-9.50454035e-03 3.18789026e-05 9.99954830e-01 -4.72814018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.05, Y:-62.19, Z:-4.73 [[ 9.69383046e-01 2.45369538e-01 9.50265409e-03 3.54053364e+02] [-2.45357176e-01 9.69429619e-01 -2.46359416e-03 -6.21920465e+01] [-9.81664530e-03 5.66220358e-05 9.99951814e-01 -4.72812406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.08, Y:-62.20, Z:-4.73 [[ 9.69922079e-01 2.43229133e-01 9.52629198e-03 3.54080259e+02] [-2.43216613e-01 9.69968857e-01 -2.46913401e-03 -6.22007456e+01] [-9.84077186e-03 7.79151269e-05 9.99951575e-01 -4.72824791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.11, Y:-62.21, Z:-4.73 [[ 9.70810721e-01 2.39671393e-01 9.17429596e-03 3.54106605e+02] [-2.39659638e-01 9.70854063e-01 -2.37616987e-03 -6.22122445e+01] [-9.47640245e-03 1.08102739e-04 9.99955092e-01 -4.72808320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.13, Y:-62.22, Z:-4.73 [[ 9.71023433e-01 2.38827325e-01 8.66035212e-03 3.54132306e+02] [-2.38816833e-01 9.71062046e-01 -2.24123734e-03 -6.22214171e+01] [-8.94500797e-03 1.08056109e-04 9.99959987e-01 -4.72887874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.16, Y:-62.23, Z:-4.73 [[ 9.71116346e-01 2.38487454e-01 7.53497178e-03 3.54157496e+02] [-2.38479508e-01 9.71145574e-01 -1.94916753e-03 -6.22304394e+01] [-7.78240650e-03 9.59320876e-05 9.99969712e-01 -4.72911220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.18, Y:-62.24, Z:-4.73 [[ 9.71165581e-01 2.38307089e-01 6.86629826e-03 3.54183870e+02] [-2.38300490e-01 9.71189849e-01 -1.77570333e-03 -6.22404164e+01] [-7.09164186e-03 8.82597156e-05 9.99974850e-01 -4.72964004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.21, Y:-62.26, Z:-4.73 [[ 9.71087829e-01 2.38590659e-01 7.93255741e-03 3.54208739e+02] [-2.38581876e-01 9.71120223e-01 -2.04953340e-03 -6.22554296e+01] [-8.19246644e-03 9.77125083e-05 9.99966436e-01 -4.72927537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.23, Y:-62.27, Z:-4.73 [[ 9.70969664e-01 2.39045290e-01 8.67535989e-03 3.54233734e+02] [-2.39034824e-01 9.71008414e-01 -2.23906016e-03 -6.22667590e+01] [-8.95908423e-03 1.00346362e-04 9.99959862e-01 -4.72862100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.26, Y:-62.28, Z:-4.73 [[ 9.70779905e-01 2.39801632e-01 9.03067637e-03 3.54259262e+02] [-2.39790333e-01 9.70821903e-01 -2.32986351e-03 -6.22782379e+01] [-9.32588350e-03 9.63157852e-05 9.99956508e-01 -4.72883618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.28, Y:-62.29, Z:-4.73 [[ 9.70507594e-01 2.40925718e-01 8.35517294e-03 3.54284548e+02] [-2.40916092e-01 9.70543555e-01 -2.15505997e-03 -6.22894438e+01] [-8.62826862e-03 7.86064535e-05 9.99962773e-01 -4.72925109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.31, Y:-62.30, Z:-4.73 [[ 9.69614321e-01 2.44559139e-01 6.23672427e-03 3.54308519e+02] [-2.44553853e-01 9.69634378e-01 -1.60833637e-03 -6.23046524e+01] [-6.44067561e-03 3.42510278e-05 9.99979258e-01 -4.73116656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.33, Y:-62.32, Z:-4.73 [[ 9.69039871e-01 2.46822111e-01 6.36975261e-03 3.54334757e+02] [-2.46816646e-01 9.69060806e-01 -1.64268951e-03 -6.23157999e+01] [-6.57812969e-03 1.96706547e-05 9.99978364e-01 -4.73114382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.36, Y:-62.33, Z:-4.73 [[ 9.68254299e-01 2.49861999e-01 7.25217631e-03 3.54360574e+02] [-2.49855017e-01 9.68281458e-01 -1.86797866e-03 -6.23264002e+01] [-7.48888473e-03 -3.31426664e-06 9.99971958e-01 -4.73082004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.39, Y:-62.34, Z:-4.73 [[ 9.66378003e-01 2.56992617e-01 8.26737364e-03 3.54385433e+02] [-2.56983809e-01 9.66413364e-01 -2.12876206e-03 -6.23374211e+01] [-8.53677650e-03 -6.73923428e-05 9.99963559e-01 -4.73031762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.41, Y:-62.34, Z:-4.73 [[ 9.65212703e-01 2.61349199e-01 7.81243567e-03 3.54412424e+02] [-2.61341477e-01 9.65244314e-01 -2.01143524e-03 -6.23449735e+01] [-8.06659610e-03 -1.00250634e-04 9.99967459e-01 -4.73082424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.44, Y:-62.35, Z:-4.73 [[ 9.63871871e-01 2.66267308e-01 7.26204489e-03 3.54439288e+02] [-2.66260786e-01 9.63899218e-01 -1.86841888e-03 -6.23522629e+01] [-7.49737826e-03 -1.32681371e-04 9.99971885e-01 -4.73160932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:354.47, Y:-62.36, Z:-4.73 [[ 9.62609539e-01 2.70807526e-01 6.79411729e-03 3.54466508e+02] [-2.70801938e-01 9.62633502e-01 -1.74681616e-03 -6.23589986e+01] [-7.01329588e-03 -1.58358226e-04 9.99975394e-01 -4.73209505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.49, Y:-62.36, Z:-4.73 [[ 9.60545257e-01 2.78016615e-01 7.71824975e-03 3.54493231e+02] [-2.78009654e-01 9.60576235e-01 -1.98208715e-03 -6.23635519e+01] [-7.96502045e-03 -2.41863537e-04 9.99968249e-01 -4.73202480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.52, Y:-62.37, Z:-4.73 [[ 9.59877748e-01 2.80280608e-01 8.80285209e-03 3.54519413e+02] [-2.80271658e-01 9.59918065e-01 -2.25970484e-03 -6.23682169e+01] [-9.08336820e-03 -2.98149554e-04 9.99958701e-01 -4.73209912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.55, Y:-62.37, Z:-4.73 [[ 9.59555815e-01 2.81355826e-01 9.56753365e-03 3.54547281e+02] [-2.81345313e-01 9.59603453e-01 -2.45533878e-03 -6.23729946e+01] [-9.87186219e-03 -3.35746138e-04 9.99951216e-01 -4.73277442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.57, Y:-62.38, Z:-4.73 [[ 9.59998160e-01 2.79871507e-01 8.68747383e-03 3.54574687e+02] [-2.79862794e-01 9.60037423e-01 -2.22760788e-03 -6.23758864e+01] [-8.96374396e-03 -2.92801237e-04 9.99959782e-01 -4.73214367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.60, Y:-62.38, Z:-4.73 [[ 9.60586851e-01 2.77867694e-01 7.90225847e-03 3.54601409e+02] [-2.77860423e-01 9.60619322e-01 -2.02565859e-03 -6.23802216e+01] [-8.15392726e-03 -2.49903875e-04 9.99966725e-01 -4.73204389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.63, Y:-62.38, Z:-4.73 [[ 9.61339068e-01 2.75249717e-01 8.04923461e-03 3.54628934e+02] [-2.75242084e-01 9.61372737e-01 -2.06303865e-03 -6.23844854e+01] [-8.30616551e-03 -2.32208451e-04 9.99965476e-01 -4.73265831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.66, Y:-62.39, Z:-4.73 [[ 9.62212078e-01 2.72165008e-01 8.60956252e-03 3.54657075e+02] [-2.72156167e-01 9.62250570e-01 -2.20480955e-03 -6.23889013e+01] [-8.88462845e-03 -2.21651160e-04 9.99960506e-01 -4.73285878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.68, Y:-62.39, Z:-4.74 [[ 9.63849744e-01 2.66273196e-01 9.60496351e-03 3.54684156e+02] [-2.66261925e-01 9.63897582e-01 -2.45720311e-03 -6.23937342e+01] [-9.91248843e-03 -1.89061487e-04 9.99950852e-01 -4.73502325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.71, Y:-62.40, Z:-4.74 [[ 9.64687468e-01 2.63229081e-01 9.40955431e-03 3.54711661e+02] [-2.63218125e-01 9.64733345e-01 -2.40665398e-03 -6.24005685e+01] [-9.71121212e-03 -1.55096306e-04 9.99952833e-01 -4.73510000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.74, Y:-62.41, Z:-4.73 [[ 9.65453160e-01 2.60409254e-01 9.33900234e-03 3.54737726e+02] [-2.60398349e-01 9.65498319e-01 -2.38655786e-03 -6.24069265e+01] [-9.63827281e-03 -1.27750967e-04 9.99953543e-01 -4.73446943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.76, Y:-62.41, Z:-4.73 [[ 9.66582155e-01 2.56207555e-01 8.75368864e-03 3.54764899e+02] [-2.56197810e-01 9.66621789e-01 -2.23606448e-03 -6.24141785e+01] [-9.03440278e-03 -8.13358387e-05 9.99959186e-01 -4.73325249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.79, Y:-62.42, Z:-4.73 [[ 9.67198864e-01 2.53870523e-01 8.72437449e-03 3.54792313e+02] [-2.53860764e-01 9.67238210e-01 -2.22677596e-03 -6.24213913e+01] [-9.00386113e-03 -6.10411959e-05 9.99959463e-01 -4.73335972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.82, Y:-62.43, Z:-4.73 [[ 9.67787658e-01 2.51617876e-01 8.68866678e-03 3.54818039e+02] [-2.51608125e-01 9.67826660e-01 -2.21552659e-03 -6.24285409e+01] [-8.96658944e-03 -4.19798684e-05 9.99959798e-01 -4.73449629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.84, Y:-62.43, Z:-4.73 [[ 9.68270011e-01 2.49829089e-01 6.21393432e-03 3.54844458e+02] [-2.49789585e-01 9.68278378e-01 -6.49194000e-03 -6.24347136e+01] [-7.63869370e-03 4.73377473e-03 9.99959620e-01 -4.73489963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.87, Y:-62.45, Z:-4.74 [[ 9.69093612e-01 2.46536995e-01 8.77957561e-03 3.54870249e+02] [-2.46568914e-01 9.69121377e-01 2.74352264e-03 -6.24465387e+01] [-7.83209458e-03 -4.82350068e-03 9.99957695e-01 -4.73639072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.90, Y:-62.45, Z:-4.74 [[ 9.69261743e-01 2.45929938e-01 7.08085468e-03 3.54897959e+02] [-2.45923328e-01 9.69287607e-01 -1.80302176e-03 -6.24527086e+01] [-7.30680172e-03 6.25266312e-06 9.99973305e-01 -4.73663377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.92, Y:-62.46, Z:-4.74 [[ 9.69405171e-01 2.45376970e-01 6.61484209e-03 3.54923582e+02] [-2.45371192e-01 9.69427740e-01 -1.68398425e-03 -6.24597225e+01] [-6.82582236e-03 9.37134906e-06 9.99976704e-01 -4.73668776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.95, Y:-62.47, Z:-4.74 [[ 9.69526697e-01 2.44903596e-01 6.34131749e-03 3.54950368e+02] [-2.44898279e-01 9.69547435e-01 -1.61377568e-03 -6.24665975e+01] [-6.54342757e-03 1.16208668e-05 9.99978591e-01 -4.73727777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.98, Y:-62.48, Z:-4.74 [[ 9.69884647e-01 2.43486107e-01 6.18770285e-03 3.54975833e+02] [-2.43481018e-01 9.69904385e-01 -1.57430091e-03 -6.24758241e+01] [-6.38480053e-03 2.03020924e-05 9.99979617e-01 -4.73818112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.00, Y:-62.48, Z:-4.74 [[ 9.70125656e-01 2.42506826e-01 6.83012579e-03 3.55002910e+02] [-2.42500607e-01 9.70149699e-01 -1.73696698e-03 -6.24842245e+01] [-7.04747083e-03 2.87665788e-05 9.99975166e-01 -4.73816515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.03, Y:-62.49, Z:-4.74 [[ 9.70355733e-01 2.41560896e-01 7.62140885e-03 3.55029055e+02] [-2.41553128e-01 9.70385662e-01 -1.93758310e-03 -6.24922013e+01] [-7.86375017e-03 3.91697205e-05 9.99969079e-01 -4.73762928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:-62.50, Z:-4.74 [[ 9.70584518e-01 2.40624210e-01 8.10455695e-03 3.55054745e+02] [-2.40615398e-01 9.70618353e-01 -2.05982538e-03 -6.24995811e+01] [-8.36207557e-03 4.91534236e-05 9.99965036e-01 -4.73680739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.08, Y:-62.51, Z:-4.74 [[ 9.70719865e-01 2.40083183e-01 7.93783454e-03 3.55081855e+02] [-2.40074723e-01 9.70752318e-01 -2.01620390e-03 -6.25074652e+01] [-8.18972793e-03 5.14957537e-05 9.99966462e-01 -4.73667158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:-62.51, Z:-4.74 [[ 9.70762106e-01 2.39912326e-01 7.93787239e-03 3.55109512e+02] [-2.39903861e-01 9.70794558e-01 -2.01605505e-03 -6.25142858e+01] [-8.18971977e-03 5.27836106e-05 9.99966462e-01 -4.73701847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:-62.52, Z:-4.74 [[ 9.70389374e-01 2.41453194e-01 6.69462416e-03 3.55134813e+02] [-2.41447219e-01 9.70412466e-01 -1.69887447e-03 -6.25234099e+01] [-6.90674541e-03 3.21713434e-05 9.99976148e-01 -4.73794250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.16, Y:-62.53, Z:-4.74 [[ 9.70002469e-01 2.42999496e-01 6.81582293e-03 3.55161928e+02] [-2.42993346e-01 9.70026414e-01 -1.72895120e-03 -6.25310358e+01] [-7.03166255e-03 2.08873172e-05 9.99975277e-01 -4.73824336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.19, Y:-62.54, Z:-4.74 [[ 9.69545378e-01 2.44788944e-01 7.75450581e-03 3.55188880e+02] [-2.44781046e-01 9.69576388e-01 -1.96637819e-03 -6.25379838e+01] [-7.99993337e-03 8.33684517e-06 9.99968000e-01 -4.73815009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.22, Y:-62.54, Z:-4.74 [[ 9.68633358e-01 2.48323750e-01 9.20502075e-03 3.55215951e+02] [-2.48312788e-01 9.68677095e-01 -2.33337121e-03 -6.25436396e+01] [-9.49612425e-03 -2.55431703e-05 9.99954910e-01 -4.73726923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.24, Y:-62.55, Z:-4.74 [[ 9.68293682e-01 2.49648776e-01 9.10131426e-03 3.55243165e+02] [-2.49638125e-01 9.68336454e-01 -2.30642227e-03 -6.25504194e+01] [-9.38892987e-03 -3.87409092e-05 9.99955922e-01 -4.73787070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.27, Y:-62.56, Z:-4.74 [[ 9.68088848e-01 2.50458410e-01 8.63523601e-03 3.55270297e+02] [-2.50448856e-01 9.68127359e-01 -2.18810730e-03 -6.25577579e+01] [-8.90803811e-03 -4.44027027e-05 9.99960322e-01 -4.73892231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.30, Y:-62.57, Z:-4.74 [[ 9.68047654e-01 2.50642835e-01 7.86827051e-03 3.55296818e+02] [-2.50634923e-01 9.68079629e-01 -1.99196019e-03 -6.25654886e+01] [-8.11638295e-03 -4.37509852e-05 9.99967061e-01 -4.73987540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.32, Y:-62.57, Z:-4.74 [[ 9.68573820e-01 2.48607169e-01 7.69614208e-03 3.55322382e+02] [-2.48599538e-01 9.68604395e-01 -1.94806972e-03 -6.25741655e+01] [-7.93882114e-03 -2.64080301e-05 9.99968487e-01 -4.74041728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.35, Y:-62.58, Z:-4.74 [[ 9.68838220e-01 2.47570852e-01 7.82159697e-03 3.55349290e+02] [-2.47562947e-01 9.68869792e-01 -1.97845445e-03 -6.25818505e+01] [-8.06791668e-03 -1.95353079e-05 9.99967454e-01 -4.74064018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.38, Y:-62.59, Z:-4.74 [[ 9.69109504e-01 2.46510775e-01 7.69468350e-03 3.55376399e+02] [-2.46503095e-01 9.69140051e-01 -1.94579125e-03 -6.25891803e+01] [-7.93688447e-03 -1.10785119e-05 9.99968502e-01 -4.74035789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.40, Y:-62.60, Z:-4.74 [[ 9.69560506e-01 2.44749352e-01 7.08380881e-03 3.55402652e+02] [-2.44742798e-01 9.69586383e-01 -1.79114221e-03 -6.25959013e+01] [-7.30674546e-03 2.90955830e-06 9.99973305e-01 -4.74035497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.43, Y:-62.60, Z:-4.74 [[ 9.69752167e-01 2.43989680e-01 7.05484592e-03 3.55429991e+02] [-2.43983169e-01 9.69777828e-01 -1.78254152e-03 -6.26036554e+01] [-7.27655489e-03 7.35984276e-06 9.99973525e-01 -4.74103139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.46, Y:-62.61, Z:-4.74 [[ 9.69884644e-01 2.43456261e-01 7.26818869e-03 3.55456729e+02] [-2.43449339e-01 9.69911877e-01 -1.83588181e-03 -6.26122517e+01] [-7.49645945e-03 1.11578418e-05 9.99971901e-01 -4.74128081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.48, Y:-62.62, Z:-4.74 [[ 9.70039480e-01 2.42825870e-01 7.68145275e-03 3.55482097e+02] [-2.42818123e-01 9.70069893e-01 -1.93968817e-03 -6.26203437e+01] [-7.92255252e-03 1.63781624e-05 9.99968616e-01 -4.74139763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.51, Y:-62.63, Z:-4.74 [[ 9.70219903e-01 2.42072488e-01 8.61683865e-03 3.55508904e+02] [-2.42062718e-01 9.70258167e-01 -2.17497607e-03 -6.26302387e+01] [-8.88705994e-03 2.43896934e-05 9.99960509e-01 -4.74149838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.53, Y:-62.64, Z:-4.74 [[ 9.70374064e-01 2.41459492e-01 8.45517095e-03 3.55534906e+02] [-2.41450066e-01 9.70410899e-01 -2.13373558e-03 -6.26384703e+01] [-8.72020075e-03 2.90200858e-05 9.99961978e-01 -4.74222906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.56, Y:-62.65, Z:-4.74 [[ 9.70540310e-01 2.40807867e-01 7.94212664e-03 3.55561863e+02] [-2.40799539e-01 9.70572805e-01 -2.00304886e-03 -6.26473927e+01] [-8.19076205e-03 3.15792318e-05 9.99966455e-01 -4.74350985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.59, Y:-62.66, Z:-4.74 [[ 9.70562049e-01 2.40763369e-01 6.50463083e-03 3.55587084e+02] [-2.40757783e-01 9.70583845e-01 -1.64023911e-03 -6.26586872e+01] [-6.70819910e-03 2.59133298e-05 9.99977499e-01 -4.74320035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.61, Y:-62.67, Z:-4.74 [[ 9.70264159e-01 2.41963928e-01 6.39678479e-03 3.55613524e+02] [-2.41958555e-01 9.70285245e-01 -1.61244395e-03 -6.26666318e+01] [-6.59685917e-03 1.67397673e-05 9.99978240e-01 -4.74320742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.64, Y:-62.67, Z:-4.74 [[ 9.69758089e-01 2.43979009e-01 6.59487927e-03 3.55639964e+02] [-2.43973349e-01 9.69780513e-01 -1.66184500e-03 -6.26744789e+01] [-6.80104070e-03 2.61285443e-06 9.99976873e-01 -4.74338710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.67, Y:-62.68, Z:-4.74 [[ 9.69164427e-01 2.46328557e-01 6.52349706e-03 3.55666232e+02] [-2.46323075e-01 9.69186381e-01 -1.64343574e-03 -6.26820054e+01] [-6.72730966e-03 -1.41284006e-05 9.99977371e-01 -4.74354438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.69, Y:-62.69, Z:-4.74 [[ 9.67707912e-01 2.51997275e-01 6.22655393e-03 3.55692647e+02] [-2.51992401e-01 9.67727943e-01 -1.56805133e-03 -6.26906586e+01] [-6.42075489e-03 -5.16285979e-05 9.99979385e-01 -4.74394180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.72, Y:-62.70, Z:-4.74 [[ 9.67067823e-01 2.54449374e-01 5.94494154e-03 3.55718685e+02] [-2.54444980e-01 9.67086093e-01 -1.49679040e-03 -6.26973875e+01] [-6.13012767e-03 -6.51627022e-05 9.99981208e-01 -4.74381278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.74, Y:-62.70, Z:-4.74 [[ 9.66555123e-01 2.56386832e-01 6.08174927e-03 3.55744722e+02] [-2.56382275e-01 9.66574253e-01 -1.53066984e-03 -6.27038780e+01] [-6.27090584e-03 -7.97759405e-05 9.99980334e-01 -4.74458793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.77, Y:-62.71, Z:-4.74 [[ 9.66086052e-01 2.58137702e-01 6.53201011e-03 3.55770750e+02] [-2.58132488e-01 9.66108129e-01 -1.64361123e-03 -6.27100238e+01] [-6.73490610e-03 -9.82541312e-05 9.99977315e-01 -4.74473391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.80, Y:-62.72, Z:-4.74 [[ 9.65386040e-01 2.60729335e-01 7.07166757e-03 3.55798638e+02] [-2.60723303e-01 9.65411932e-01 -1.77803971e-03 -6.27153989e+01] [-7.29065936e-03 -1.27253817e-04 9.99973415e-01 -4.74495151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.83, Y:-62.72, Z:-4.75 [[ 9.65307576e-01 2.61021244e-01 7.01387082e-03 3.55825111e+02] [-2.61015321e-01 9.65333048e-01 -1.76306408e-03 -6.27208011e+01] [-7.23091848e-03 -1.28828631e-04 9.99973848e-01 -4.74554724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.85, Y:-62.73, Z:-4.75 [[ 9.65270731e-01 2.61156275e-01 7.05809482e-03 3.55852580e+02] [-2.61150286e-01 9.65296526e-01 -1.77352590e-03 -6.27264955e+01] [-7.27632183e-03 -1.31290838e-04 9.99973519e-01 -4.74542600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.88, Y:-62.73, Z:-4.74 [[ 9.65393493e-01 2.60681699e-01 7.77531035e-03 3.55880526e+02] [-2.60674417e-01 9.65424793e-01 -1.95357903e-03 -6.27302576e+01] [-8.01573969e-03 -1.40852007e-04 9.99967864e-01 -4.74449829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.91, Y:-62.73, Z:-4.74 [[ 9.65416471e-01 2.60570600e-01 8.60234992e-03 3.55907927e+02] [-2.60561699e-01 9.65454783e-01 -2.15949215e-03 -6.27342253e+01] [-8.86788004e-03 -1.56633619e-04 9.99960667e-01 -4.74494069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.94, Y:-62.74, Z:-4.75 [[ 9.65366809e-01 2.60747341e-01 8.81749025e-03 3.55935370e+02] [-2.60738015e-01 9.65407063e-01 -2.21142228e-03 -6.27382699e+01] [-9.08908985e-03 -1.64221234e-04 9.99958680e-01 -4.74536593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.96, Y:-62.74, Z:-4.75 [[ 9.65474647e-01 2.60337828e-01 9.10614326e-03 3.55961765e+02] [-2.60327869e-01 9.65517575e-01 -2.28314981e-03 -6.27420704e+01] [-9.38653162e-03 -1.66259614e-04 9.99955932e-01 -4.74612993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.99, Y:-62.74, Z:-4.75 [[ 9.65911692e-01 2.58690962e-01 9.67413738e-03 3.55989407e+02] [-2.58679649e-01 9.65960124e-01 -2.42465454e-03 -6.27449703e+01] [-9.97206716e-03 -1.60500289e-04 9.99950265e-01 -4.74601890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.02, Y:-62.75, Z:-4.75 [[ 9.66211293e-01 2.57562615e-01 9.86085530e-03 3.56016004e+02] [-2.57550809e-01 9.66261598e-01 -2.47071185e-03 -6.27497048e+01] [-1.01645288e-02 -1.52441568e-04 9.99948328e-01 -4.74569909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.04, Y:-62.75, Z:-4.75 [[ 9.66688796e-01 2.55764242e-01 9.87035899e-03 3.56042252e+02] [-2.55752329e-01 9.66739176e-01 -2.47221706e-03 -6.27544064e+01] [-1.01743674e-02 -1.34502768e-04 9.99948231e-01 -4.74649946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.07, Y:-62.76, Z:-4.75 [[ 9.67354582e-01 2.53254913e-01 9.33074257e-03 3.56069767e+02] [-2.53244154e-01 9.67399575e-01 -2.33659405e-03 -6.27591929e+01] [-9.61831033e-03 -1.02641049e-04 9.99953738e-01 -4.74682605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.10, Y:-62.76, Z:-4.75 [[ 9.68581752e-01 2.48538402e-01 8.83467691e-03 3.56096285e+02] [-2.48528578e-01 9.68622042e-01 -2.21049293e-03 -6.27628565e+01] [-9.10685517e-03 -5.46265731e-05 9.99958530e-01 -4.74807542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.12, Y:-62.77, Z:-4.75 [[ 9.69044521e-01 2.46715112e-01 9.18524961e-03 3.56123752e+02] [-2.46704419e-01 9.69088052e-01 -2.29730919e-03 -6.27692096e+01] [-9.46809654e-03 -3.98467841e-05 9.99955176e-01 -4.74800035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.15, Y:-62.78, Z:-4.75 [[ 9.69259533e-01 2.45850613e-01 9.66609191e-03 3.56150861e+02] [-2.45838736e-01 9.69307730e-01 -2.41679780e-03 -6.27753604e+01] [-9.96358883e-03 -3.37955120e-05 9.99950362e-01 -4.74749553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.18, Y:-62.78, Z:-4.75 [[ 9.69212455e-01 2.46032422e-01 9.76039843e-03 3.56178183e+02] [-2.46020329e-01 9.69261598e-01 -2.43963466e-03 -6.27810662e+01] [-1.00606086e-02 -3.67321312e-05 9.99949390e-01 -4.74778038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.21, Y:-62.79, Z:-4.75 [[ 9.68993002e-01 2.46935558e-01 8.68281748e-03 3.56205894e+02] [-2.46926029e-01 9.69031903e-01 -2.16973964e-03 -6.27863096e+01] [-8.94971301e-03 -4.15511201e-05 9.99959950e-01 -4.74882888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.23, Y:-62.79, Z:-4.75 [[ 9.68571373e-01 2.48626095e-01 7.38656160e-03 3.56232540e+02] [-2.48619250e-01 9.68599537e-01 -1.84545550e-03 -6.27894962e+01] [-7.61344854e-03 -4.89860441e-05 9.99971016e-01 -4.75030637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.26, Y:-62.79, Z:-4.75 [[ 9.68558104e-01 2.48677395e-01 7.39956376e-03 3.56259740e+02] [-2.48670529e-01 9.68586367e-01 -1.84854386e-03 -6.27945319e+01] [-7.62680766e-03 -4.96312949e-05 9.99970914e-01 -4.75059451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.29, Y:-62.80, Z:-4.75 [[ 9.68678745e-01 2.48203775e-01 7.50837858e-03 3.56287169e+02] [-2.48196703e-01 9.68707842e-01 -1.87421899e-03 -6.27991420e+01] [-7.73861344e-03 -4.80387138e-05 9.99970055e-01 -4.75009437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.31, Y:-62.80, Z:-4.75 [[ 9.68863078e-01 2.47461223e-01 8.20239709e-03 3.56313764e+02] [-2.47452774e-01 9.68897797e-01 -2.04541709e-03 -6.28035745e+01] [-8.45344589e-03 -4.79768186e-05 9.99964268e-01 -4.75005555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.34, Y:-62.81, Z:-4.75 [[ 9.69590924e-01 2.44487175e-01 1.09298446e-02 3.56340033e+02] [-2.44472006e-01 9.69652526e-01 -2.72353547e-03 -6.28092848e+01] [-1.12640209e-02 -3.13257612e-05 9.99936558e-01 -4.75082117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.37, Y:-62.82, Z:-4.75 [[ 9.70273725e-01 2.41717170e-01 1.19041032e-02 3.56366479e+02] [-2.41698982e-01 9.70346747e-01 -2.96521074e-03 -6.28172128e+01] [-1.22678502e-02 -1.43564045e-07 9.99924747e-01 -4.75119179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.39, Y:-62.83, Z:-4.75 [[ 9.70983154e-01 2.38865955e-01 1.16090534e-02 3.56392651e+02] [-2.38848463e-01 9.71052550e-01 -2.89090627e-03 -6.28252886e+01] [-1.19635400e-02 3.42167247e-05 9.99928434e-01 -4.75168120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.42, Y:-62.83, Z:-4.75 [[ 9.72519820e-01 2.32640265e-01 9.14915666e-03 3.56419777e+02] [-2.32629130e-01 9.72562851e-01 -2.27775895e-03 -6.28335021e+01] [-9.42802834e-03 8.68053719e-05 9.99955551e-01 -4.75267430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.45, Y:-62.84, Z:-4.75 [[ 9.73154264e-01 2.30000832e-01 8.39024116e-03 3.56446584e+02] [-2.29991375e-01 9.73190427e-01 -2.08827248e-03 -6.28408191e+01] [-8.64560678e-03 1.02528172e-04 9.99962621e-01 -4.75307290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.47, Y:-62.85, Z:-4.75 [[ 9.73660485e-01 2.27855703e-01 8.18776772e-03 3.56472494e+02] [-2.27846625e-01 9.73694903e-01 -2.03733429e-03 -6.28485325e+01] [-8.43660594e-03 1.18116649e-04 9.99964404e-01 -4.75328634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.50, Y:-62.86, Z:-4.75 [[ 9.74044670e-01 2.26202778e-01 8.32370773e-03 3.56499107e+02] [-2.26193343e-01 9.74080225e-01 -2.07039945e-03 -6.28570380e+01] [-8.57628921e-03 1.33894273e-04 9.99963214e-01 -4.75292023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.52, Y:-62.87, Z:-4.75 [[ 9.74470615e-01 2.24318035e-01 9.40425472e-03 3.56524908e+02] [-2.24305910e-01 9.74515978e-01 -2.33845754e-03 -6.28664284e+01] [-9.68915469e-03 1.69328247e-04 9.99953045e-01 -4.75289789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.55, Y:-62.87, Z:-4.75 [[ 9.74553287e-01 2.23954488e-01 9.50150744e-03 3.56551514e+02] [-2.23942108e-01 9.74599588e-01 -2.36115024e-03 -6.28736954e+01] [-9.78895543e-03 1.73279124e-04 9.99952072e-01 -4.75333881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.58, Y:-62.88, Z:-4.75 [[ 9.74585561e-01 2.23840402e-01 8.85764678e-03 3.56577563e+02] [-2.23829643e-01 9.74625799e-01 -2.20055813e-03 -6.28814509e+01] [-9.12546489e-03 1.62028263e-04 9.99958349e-01 -4.75385786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.60, Y:-62.89, Z:-4.75 [[ 9.74526112e-01 2.24136021e-01 7.86774776e-03 3.56604371e+02] [-2.24127548e-01 9.74557861e-01 -1.95397568e-03 -6.28897476e+01] [-8.10553176e-03 1.40821309e-04 9.99967140e-01 -4.75467582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.63, Y:-62.90, Z:-4.75 [[ 9.74326903e-01 2.25029919e-01 6.97287126e-03 3.56630162e+02] [-2.25023289e-01 9.74351847e-01 -1.73136953e-03 -6.28997088e+01] [-7.18363993e-03 1.17861482e-04 9.99974190e-01 -4.75364234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.66, Y:-62.91, Z:-4.75 [[ 9.74290883e-01 2.25138969e-01 8.34989898e-03 3.56657711e+02] [-2.25129474e-01 9.74326652e-01 -2.07231532e-03 -6.29068324e+01] [-8.60208806e-03 1.39229559e-04 9.99962992e-01 -4.75309423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:356.68, Y:-62.91, Z:-4.75 [[ 9.74306496e-01 2.25001028e-01 1.00691843e-02 3.56684349e+02] [-2.24987222e-01 9.74358512e-01 -2.49811712e-03 -6.29134386e+01] [-1.03730744e-02 1.68493924e-04 9.99946184e-01 -4.75291315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.71, Y:-62.92, Z:-4.75 [[ 9.74651227e-01 2.23405887e-01 1.20331323e-02 3.56711162e+02] [-2.23386064e-01 9.74725480e-01 -2.98414134e-03 -6.29234107e+01] [-1.23956754e-02 2.20462953e-04 9.99923146e-01 -4.75407909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.74, Y:-62.93, Z:-4.75 [[ 9.74945087e-01 2.22143396e-01 1.15926426e-02 3.56736277e+02] [-2.22124919e-01 9.75013980e-01 -2.87407691e-03 -6.29329449e+01] [-1.19414458e-02 2.27052376e-04 9.99928673e-01 -4.75477005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.76, Y:-62.94, Z:-4.76 [[ 9.75255645e-01 2.20837428e-01 1.03565167e-02 3.56762458e+02] [-2.20822616e-01 9.75310609e-01 -2.56681460e-03 -6.29431354e+01] [-1.06676693e-02 2.16347329e-04 9.99943075e-01 -4.75543246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.79, Y:-62.96, Z:-4.76 [[ 9.75894843e-01 2.18033260e-01 9.52641528e-03 3.56786923e+02] [-2.18020600e-01 9.75941313e-01 -2.36046714e-03 -6.29567827e+01] [-9.81188258e-03 2.26612934e-04 9.99951837e-01 -4.75534058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.81, Y:-62.96, Z:-4.76 [[ 9.75919404e-01 2.17923290e-01 9.52658972e-03 3.56814620e+02] [-2.17910632e-01 9.75965874e-01 -2.35976289e-03 -6.29634718e+01] [-9.81187376e-03 2.26993210e-04 9.99951837e-01 -4.75568754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.84, Y:-62.97, Z:-4.76 [[ 9.76123830e-01 2.16993636e-01 9.79950327e-03 3.56840403e+02] [-2.16980208e-01 9.76172989e-01 -2.42605631e-03 -6.29738347e+01] [-1.00924492e-02 2.41833122e-04 9.99949041e-01 -4.75528835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.87, Y:-62.98, Z:-4.76 [[ 9.76136673e-01 2.16897394e-01 1.06167657e-02 3.56866163e+02] [-2.16881637e-01 9.76194372e-01 -2.62754812e-03 -6.29842821e+01] [-1.09339353e-02 2.62264553e-04 9.99940188e-01 -4.75559941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.89, Y:-62.99, Z:-4.76 [[ 9.75904880e-01 2.17953247e-01 1.02979304e-02 3.56892583e+02] [-2.17938489e-01 9.75959181e-01 -2.54789043e-03 -6.29944315e+01] [-1.06056807e-02 2.42183315e-04 9.99943729e-01 -4.75530834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66576923100007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:356.92, Y:-63.00, Z:-4.75 [[ 9.75538007e-01 2.19607251e-01 9.91225245e-03 3.56919518e+02] [-2.19593668e-01 9.75588340e-01 -2.45191923e-03 -6.30038433e+01] [-1.02087372e-02 2.15272523e-04 9.99947866e-01 -4.75348281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.95, Y:-63.01, Z:-4.76 [[ 9.74129078e-01 2.25847832e-01 8.08054502e-03 3.56945088e+02] [-2.25839023e-01 9.74162585e-01 -1.99849803e-03 -6.30116941e+01] [-8.32312107e-03 1.21892648e-04 9.99965355e-01 -4.75737384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.97, Y:-63.02, Z:-4.76 [[ 9.73299299e-01 2.29387722e-01 8.35150505e-03 3.56971503e+02] [-2.29378451e-01 9.73335124e-01 -2.06446136e-03 -6.30190591e+01] [-8.60237529e-03 9.36835021e-05 9.99962994e-01 -4.75786653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.00, Y:-63.03, Z:-4.76 [[ 9.72573361e-01 2.32425436e-01 8.91480995e-03 3.56998447e+02] [-2.32415008e-01 9.72614215e-01 -2.20280139e-03 -6.30268805e+01] [-9.18265796e-03 7.04503293e-05 9.99957836e-01 -4.75787219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.02, Y:-63.03, Z:-4.76 [[ 9.71982581e-01 2.34864141e-01 9.41793924e-03 3.57024240e+02] [-2.34852624e-01 9.72028206e-01 -2.32639479e-03 -6.30336846e+01] [-9.70088930e-03 4.93874726e-05 9.99952944e-01 -4.75732046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.05, Y:-63.04, Z:-4.76 [[ 9.71500798e-01 2.36832070e-01 9.83716188e-03 3.57051486e+02] [-2.36819616e-01 9.71550601e-01 -2.42902381e-03 -6.30400196e+01] [-1.01325713e-02 3.01656809e-05 9.99948664e-01 -4.75779190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.08, Y:-63.04, Z:-4.76 [[ 9.70875323e-01 2.39349254e-01 1.06320731e-02 3.57077797e+02] [-2.39334865e-01 9.70933538e-01 -2.62444475e-03 -6.30447320e+01] [-1.09511952e-02 3.38286488e-06 9.99940034e-01 -4.75913576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.11, Y:-63.05, Z:-4.76 [[ 9.70658553e-01 2.40183330e-01 1.15733202e-02 3.57105044e+02] [-2.40166354e-01 9.70727546e-01 -2.85567054e-03 -6.30501744e+01] [-1.19204251e-02 -7.64106666e-06 9.99928949e-01 -4.75986064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.13, Y:-63.06, Z:-4.76 [[ 9.70568443e-01 2.40519027e-01 1.21447474e-02 3.57131615e+02] [-2.40500371e-01 9.70644424e-01 -2.99570714e-03 -6.30551479e+01] [-1.25087559e-02 -1.32774318e-05 9.99921762e-01 -4.76040120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.16, Y:-63.06, Z:-4.76 [[ 9.71027984e-01 2.38719222e-01 1.08529812e-02 3.57159705e+02] [-2.38704221e-01 9.71088633e-01 -2.67622044e-03 -6.30574322e+01] [-1.11780719e-02 8.03251458e-06 9.99937523e-01 -4.76032786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.19, Y:-63.06, Z:-4.76 [[ 9.71404364e-01 2.37197449e-01 1.05324496e-02 3.57186695e+02] [-2.37183240e-01 9.71461461e-01 -2.59643842e-03 -6.30618952e+01] [-1.08477374e-02 2.40710957e-05 9.99941161e-01 -4.76107421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.21, Y:-63.07, Z:-4.76 [[ 9.71625866e-01 2.36294362e-01 1.03995750e-02 3.57212835e+02] [-2.36280466e-01 9.71681518e-01 -2.56279311e-03 -6.30669246e+01] [-1.07106484e-02 3.28596358e-05 9.99942639e-01 -4.76213254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.24, Y:-63.07, Z:-4.76 [[ 9.71722093e-01 2.35901383e-01 1.03301549e-02 3.57240540e+02] [-2.35887660e-01 9.71776999e-01 -2.54478556e-03 -6.30722221e+01] [-1.06389254e-02 3.60682833e-05 9.99943404e-01 -4.76347808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.27, Y:-63.08, Z:-4.76 [[ 9.71668190e-01 2.36139386e-01 9.95580147e-03 3.57267735e+02] [-2.36126659e-01 9.71719193e-01 -2.45188231e-03 -6.30763621e+01] [-1.02532293e-02 3.15859135e-05 9.99947434e-01 -4.76370832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.30, Y:-63.08, Z:-4.76 [[ 9.71498179e-01 2.36926883e-01 7.54582428e-03 3.57296118e+02] [-2.36919599e-01 9.71527484e-01 -1.85789945e-03 -6.30766420e+01] [-7.77116200e-03 1.71922668e-05 9.99969804e-01 -4.76471387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.32, Y:-63.08, Z:-4.77 [[ 9.71481920e-01 2.37030959e-01 6.26136059e-03 3.57323414e+02] [-2.37025947e-01 9.71502097e-01 -1.54140291e-03 -6.30800448e+01] [-6.44828515e-03 1.33401358e-05 9.99979210e-01 -4.76548858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.35, Y:-63.08, Z:-4.77 [[ 9.71581064e-01 2.36628289e-01 6.10653960e-03 3.57351611e+02] [-2.36623518e-01 9.71600254e-01 -1.50273942e-03 -6.30837587e+01] [-6.28870608e-03 1.50822853e-05 9.99980226e-01 -4.76606448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.38, Y:-63.09, Z:-4.77 [[ 9.71691069e-01 2.36154555e-01 6.89150521e-03 3.57379008e+02] [-2.36148470e-01 9.71715507e-01 -1.69529653e-03 -6.30876105e+01] [-7.09693448e-03 1.98860838e-05 9.99974816e-01 -4.76670257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.41, Y:-63.09, Z:-4.77 [[ 9.71730218e-01 2.35966028e-01 7.77285673e-03 3.57406495e+02] [-2.35958287e-01 9.71761305e-01 -1.91144507e-03 -6.30911127e+01] [-8.00439750e-03 2.33389751e-05 9.99967964e-01 -4.76643864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.43, Y:-63.09, Z:-4.77 [[ 9.71356316e-01 2.37474472e-01 8.53127304e-03 3.57434447e+02] [-2.37465211e-01 9.71393780e-01 -2.09725806e-03 -6.30918523e+01] [-8.78527081e-03 1.13043117e-05 9.99961409e-01 -4.76638751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.46, Y:-63.10, Z:-4.77 [[ 9.71103470e-01 2.38515006e-01 8.28509131e-03 3.57462053e+02] [-2.38506316e-01 9.71138812e-01 -2.03599977e-03 -6.30956575e+01] [-8.53159023e-03 1.11983789e-06 9.99963605e-01 -4.76603415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.49, Y:-63.10, Z:-4.77 [[ 9.70895646e-01 2.39354769e-01 8.42259922e-03 3.57489177e+02] [-2.39345825e-01 9.70932178e-01 -2.06918815e-03 -6.30990964e+01] [-8.67304266e-03 -6.94818803e-06 9.99962388e-01 -4.76657227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.52, Y:-63.10, Z:-4.77 [[ 9.70988442e-01 2.38908502e-01 1.02065369e-02 3.57517554e+02] [-2.38895355e-01 9.71042083e-01 -2.50634645e-03 -6.30985861e+01] [-1.05097643e-02 -4.66082209e-06 9.99944771e-01 -4.76767243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.54, Y:-63.10, Z:-4.77 [[ 9.71436748e-01 2.37039984e-01 1.10766206e-02 3.57544498e+02] [-2.37024390e-01 9.71499895e-01 -2.71898036e-03 -6.31033648e+01] [-1.14054428e-02 1.58881912e-05 9.99934956e-01 -4.76778376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.57, Y:-63.11, Z:-4.77 [[ 9.72064905e-01 2.34424177e-01 1.16243278e-02 3.57571256e+02] [-2.34406828e-01 9.72134406e-01 -2.85239852e-03 -6.31101018e+01] [-1.19690802e-02 4.78946900e-05 9.99928367e-01 -4.76800922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.60, Y:-63.12, Z:-4.77 [[ 9.72802105e-01 2.31325196e-01 1.20298732e-02 3.57598137e+02] [-2.31306389e-01 9.72876480e-01 -2.95101905e-03 -6.31183190e+01] [-1.23862257e-02 8.81710263e-05 9.99923284e-01 -4.76819621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.62, Y:-63.13, Z:-4.77 [[ 9.74839632e-01 2.22444001e-01 1.43651604e-02 3.57624511e+02] [-2.22416235e-01 9.74945439e-01 -3.52267439e-03 -6.31287783e+01] [-1.47888454e-02 2.38997712e-04 9.99890610e-01 -4.76771093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.65, Y:-63.14, Z:-4.77 [[ 9.76024920e-01 2.17117366e-01 1.53428952e-02 3.57650696e+02] [-2.17085052e-01 9.76145447e-01 -3.76117390e-03 -6.31374369e+01] [-1.57935135e-02 3.40286252e-04 9.99875217e-01 -4.76774705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:357.68, Y:-63.15, Z:-4.77 [[ 9.77210193e-01 2.11711006e-01 1.54495268e-02 3.57677141e+02] [-2.11677587e-01 9.77332219e-01 -3.78599584e-03 -6.31473213e+01] [-1.59008572e-02 4.29395183e-04 9.99873481e-01 -4.76872962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.70, Y:-63.16, Z:-4.77 [[ 9.78305295e-01 2.06646608e-01 1.46945150e-02 3.57702519e+02] [-2.06615822e-01 9.78415527e-01 -3.59981479e-03 -6.31587284e+01] [-1.51212311e-02 4.85598584e-04 9.99885550e-01 -4.76946653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.73, Y:-63.18, Z:-4.77 [[ 9.79814170e-01 1.99460540e-01 1.34046753e-02 3.57727994e+02] [-1.99434266e-01 9.79905709e-01 -3.28258716e-03 -6.31766428e+01] [-1.37900645e-02 5.42973827e-04 9.99904765e-01 -4.76941887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5957692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:357.75, Y:-63.19, Z:-4.77 [[ 9.80129015e-01 1.97944534e-01 1.28481912e-02 3.57754373e+02] [-1.97920274e-01 9.80213074e-01 -3.14569153e-03 -6.31875427e+01] [-1.32166374e-02 5.40266014e-04 9.99912510e-01 -4.76928809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.78, Y:-63.20, Z:-4.77 [[ 9.80159783e-01 1.97853526e-01 1.18651388e-02 3.57780641e+02] [-1.97832838e-01 9.80231469e-01 -2.90433460e-03 -6.31991037e+01] [-1.22052153e-02 4.99397879e-04 9.99925389e-01 -4.76955457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.80, Y:-63.22, Z:-4.77 [[ 9.79743141e-01 2.00051839e-01 9.09060476e-03 3.57804702e+02] [-2.00039794e-01 9.79785247e-01 -2.22481169e-03 -6.32173857e+01] [-9.35191810e-03 3.61261290e-04 9.99956205e-01 -4.77068871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.83, Y:-63.23, Z:-4.77 [[ 9.79508751e-01 2.01248755e-01 7.84510425e-03 3.57831122e+02] [-2.01239826e-01 9.79540121e-01 -1.91957780e-03 -6.32302314e+01] [-8.07090700e-03 3.01495844e-04 9.99967384e-01 -4.77102657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.86, Y:-63.24, Z:-4.77 [[ 9.79395301e-01 2.01813043e-01 7.50603640e-03 3.57857954e+02] [-2.01804888e-01 9.79424022e-01 -1.83629360e-03 -6.32425097e+01] [-7.72218036e-03 2.83702484e-04 9.99970143e-01 -4.77175478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:357.88, Y:-63.26, Z:-4.77 [[ 9.79234741e-01 2.02537072e-01 8.83495679e-03 3.57882644e+02] [-2.02525807e-01 9.79274542e-01 -2.16090166e-03 -6.32586919e+01] [-9.08951095e-03 3.26723223e-04 9.99958636e-01 -4.77139257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7757692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:357.91, Y:-63.27, Z:-4.77 [[ 9.79141970e-01 2.02911547e-01 1.03878291e-02 3.57909792e+02] [-2.02896005e-01 9.79196998e-01 -2.53992914e-03 -6.32706623e+01] [-1.06871121e-02 3.79302191e-04 9.99942819e-01 -4.77142141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.94, Y:-63.28, Z:-4.77 [[ 9.78986563e-01 2.03590624e-01 1.16690675e-02 3.57937103e+02] [-2.03571066e-01 9.79056017e-01 -2.85257316e-03 -6.32827771e+01] [-1.20054279e-02 4.17146277e-04 9.99927845e-01 -4.77151938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.83576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:357.96, Y:-63.29, Z:-4.77 [[ 9.78792512e-01 2.04540660e-01 1.13285462e-02 3.57964730e+02] [-2.04522294e-01 9.78857990e-01 -2.76906265e-03 -6.32944018e+01] [-1.16554239e-02 3.93397535e-04 9.99931996e-01 -4.77164051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86576923100006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:357.99, Y:-63.31, Z:-4.77 [[ 9.78541850e-01 2.05825534e-01 9.57583919e-03 3.57993628e+02] [-2.05812475e-01 9.78588651e-01 -2.34040183e-03 -6.33058874e+01] [-9.85252201e-03 3.19353972e-04 9.99951412e-01 -4.77275111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.89576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:358.02, Y:-63.32, Z:-4.77 [[ 9.77927586e-01 2.08887671e-01 4.85558377e-03 3.58020636e+02] [-2.08884351e-01 9.77939630e-01 -1.18682605e-03 -6.33196420e+01] [-4.99638112e-03 1.46374472e-04 9.99987507e-01 -4.77397997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:358.05, Y:-63.33, Z:-4.77 [[ 9.77415958e-01 2.11281040e-01 4.28573153e-03 3.58048471e+02] [-2.11278476e-01 9.77425347e-01 -1.04759060e-03 -6.33294892e+01] [-4.41031866e-03 1.18448941e-04 9.99990267e-01 -4.77383899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.95576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:358.08, Y:-63.34, Z:-4.77 [[ 9.76742004e-01 2.14343551e-01 5.64801346e-03 3.58075257e+02] [-2.14339149e-01 9.76758324e-01 -1.38057792e-03 -6.33382365e+01] [-5.81266213e-03 1.37878041e-04 9.99983097e-01 -4.77305169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:358.10, Y:-63.35, Z:-4.77 [[ 9.75898911e-01 2.18076751e-01 7.99036780e-03 3.58102884e+02] [-2.18068073e-01 9.75931608e-01 -1.95231266e-03 -6.33462765e+01] [-8.22380650e-03 1.62815689e-04 9.99966171e-01 -4.77215718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:358.13, Y:-63.35, Z:-4.77 [[ 9.75047802e-01 2.21779002e-01 9.79070136e-03 3.58130228e+02] [-2.21766164e-01 9.75096943e-01 -2.39162542e-03 -6.33535441e+01] [-1.00772953e-02 1.60702821e-04 9.99949210e-01 -4.77259691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:358.16, Y:-63.36, Z:-4.77 [[ 9.73588698e-01 2.28028306e-01 1.13198606e-02 3.58158132e+02] [-2.28011577e-01 9.73654497e-01 -2.76435141e-03 -6.33615130e+01] [-1.16519836e-02 1.10282030e-04 9.99932107e-01 -4.77338108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:358.19, Y:-63.37, Z:-4.77 [[ 9.73022874e-01 2.30413658e-01 1.16632764e-02 3.58185732e+02] [-2.30396076e-01 9.73092770e-01 -2.84761580e-03 -6.33693831e+01] [-1.20055795e-02 8.36221851e-05 9.99927927e-01 -4.77387293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.10576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:358.21, Y:-63.38, Z:-4.77 [[ 9.72618089e-01 2.32111597e-01 1.17584030e-02 3.58213797e+02] [-2.32093856e-01 9.72689160e-01 -2.87040201e-03 -6.33774349e+01] [-1.21035247e-02 6.27518162e-05 9.99926748e-01 -4.77394953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:358.24, Y:-63.39, Z:-4.77 [[ 9.72353040e-01 2.33207033e-01 1.20018759e-02 3.58242081e+02] [-2.33188637e-01 9.72427106e-01 -2.92952978e-03 -6.33854988e+01] [-1.23541364e-02 4.98361128e-05 9.99923684e-01 -4.77420333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:358.27, Y:-63.40, Z:-4.77 [[ 9.72288424e-01 2.33484157e-01 1.18477151e-02 3.58269724e+02] [-2.33466255e-01 9.72360605e-01 -2.89160701e-03 -6.33951274e+01] [-1.21953959e-02 4.54343421e-05 9.99925632e-01 -4.77444162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.19576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:358.30, Y:-63.40, Z:-4.77 [[ 9.72313807e-01 2.33405073e-01 1.13106974e-02 3.58298983e+02] [-2.33388757e-01 9.72379591e-01 -2.76011672e-03 -6.34036964e+01] [-1.16425166e-02 4.39099803e-05 9.99932223e-01 -4.77445197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2257692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:358.33, Y:-63.41, Z:-4.77 [[ 9.72512268e-01 2.32590926e-01 1.10159134e-02 3.58327423e+02] [-2.32575396e-01 9.72574655e-01 -2.68819159e-03 -6.34117589e+01] [-1.13390472e-02 5.22688661e-05 9.99935710e-01 -4.77485383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.25576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:358.36, Y:-63.42, Z:-4.78 [[ 9.73034834e-01 2.30470989e-01 9.29171522e-03 3.58355470e+02] [-2.30459845e-01 9.73079195e-01 -2.26731446e-03 -6.34215691e+01] [-9.56412497e-03 6.48086985e-05 9.99954261e-01 -4.77637911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2857692310001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:358.38, Y:-63.43, Z:-4.78 [[ 9.73309628e-01 2.29349159e-01 8.20556602e-03 3.58384417e+02] [-2.29340428e-01 9.73344214e-01 -2.00227816e-03 -6.34304445e+01] [-8.44606102e-03 6.69685895e-05 9.99964329e-01 -4.77735149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.31576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:358.41, Y:-63.44, Z:-4.78 [[ 9.73559369e-01 2.28307046e-01 7.61891693e-03 3.58412237e+02] [-2.28299487e-01 9.73589178e-01 -1.85917907e-03 -6.34400683e+01] [-7.84215875e-03 7.06263820e-05 9.99969247e-01 -4.77832333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3457692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:358.44, Y:-63.45, Z:-4.78 [[ 9.73693003e-01 2.27720493e-01 8.08165419e-03 3.58441840e+02] [-2.27711970e-01 9.73726538e-01 -1.97184786e-03 -6.34512290e+01] [-8.31835132e-03 7.96850626e-05 9.99965399e-01 -4.77800800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.37576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:358.47, Y:-63.47, Z:-4.78 [[ 9.73430907e-01 2.28763068e-01 9.98642585e-03 3.58470149e+02] [-2.28750107e-01 9.73482127e-01 -2.43666218e-03 -6.34652200e+01] [-1.02790254e-02 8.75262959e-05 9.99947166e-01 -4.77577009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4057692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:358.50, Y:-63.48, Z:-4.78 [[ 9.73103699e-01 2.30164429e-01 9.67089774e-03 3.58500432e+02] [-2.30152329e-01 9.73151751e-01 -2.36116252e-03 -6.34755666e+01] [-9.95470669e-03 7.18763473e-05 9.99950448e-01 -4.77573362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.43576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:358.53, Y:-63.48, Z:-4.78 [[ 9.73083199e-01 2.30251102e-01 9.67046623e-03 3.58532130e+02] [-2.30238989e-01 9.73131247e-01 -2.36292838e-03 -6.34834292e+01] [-9.95469973e-03 7.28075413e-05 9.99950448e-01 -4.77613165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4657692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:358.56, Y:-63.49, Z:-4.78 [[ 9.72644327e-01 2.32138987e-01 8.63158960e-03 3.58563515e+02] [-2.32129408e-01 9.72682625e-01 -2.10941406e-03 -6.34936712e+01] [-8.88547447e-03 4.80638359e-05 9.99960522e-01 -4.77726759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.49576923100005 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:358.59, Y:-63.50, Z:-4.78 [[ 9.72153343e-01 2.34227283e-01 7.44701794e-03 3.58593849e+02] [-2.34220202e-01 9.72181865e-01 -1.82148438e-03 -6.35034054e+01] [-7.66649713e-03 2.65200765e-05 9.99970612e-01 -4.77893470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5257692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:358.62, Y:-63.52, Z:-4.78 [[ 9.70886434e-01 2.39427846e-01 7.33743948e-03 3.58622325e+02] [-2.39421111e-01 9.70914160e-01 -1.79593793e-03 -6.35150003e+01] [-7.55402144e-03 -1.30861401e-05 9.99971468e-01 -4.77804450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.55576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:358.65, Y:-63.52, Z:-4.78 [[ 9.70127011e-01 2.42456599e-01 8.26918916e-03 3.58651185e+02] [-2.42448148e-01 9.70162252e-01 -2.02471318e-03 -6.35236219e+01] [-8.51336025e-03 -4.06206483e-05 9.99963760e-01 -4.77726090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.58576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:358.68, Y:-63.53, Z:-4.78 [[ 9.69300610e-01 2.45726353e-01 8.65373435e-03 3.58681019e+02] [-2.45717227e-01 9.69339236e-01 -2.11901849e-03 -6.35313637e+01] [-8.90910292e-03 -7.24056930e-05 9.99960311e-01 -4.77674067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.61576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:358.71, Y:-63.54, Z:-4.78 [[ 9.68502971e-01 2.48876148e-01 7.91572931e-03 3.58711822e+02] [-2.48868618e-01 9.68535314e-01 -1.93820881e-03 -6.35384771e+01] [-8.14903731e-03 -9.28156267e-05 9.99966792e-01 -4.77690577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:358.74, Y:-63.54, Z:-4.78 [[ 9.67072475e-01 2.54384818e-01 7.69371732e-03 3.58741502e+02] [-2.54377876e-01 9.67103069e-01 -1.88413071e-03 -6.35447137e+01] [-7.91991188e-03 -1.35020524e-04 9.99968628e-01 -4.77916289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.67576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:358.77, Y:-63.55, Z:-4.78 [[ 9.66479046e-01 2.56594656e-01 8.79980290e-03 3.58770854e+02] [-2.56585668e-01 9.66519090e-01 -2.15482777e-03 -6.35516093e+01] [-9.05809478e-03 -1.75307414e-04 9.99958959e-01 -4.77910099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.80, Y:-63.56, Z:-4.78 [[ 9.65891402e-01 2.58752823e-01 1.00386782e-02 3.58798757e+02] [-2.58741234e-01 9.65943542e-01 -2.45903486e-03 -6.35577004e+01] [-1.03330786e-02 -2.22259351e-04 9.99946588e-01 -4.77807914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:358.83, Y:-63.56, Z:-4.78 [[ 9.65230581e-01 2.61158489e-01 1.12324816e-02 3.58828336e+02] [-2.61144147e-01 9.65295896e-01 -2.75101312e-03 -6.35635289e+01] [-1.15611189e-02 -2.77934842e-04 9.99933129e-01 -4.77741509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:358.86, Y:-63.57, Z:-4.78 [[ 9.64006473e-01 2.65625101e-01 1.16114488e-02 3.58858580e+02] [-2.65610102e-01 9.64076339e-01 -2.84352936e-03 -6.35667773e+01] [-1.19496359e-02 -3.42937397e-04 9.99928542e-01 -4.77822188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.79576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:358.89, Y:-63.57, Z:-4.78 [[ 9.63389159e-01 2.67868404e-01 1.13069060e-02 3.58887888e+02] [-2.67854335e-01 9.63455442e-01 -2.76895630e-03 -6.35716085e+01] [-1.16354160e-02 -3.61021300e-04 9.99932241e-01 -4.77893319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:358.92, Y:-63.58, Z:-4.78 [[ 9.62882102e-01 2.69700246e-01 1.09469542e-02 3.58916876e+02] [-2.69687178e-01 9.62944256e-01 -2.68068679e-03 -6.35762654e+01] [-1.12642886e-02 -3.71067865e-04 9.99936487e-01 -4.77905870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.85576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:358.95, Y:-63.58, Z:-4.78 [[ 9.62417528e-01 2.71359754e-01 1.07882163e-02 3.58946644e+02] [-2.71347170e-01 9.62477914e-01 -2.64155293e-03 -6.35806491e+01] [-1.11002311e-02 -3.85075132e-04 9.99938316e-01 -4.77929860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:358.98, Y:-63.58, Z:-4.78 [[ 9.61586455e-01 2.74260688e-01 1.15136555e-02 3.58975529e+02] [-2.74246566e-01 9.61655279e-01 -2.81888437e-03 -6.35809388e+01] [-1.18452768e-02 -4.46979455e-04 9.99929742e-01 -4.77965591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:359.00, Y:-63.59, Z:-4.78 [[ 9.61223419e-01 2.75516189e-01 1.18476982e-02 3.59003945e+02] [-2.75501340e-01 9.61296314e-01 -2.89990976e-03 -6.35850497e+01] [-1.21881207e-02 -4.76595541e-04 9.99925609e-01 -4.78050326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.03, Y:-63.59, Z:-4.78 [[ 9.61043564e-01 2.76143180e-01 1.18411100e-02 3.59032574e+02] [-2.76128401e-01 9.61116387e-01 -2.89772182e-03 -6.35904307e+01] [-1.21808710e-02 -4.84829875e-04 9.99925693e-01 -4.78194599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.9757692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:359.06, Y:-63.59, Z:-4.78 [[ 9.61112845e-01 2.75992384e-01 9.50285356e-03 3.59060269e+02] [-2.75982861e-01 9.61159744e-01 -2.32518732e-03 -6.35942736e+01] [-9.77549429e-03 -3.87857320e-04 9.99952143e-01 -4.78398463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:359.09, Y:-63.60, Z:-4.79 [[ 9.61411005e-01 2.74999938e-01 7.99457488e-03 3.59089122e+02] [-2.74993168e-01 9.61444191e-01 -1.95571511e-03 -6.35986193e+01] [-8.22415912e-03 -3.18207445e-04 9.99966130e-01 -4.78537331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0357692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:359.12, Y:-63.60, Z:-4.79 [[ 9.61601847e-01 2.74367118e-01 6.67618752e-03 3.59117342e+02] [-2.74362383e-01 9.61624987e-01 -1.63309352e-03 -6.36023285e+01] [-6.86805591e-03 -2.61308968e-04 9.99976380e-01 -4.78546544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06576923100005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:359.15, Y:-63.61, Z:-4.79 [[ 9.61716197e-01 2.73965374e-01 6.70304451e-03 3.59145909e+02] [-2.73960594e-01 9.61739521e-01 -1.63907168e-03 -6.36059246e+01] [-6.89563170e-03 -2.60048267e-04 9.99976191e-01 -4.78548190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0957692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:359.17, Y:-63.61, Z:-4.78 [[ 9.61794114e-01 2.73626680e-01 8.97337799e-03 3.59173955e+02] [-2.73618105e-01 9.61835911e-01 -2.19360602e-03 -6.36080622e+01] [-9.23114633e-03 -3.45481331e-04 9.99957332e-01 -4.78383711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:359.20, Y:-63.61, Z:-4.78 [[ 9.61933589e-01 2.73100036e-01 1.00070184e-02 3.59201206e+02] [-2.73089352e-01 9.61985564e-01 -2.44550875e-03 -6.36129741e+01] [-1.02944758e-02 -3.80393170e-04 9.99946938e-01 -4.78393329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1557692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:359.23, Y:-63.62, Z:-4.79 [[ 9.62861179e-01 2.69808573e-01 1.00838350e-02 3.59228681e+02] [-2.69797549e-01 9.62913918e-01 -2.46370375e-03 -6.36157556e+01] [-1.03745935e-02 -3.48389280e-04 9.99946122e-01 -4.78586295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:359.26, Y:-63.62, Z:-4.79 [[ 9.62876136e-01 2.69755182e-01 1.00840357e-02 3.59256397e+02] [-2.69744164e-01 9.62928876e-01 -2.46288220e-03 -6.36223907e+01] [-1.03745844e-02 -3.48659273e-04 9.99946122e-01 -4.78620992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2157692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:359.28, Y:-63.63, Z:-4.79 [[ 9.63931504e-01 2.66044367e-01 7.51333924e-03 3.59283793e+02] [-2.66038139e-01 9.63960757e-01 -1.83486171e-03 -6.36255881e+01] [-7.73071881e-03 -2.30153777e-04 9.99970091e-01 -4.78867914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:359.31, Y:-63.63, Z:-4.79 [[ 9.64409882e-01 2.64327623e-01 6.66988116e-03 3.59310964e+02] [-2.64322677e-01 9.64432927e-01 -1.62839473e-03 -6.36308240e+01] [-6.86308272e-03 -1.92560875e-04 9.99976430e-01 -4.78915128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.34, Y:-63.64, Z:-4.79 [[ 9.64748830e-01 2.63086356e-01 6.72792452e-03 3.59338088e+02] [-2.63081297e-01 9.64772271e-01 -1.64200371e-03 -6.36368381e+01] [-6.92290379e-03 -1.85869951e-04 9.99976019e-01 -4.78890196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:359.37, Y:-63.64, Z:-4.79 [[ 9.65470359e-01 2.60388362e-01 8.05519925e-03 3.59366097e+02] [-2.60381022e-01 9.65503942e-01 -1.96526647e-03 -6.36435145e+01] [-8.28905914e-03 -2.00014491e-04 9.99965625e-01 -4.78757689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.33576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:359.39, Y:-63.65, Z:-4.79 [[ 9.65927497e-01 2.58682917e-01 8.19876186e-03 3.59392840e+02] [-2.58675255e-01 9.65962273e-01 -1.99993032e-03 -6.36498503e+01] [-8.43704245e-03 -1.89029126e-04 9.99964390e-01 -4.78769139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36576923100006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:359.42, Y:-63.66, Z:-4.79 [[ 9.66283805e-01 2.57346679e-01 8.26404376e-03 3.59420324e+02] [-2.57338850e-01 9.66319127e-01 -2.01531456e-03 -6.36560955e+01] [-8.50433806e-03 -1.79293700e-04 9.99963821e-01 -4.78752437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.39576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:359.45, Y:-63.66, Z:-4.79 [[ 9.66418365e-01 2.56839035e-01 8.32185525e-03 3.59447380e+02] [-2.56831084e-01 9.66454178e-01 -2.02873753e-03 -6.36625608e+01] [-8.56375077e-03 -1.76701894e-04 9.99963315e-01 -4.78839118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:359.47, Y:-63.67, Z:-4.79 [[ 9.66460027e-01 2.56670205e-01 8.68455140e-03 3.59474112e+02] [-2.56661544e-01 9.66499028e-01 -2.11659826e-03 -6.36683784e+01] [-8.93687820e-03 -1.83382754e-04 9.99960048e-01 -4.78959386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.50, Y:-63.67, Z:-4.79 [[ 9.66487448e-01 2.56542454e-01 9.37987869e-03 3.59500918e+02] [-2.56532350e-01 9.66532943e-01 -2.28539054e-03 -6.36746925e+01] [-9.65226146e-03 -1.97441053e-04 9.99953396e-01 -4.78938953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:359.53, Y:-63.68, Z:-4.79 [[ 9.66583366e-01 2.56135698e-01 1.05404000e-02 3.59527779e+02] [-2.56122925e-01 9.66640811e-01 -2.56726315e-03 -6.36808577e+01] [-1.08463486e-02 -2.18164224e-04 9.99941153e-01 -4.78936546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:359.56, Y:-63.69, Z:-4.79 [[ 9.66832613e-01 2.55170617e-01 1.10749379e-02 3.59555966e+02] [-2.55156461e-01 9.66896017e-01 -2.69658152e-03 -6.36871674e+01] [-1.13964017e-02 -2.18698998e-04 9.99935035e-01 -4.78897550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:359.58, Y:-63.69, Z:-4.79 [[ 9.67096928e-01 2.54148424e-01 1.14939396e-02 3.59582688e+02] [-2.54133112e-01 9.67165204e-01 -2.79801876e-03 -6.36937778e+01] [-1.18276505e-02 -2.15035299e-04 9.99930028e-01 -4.78889691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:359.61, Y:-63.70, Z:-4.79 [[ 9.67256329e-01 2.53539458e-01 1.15297917e-02 3.59609312e+02] [-2.53524016e-01 9.67325023e-01 -2.80603863e-03 -6.36999804e+01] [-1.18644976e-02 -2.08920481e-04 9.99929593e-01 -4.78963059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.64, Y:-63.71, Z:-4.79 [[ 9.67054836e-01 2.54277320e-01 1.21650239e-02 3.59636821e+02] [-2.54260198e-01 9.67131321e-01 -2.95981899e-03 -6.37057194e+01] [-1.25177904e-02 -2.30774112e-04 9.99921623e-01 -4.78994660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.66, Y:-63.71, Z:-4.79 [[ 9.66794246e-01 2.55236670e-01 1.27722079e-02 3.59664607e+02] [-2.55217890e-01 9.66878574e-01 -3.10673525e-03 -6.37107890e+01] [-1.31421269e-02 -2.56122196e-04 9.99913606e-01 -4.78998257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:359.69, Y:-63.72, Z:-4.79 [[ 9.66480563e-01 2.56407579e-01 1.30566194e-02 3.59692406e+02] [-2.56388073e-01 9.66568712e-01 -3.17495657e-03 -6.37159538e+01] [-1.34342027e-02 -2.79027669e-04 9.99909718e-01 -4.78994653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.69576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:359.72, Y:-63.72, Z:-4.79 [[ 9.66180192e-01 2.57571041e-01 1.23691376e-02 3.59719289e+02] [-2.57553640e-01 9.66259323e-01 -3.00705819e-03 -6.37192906e+01] [-1.27263256e-02 -2.80356340e-04 9.99918978e-01 -4.79069325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7257692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:359.75, Y:-63.72, Z:-4.79 [[ 9.66205673e-01 2.57522293e-01 1.13519140e-02 3.59747286e+02] [-2.57507643e-01 9.66272323e-01 -2.75889325e-03 -6.37243595e+01] [-1.16795168e-02 -2.57546312e-04 9.99931759e-01 -4.79161935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.78, Y:-63.73, Z:-4.79 [[ 9.66316525e-01 2.57149781e-01 1.03132595e-02 3.59775063e+02] [-2.57137675e-01 9.66371531e-01 -2.50581662e-03 -6.37293209e+01] [-1.06108106e-02 -2.30515573e-04 9.99943677e-01 -4.79293340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.80, Y:-63.73, Z:-4.79 [[ 9.66382006e-01 2.57005220e-01 7.35763809e-03 3.59802851e+02] [-2.56999057e-01 9.66410001e-01 -1.78739981e-03 -6.37338553e+01] [-7.56986611e-03 -1.63595035e-04 9.99971335e-01 -4.79399104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.81576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.83, Y:-63.74, Z:-4.79 [[ 9.66377799e-01 2.57029171e-01 7.06781955e-03 3.59829132e+02] [-2.57023488e-01 9.66403632e-01 -1.71655915e-03 -6.37397815e+01] [-7.27157226e-03 -1.57750974e-04 9.99973549e-01 -4.79396859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.86, Y:-63.75, Z:-4.79 [[ 9.66317555e-01 2.57237171e-01 7.70848812e-03 3.59855073e+02] [-2.57230423e-01 9.66348285e-01 -1.87139810e-03 -6.37452775e+01] [-7.93047743e-03 -1.74492832e-04 9.99968538e-01 -4.79395780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.87576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.88, Y:-63.75, Z:-4.79 [[ 9.65621244e-01 2.59746469e-01 1.03626602e-02 3.59881894e+02] [-2.59734431e-01 9.65676811e-01 -2.51452139e-03 -6.37485945e+01] [-1.06601187e-02 -2.63464377e-04 9.99943145e-01 -4.79308457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9057692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:359.91, Y:-63.75, Z:-4.79 [[ 9.64909067e-01 2.62341365e-01 1.12916213e-02 3.59909362e+02] [-2.62327262e-01 9.64975081e-01 -2.73892645e-03 -6.37527787e+01] [-1.16146669e-02 -3.19285134e-04 9.99932497e-01 -4.79326974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.93576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.94, Y:-63.76, Z:-4.79 [[ 9.64072700e-01 2.65407087e-01 1.10863568e-02 3.59935884e+02] [-2.65393703e-01 9.64136378e-01 -2.68833873e-03 -6.37567863e+01] [-1.14022640e-02 -3.50495284e-04 9.99934931e-01 -4.79321054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.96, Y:-63.76, Z:-4.79 [[ 9.63294625e-01 2.68252960e-01 1.01889245e-02 3.59963799e+02] [-2.68241822e-01 9.63348444e-01 -2.46990511e-03 -6.37605391e+01] [-1.04780439e-02 -3.53849359e-04 9.99945041e-01 -4.79337483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.99, Y:-63.76, Z:-4.80 [[ 9.61989221e-01 2.72970019e-01 8.00678109e-03 3.59991320e+02] [-2.72963307e-01 9.62022488e-01 -1.94056799e-03 -6.37606906e+01] [-8.23242035e-03 -3.18751951e-04 9.99966062e-01 -4.79542339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.02, Y:-63.76, Z:-4.80 [[ 9.61590471e-01 2.74389624e-01 7.35536614e-03 3.60019244e+02] [-2.74384006e-01 9.61618553e-01 -1.78208518e-03 -6.37641133e+01] [-7.56204223e-03 -3.04558701e-04 9.99971361e-01 -4.79672866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.05576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.05, Y:-63.77, Z:-4.80 [[ 9.61396211e-01 2.75074054e-01 7.18266214e-03 3.60045819e+02] [-2.75068718e-01 9.61422994e-01 -1.73998812e-03 -6.37679142e+01] [-7.38420212e-03 -3.02907675e-04 9.99972691e-01 -4.79773213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.07, Y:-63.77, Z:-4.80 [[ 9.61179132e-01 2.75769311e-01 9.27162799e-03 3.60073656e+02] [-2.75760469e-01 9.61223765e-01 -2.24421455e-03 -6.37700837e+01] [-9.53099466e-03 -3.99656293e-04 9.99954499e-01 -4.79546599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.11576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.10, Y:-63.77, Z:-4.79 [[ 9.61286376e-01 2.75329128e-01 1.10622670e-02 3.60101170e+02] [-2.75316523e-01 9.61349909e-01 -2.67665654e-03 -6.37738140e+01] [-1.13716709e-02 -4.72591406e-04 9.99935229e-01 -4.79473487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.14576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:360.13, Y:-63.78, Z:-4.79 [[ 9.61348730e-01 2.75060152e-01 1.22691680e-02 3.60128460e+02] [-2.75044637e-01 9.61426877e-01 -2.96768017e-03 -6.37776278e+01] [-1.26121985e-02 -5.21593303e-04 9.99920327e-01 -4.79422058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.16, Y:-63.78, Z:-4.79 [[ 9.61401474e-01 2.74849227e-01 1.28494815e-02 3.60155997e+02] [-2.74832205e-01 9.61487185e-01 -3.10691758e-03 -6.37816154e+01] [-1.32085457e-02 -5.44456206e-04 9.99912615e-01 -4.79470606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.20576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.18, Y:-63.78, Z:-4.80 [[ 9.61372257e-01 2.74969986e-01 1.24454581e-02 3.60183788e+02] [-2.74954040e-01 9.61452664e-01 -3.00834561e-03 -6.37838498e+01] [-1.27929236e-02 -5.29788982e-04 9.99918027e-01 -4.79731204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.21, Y:-63.79, Z:-4.80 [[ 9.61568365e-01 2.74272274e-01 1.26885426e-02 3.60210111e+02] [-2.74255651e-01 9.61651931e-01 -3.06609972e-03 -6.37881984e+01] [-1.30429076e-02 -5.31640015e-04 9.99914796e-01 -4.79775618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:360.24, Y:-63.79, Z:-4.80 [[ 9.61915988e-01 2.73011980e-01 1.34941181e-02 3.60236991e+02] [-2.72993080e-01 9.62010477e-01 -3.25893417e-03 -6.37930289e+01] [-1.38712111e-02 -5.48979992e-04 9.99903639e-01 -4.79808400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.29576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.26, Y:-63.80, Z:-4.80 [[ 9.62463497e-01 2.71037439e-01 1.42381429e-02 3.60264885e+02] [-2.71016199e-01 9.62568649e-01 -3.43743413e-03 -6.37982575e+01] [-1.46368633e-02 -5.50362483e-04 9.99892724e-01 -4.79799846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.29, Y:-63.80, Z:-4.80 [[ 9.63745196e-01 2.66484934e-01 1.34528134e-02 3.60292667e+02] [-2.66465542e-01 9.63838976e-01 -3.24693884e-03 -6.38024194e+01] [-1.38316062e-02 -4.55489490e-04 9.99904235e-01 -4.79809949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.35576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.32, Y:-63.81, Z:-4.80 [[ 9.63791264e-01 2.66318256e-01 1.34530776e-02 3.60320406e+02] [-2.66298862e-01 9.63885045e-01 -3.24584350e-03 -6.38089197e+01] [-1.38316477e-02 -4.54223663e-04 9.99904235e-01 -4.79844641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:360.35, Y:-63.81, Z:-4.80 [[ 9.64359941e-01 2.64309627e-01 1.22607265e-02 3.60347382e+02] [-2.64293382e-01 9.64437800e-01 -2.95615785e-03 -6.38143632e+01] [-1.26060490e-02 -3.89628646e-04 9.99920465e-01 -4.79946580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.41576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.37, Y:-63.82, Z:-4.80 [[ 9.64843135e-01 2.62596754e-01 1.09849783e-02 3.60374230e+02] [-2.62583611e-01 9.64905610e-01 -2.64785940e-03 -6.38196811e+01] [-1.12947865e-02 -3.29706314e-04 9.99936158e-01 -4.80064597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.44576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.40, Y:-63.82, Z:-4.80 [[ 9.65319631e-01 2.60857570e-01 1.05516698e-02 3.60401616e+02] [-2.60845349e-01 9.65377252e-01 -2.54253722e-03 -6.38249653e+01] [-1.08495821e-02 -2.97992905e-04 9.99941097e-01 -4.80170418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.43, Y:-63.83, Z:-4.80 [[ 9.65972155e-01 2.58368777e-01 1.19737684e-02 3.60429539e+02] [-2.58352860e-01 9.66046314e-01 -2.88423644e-03 -6.38302132e+01] [-1.23124115e-02 -3.07365225e-04 9.99924152e-01 -4.80105748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.46, Y:-63.84, Z:-4.80 [[ 9.66100566e-01 2.57841583e-01 1.29388465e-02 3.60456489e+02] [-2.57822963e-01 9.66187152e-01 -3.11570977e-03 -6.38358533e+01] [-1.33047068e-02 -3.25842778e-04 9.99911435e-01 -4.80052139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.48, Y:-63.84, Z:-4.80 [[ 9.66108758e-01 2.57805682e-01 1.30421598e-02 3.60484174e+02] [-2.57786774e-01 9.66196731e-01 -3.13961029e-03 -6.38409788e+01] [-1.34107015e-02 -3.28891306e-04 9.99910018e-01 -4.80033861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.51, Y:-63.85, Z:-4.80 [[ 9.66057515e-01 2.57996713e-01 1.30603471e-02 3.60511305e+02] [-2.57977783e-01 9.66145737e-01 -3.14300492e-03 -6.38455562e+01] [-1.34290836e-02 -3.32955856e-04 9.99909770e-01 -4.80066757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.54, Y:-63.85, Z:-4.80 [[ 9.65950052e-01 2.58434785e-01 1.23271315e-02 3.60539310e+02] [-2.58417969e-01 9.66028653e-01 -2.96555950e-03 -6.38494188e+01] [-1.26747660e-02 -3.20969933e-04 9.99919620e-01 -4.80159863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.57, Y:-63.85, Z:-4.80 [[ 9.66035396e-01 2.58128498e-01 1.20536952e-02 3.60565837e+02] [-2.58112406e-01 9.66110543e-01 -2.89890215e-03 -6.38548610e+01] [-1.23934913e-02 -3.10766185e-04 9.99923149e-01 -4.80250305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.59, Y:-63.86, Z:-4.80 [[ 9.66219967e-01 2.57455001e-01 1.16575469e-02 3.60593234e+02] [-2.57439913e-01 9.66290244e-01 -2.80266091e-03 -6.38600165e+01] [-1.19861329e-02 -2.93130937e-04 9.99928121e-01 -4.80372135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.62, Y:-63.86, Z:-4.80 [[ 9.66992639e-01 2.54597133e-01 1.02730335e-02 3.60620466e+02] [-2.54585261e-01 9.67047180e-01 -2.46917188e-03 -6.38625516e+01] [-1.05631522e-02 -2.27691880e-04 9.99944182e-01 -4.80457210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7157692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.65, Y:-63.87, Z:-4.80 [[ 9.67533279e-01 2.52534572e-01 1.02783284e-02 3.60648299e+02] [-2.52522581e-01 9.67587850e-01 -2.46955366e-03 -6.38675832e+01] [-1.05688334e-02 -2.06134666e-04 9.99944127e-01 -4.80472466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.74576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.68, Y:-63.87, Z:-4.80 [[ 9.68083640e-01 2.50402518e-01 1.06134396e-02 3.60675835e+02] [-2.50389613e-01 9.68141799e-01 -2.54927798e-03 -6.38738645e+01] [-1.09136601e-02 -1.89580713e-04 9.99940426e-01 -4.80471985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.70, Y:-63.88, Z:-4.80 [[ 9.69315270e-01 2.45544968e-01 1.16437536e-02 3.60703130e+02] [-2.45529095e-01 9.69385190e-01 -2.79583564e-03 -6.38812835e+01] [-1.19737857e-02 -1.48834114e-04 9.99928301e-01 -4.80387059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.73, Y:-63.89, Z:-4.80 [[ 9.69866661e-01 2.43340313e-01 1.20063473e-02 3.60729037e+02] [-2.43323279e-01 9.69940965e-01 -2.88201521e-03 -6.38874475e+01] [-1.23467586e-02 -1.26253327e-04 9.99923768e-01 -4.80422277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.76, Y:-63.89, Z:-4.80 [[ 9.70259907e-01 2.41736221e-01 1.26219334e-02 3.60756019e+02] [-2.41717273e-01 9.70341995e-01 -3.02869372e-03 -6.38933282e+01] [-1.29797370e-02 -1.12319230e-04 9.99915753e-01 -4.80481907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.78, Y:-63.90, Z:-4.81 [[ 9.70497758e-01 2.40771574e-01 1.27730539e-02 3.60783907e+02] [-2.40752098e-01 9.70581804e-01 -3.06403392e-03 -6.38984851e+01] [-1.31350260e-02 -1.01501487e-04 9.99913727e-01 -4.80551306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.81, Y:-63.90, Z:-4.81 [[ 9.70121935e-01 2.42316900e-01 1.20810428e-02 3.60812356e+02] [-2.42299607e-01 9.70197148e-01 -2.89722011e-03 -6.39008992e+01] [-1.24230387e-02 -1.16575139e-04 9.99922824e-01 -4.80696932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.84, Y:-63.90, Z:-4.81 [[ 9.69564731e-01 2.44567594e-01 1.14421699e-02 3.60839271e+02] [-2.44552248e-01 9.69632236e-01 -2.74324186e-03 -6.39049254e+01] [-1.17656048e-02 -1.38457810e-04 9.99930773e-01 -4.80748412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.87, Y:-63.91, Z:-4.81 [[ 9.68966775e-01 2.46923516e-01 1.14963558e-02 3.60867044e+02] [-2.46908201e-01 9.69034958e-01 -2.75527386e-03 -6.39094327e+01] [-1.18207126e-02 -1.68775707e-04 9.99930119e-01 -4.80753109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.89, Y:-63.91, Z:-4.81 [[ 9.68335711e-01 2.49353011e-01 1.22076177e-02 3.60894625e+02] [-2.49335948e-01 9.68412635e-01 -2.92477310e-03 -6.39139261e+01] [-1.25513122e-02 -2.11635696e-04 9.99921207e-01 -4.80706792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.92, Y:-63.92, Z:-4.81 [[ 9.67534646e-01 2.52355604e-01 1.39053350e-02 3.60922550e+02] [-2.52333790e-01 9.67634521e-01 -3.33033570e-03 -6.39150000e+01] [-1.42957110e-02 -2.86570712e-04 9.99897770e-01 -4.80665610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.95, Y:-63.92, Z:-4.81 [[ 9.67278985e-01 2.53332333e-01 1.39317694e-02 3.60950060e+02] [-2.53310559e-01 9.67379262e-01 -3.33523481e-03 -6.39181873e+01] [-1.43222276e-02 -3.02961738e-04 9.99897386e-01 -4.80720470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.98, Y:-63.92, Z:-4.81 [[ 9.67178538e-01 2.53710907e-01 1.40161239e-02 3.60978011e+02] [-2.53688944e-01 9.67280041e-01 -3.35294404e-03 -6.39217320e+01] [-1.44081954e-02 -3.12840147e-04 9.99896148e-01 -4.80851307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.00, Y:-63.92, Z:-4.81 [[ 9.67207477e-01 2.53638876e-01 1.33047906e-02 3.61004786e+02] [-2.53619092e-01 9.67298936e-01 -3.18178445e-03 -6.39248721e+01] [-1.36767341e-02 -2.96903210e-04 9.99906425e-01 -4.80948675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.03, Y:-63.92, Z:-4.81 [[ 9.67380983e-01 2.53042733e-01 1.19753355e-02 3.61033518e+02] [-2.53026671e-01 9.67455067e-01 -2.86287335e-03 -6.39233745e+01] [-1.23100284e-02 -2.60590056e-04 9.99924195e-01 -4.81034106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.06, Y:-63.93, Z:-4.81 [[ 9.67448510e-01 2.52794242e-01 1.17665914e-02 3.61061189e+02] [-2.52778745e-01 9.67520029e-01 -2.81061485e-03 -6.39251317e+01] [-1.20949201e-02 -2.55219060e-04 9.99926821e-01 -4.81087606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.09, Y:-63.92, Z:-4.81 [[ 9.67475265e-01 2.52684536e-01 1.19220779e-02 3.61088909e+02] [-2.52668633e-01 9.67548685e-01 -2.84668874e-03 -6.39238537e+01] [-1.22545050e-02 -2.58234190e-04 9.99924877e-01 -4.81123416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.12, Y:-63.93, Z:-4.81 [[ 9.67769177e-01 2.51568958e-01 1.16567672e-02 3.61117336e+02] [-2.51553684e-01 9.67839347e-01 -2.78238404e-03 -6.39265609e+01] [-1.19818395e-02 -2.39597239e-04 9.99928186e-01 -4.81231424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.14, Y:-63.93, Z:-4.81 [[ 9.68030290e-01 2.50602063e-01 1.07686199e-02 3.61144232e+02] [-2.50588992e-01 9.68090161e-01 -2.56829235e-03 -6.39288871e+01] [-1.10686144e-02 -2.12312830e-04 9.99938718e-01 -4.81270322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.17, Y:-63.93, Z:-4.81 [[ 9.68365115e-01 2.49350954e-01 9.64910795e-03 3.61172106e+02] [-2.49340402e-01 9.68413171e-01 -2.30080560e-03 -6.39308716e+01] [-9.91803130e-03 -1.77892574e-04 9.99950799e-01 -4.81353539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.20, Y:-63.93, Z:-4.81 [[ 9.69071007e-01 2.46623219e-01 8.85281037e-03 3.61200965e+02] [-2.46614237e-01 9.69111433e-01 -2.10935456e-03 -6.39315222e+01] [-9.09957555e-03 -1.39114729e-04 9.99958588e-01 -4.81444460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.23, Y:-63.94, Z:-4.82 [[ 9.69568339e-01 2.44648847e-01 9.17487287e-03 3.61228863e+02] [-2.44639130e-01 9.69611740e-01 -2.18415423e-03 -6.39364020e+01] [-9.43041526e-03 -1.26846125e-04 9.99955525e-01 -4.81500392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.26, Y:-63.94, Z:-4.82 [[ 9.70162554e-01 2.42254621e-01 9.86495005e-03 3.61256082e+02] [-2.42243286e-01 9.70212701e-01 -2.34627170e-03 -6.39415511e+01] [-1.01394950e-02 -1.13452966e-04 9.99948588e-01 -4.81550846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.28, Y:-63.95, Z:-4.82 [[ 9.70722283e-01 2.39977887e-01 1.04337152e-02 3.61282546e+02] [-2.39965101e-01 9.70778350e-01 -2.47914428e-03 -6.39465555e+01] [-1.07237646e-02 -9.71669151e-05 9.99942494e-01 -4.81607972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.31, Y:-63.95, Z:-4.82 [[ 9.71417903e-01 2.37132674e-01 1.07402329e-02 3.61310042e+02] [-2.37118962e-01 9.71477272e-01 -2.55100045e-03 -6.39495347e+01] [-1.10388178e-02 -6.86253751e-05 9.99939068e-01 -4.81643196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.34, Y:-63.95, Z:-4.82 [[ 9.71510451e-01 2.36763805e-01 1.05044495e-02 3.61337759e+02] [-2.36750675e-01 9.71567237e-01 -2.49426059e-03 -6.39533892e+01] [-1.07963296e-02 -6.37352706e-05 9.99941716e-01 -4.81602132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.36, Y:-63.96, Z:-4.82 [[ 9.71444188e-01 2.37034621e-01 1.05251335e-02 3.61364282e+02] [-2.37021479e-01 9.71501201e-01 -2.49688826e-03 -6.39570923e+01] [-1.08170288e-02 -6.90951145e-05 9.99941492e-01 -4.81659024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.39, Y:-63.96, Z:-4.82 [[ 9.71371920e-01 2.37335276e-01 1.04192197e-02 3.61391567e+02] [-2.37322423e-01 9.71427795e-01 -2.47102696e-03 -6.39611359e+01] [-1.07079815e-02 -7.24282594e-05 9.99942665e-01 -4.81682277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.42, Y:-63.96, Z:-4.82 [[ 9.71277000e-01 2.37664302e-01 1.16905935e-02 3.61418400e+02] [-2.37648177e-01 9.71347349e-01 -2.76980961e-03 -6.39636720e+01] [-1.20139119e-02 -8.79958688e-05 9.99927826e-01 -4.81658731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.45, Y:-63.97, Z:-4.82 [[ 9.71209079e-01 2.37897298e-01 1.25618291e-02 3.61446250e+02] [-2.37878717e-01 9.71290310e-01 -2.97493794e-03 -6.39687236e+01] [-1.29089126e-02 -9.89050589e-05 9.99916672e-01 -4.81638201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.47, Y:-63.97, Z:-4.82 [[ 9.71106709e-01 2.38290409e-01 1.30169173e-02 3.61474121e+02] [-2.38270529e-01 9.71193940e-01 -3.07992418e-03 -6.39734253e+01] [-1.33758676e-02 -1.10612735e-04 9.99910533e-01 -4.81650341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.50, Y:-63.98, Z:-4.82 [[ 9.70996299e-01 2.38751551e-01 1.28017579e-02 3.61500361e+02] [-2.38732397e-01 9.71080678e-01 -3.02645854e-03 -6.39775738e+01] [-1.31541114e-02 -1.17514315e-04 9.99913474e-01 -4.81688326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.53, Y:-63.98, Z:-4.82 [[ 9.70890835e-01 2.39198326e-01 1.24558313e-02 3.61527759e+02] [-2.39180251e-01 9.70970724e-01 -2.94298431e-03 -6.39788670e+01] [-1.27982044e-02 -1.21872357e-04 9.99918092e-01 -4.81804785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.55, Y:-63.98, Z:-4.82 [[ 9.70907975e-01 2.39097428e-01 1.30431640e-02 3.61554374e+02] [-2.39077617e-01 9.70995573e-01 -3.08053525e-03 -6.39818729e+01] [-1.34014025e-02 -1.27412317e-04 9.99910189e-01 -4.81794149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.58, Y:-63.98, Z:-4.82 [[ 9.70960124e-01 2.38833199e-01 1.39692993e-02 3.61582814e+02] [-2.38810468e-01 9.71060598e-01 -3.29772259e-03 -6.39849235e+01] [-1.43526417e-02 -1.34057763e-04 9.99896987e-01 -4.81742041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.61, Y:-63.99, Z:-4.82 [[ 9.71097770e-01 2.38223119e-01 1.47941057e-02 3.61611017e+02] [-2.38197602e-01 9.71210444e-01 -3.48930917e-03 -6.39880174e+01] [-1.51994241e-02 -1.35460152e-04 9.99884473e-01 -4.81684808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.64, Y:-63.99, Z:-4.82 [[ 9.71410620e-01 2.36904835e-01 1.54112410e-02 3.61638325e+02] [-2.36877026e-01 9.71532853e-01 -3.63188337e-03 -6.39901181e+01] [-1.58329376e-02 -1.22518847e-04 9.99874644e-01 -4.81658976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.67, Y:-63.99, Z:-4.82 [[ 9.71672079e-01 2.35870074e-01 1.47878021e-02 3.61665571e+02] [-2.35844382e-01 9.71784594e-01 -3.48281076e-03 -6.39947753e+01] [-1.51920491e-02 -1.03470083e-04 9.99884589e-01 -4.81723742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.69, Y:-64.00, Z:-4.82 [[ 9.71976395e-01 2.34716724e-01 1.30363769e-02 3.61693147e+02] [-2.34696685e-01 9.72063812e-01 -3.06798546e-03 -6.39998965e+01] [-1.33922977e-02 -7.75849834e-05 9.99910316e-01 -4.81884728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.72, Y:-64.00, Z:-4.82 [[ 9.72233920e-01 2.33754678e-01 1.09524120e-02 3.61719454e+02] [-2.33740495e-01 9.72295607e-01 -2.57554917e-03 -6.40048956e+01] [-1.12510287e-02 -5.59859366e-05 9.99936704e-01 -4.81998548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.75, Y:-64.01, Z:-4.82 [[ 9.72574875e-01 2.32410952e-01 9.12482611e-03 3.61745918e+02] [-2.32401055e-01 9.72617678e-01 -2.14512784e-03 -6.40090736e+01] [-9.37351839e-03 -3.43217752e-05 9.99956067e-01 -4.82114594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.77, Y:-64.01, Z:-4.82 [[ 9.72742797e-01 2.31687908e-01 9.60022982e-03 3.61773445e+02] [-2.31676924e-01 9.72790169e-01 -2.25622857e-03 -6.40147522e+01] [-9.86175007e-03 -2.94216245e-05 9.99951371e-01 -4.82140382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.80, Y:-64.02, Z:-4.82 [[ 9.72798524e-01 2.31433453e-01 1.00791023e-02 3.61799910e+02] [-2.31421355e-01 9.72850737e-01 -2.36654527e-03 -6.40210474e+01] [-1.03531598e-02 -3.03477635e-05 9.99946404e-01 -4.82100076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.83, Y:-64.03, Z:-4.82 [[ 9.72993071e-01 2.30579336e-01 1.08468124e-02 3.61826771e+02] [-2.30565288e-01 9.73053529e-01 -2.54527575e-03 -6.40279852e+01] [-1.11414171e-02 -2.43627683e-05 9.99937932e-01 -4.82107094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.85, Y:-64.04, Z:-4.82 [[ 9.73432277e-01 2.28639571e-01 1.23915063e-02 3.61853385e+02] [-2.28621116e-01 9.73511144e-01 -2.90495004e-03 -6.40368195e+01] [-1.27274560e-02 -5.18787938e-06 9.99919003e-01 -4.82175931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.88, Y:-64.04, Z:-4.82 [[ 9.73683697e-01 2.27535793e-01 1.29429974e-02 3.61879733e+02] [-2.27515596e-01 9.73769718e-01 -3.03166015e-03 -6.40446606e+01] [-1.32933101e-02 7.14431327e-06 9.99911640e-01 -4.82207895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.91, Y:-64.05, Z:-4.82 [[ 9.73955514e-01 2.26368800e-01 1.29546580e-02 3.61906744e+02] [-2.26348479e-01 9.74041665e-01 -3.03314580e-03 -6.40527934e+01] [-1.33049862e-02 2.18819342e-05 9.99911485e-01 -4.82281563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.93, Y:-64.06, Z:-4.82 [[ 9.74481486e-01 2.24106164e-01 1.27381504e-02 3.61932742e+02] [-2.24086355e-01 9.74564736e-01 -2.97998105e-03 -6.40633849e+01] [-1.30819843e-02 4.94906551e-05 9.99914426e-01 -4.82323866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.96, Y:-64.07, Z:-4.82 [[ 9.74800989e-01 2.22765973e-01 1.17623479e-02 3.61959138e+02] [-2.22749012e-01 9.74871949e-01 -2.74957459e-03 -6.40722284e+01] [-1.20792947e-02 6.02366424e-05 9.99927041e-01 -4.82386511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.98, Y:-64.08, Z:-4.82 [[ 9.75100650e-01 2.21502222e-01 1.07465090e-02 3.61984361e+02] [-2.21488010e-01 9.75159864e-01 -2.51007863e-03 -6.40809626e+01] [-1.10355523e-02 6.73564090e-05 9.99939104e-01 -4.82470786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.01, Y:-64.09, Z:-4.83 [[ 9.75422089e-01 2.20095860e-01 1.04670814e-02 3.62010737e+02] [-2.20082304e-01 9.75478245e-01 -2.44409644e-03 -6.40901344e+01] [-1.07483457e-02 8.04062587e-05 9.99942232e-01 -4.82501832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.04, Y:-64.10, Z:-4.83 [[ 9.75459777e-01 2.19928746e-01 1.04675317e-02 3.62038508e+02] [-2.19915201e-01 9.75515935e-01 -2.44216652e-03 -6.40964162e+01] [-1.07483466e-02 8.02658740e-05 9.99942232e-01 -4.82536519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.06, Y:-64.11, Z:-4.82 [[ 9.75710056e-01 2.18712852e-01 1.24328278e-02 3.62063777e+02] [-2.18693677e-01 9.75789258e-01 -2.89809502e-03 -6.41071539e+01] [-1.27656704e-02 1.08719636e-04 9.99918510e-01 -4.82434328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.09, Y:-64.11, Z:-4.82 [[ 9.75808472e-01 2.18221117e-01 1.33180205e-02 3.62091044e+02] [-2.18199087e-01 9.75899344e-01 -3.10309078e-03 -6.41147520e+01] [-1.36742074e-02 1.22042361e-04 9.99906496e-01 -4.82395111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.12, Y:-64.12, Z:-4.82 [[ 9.75959315e-01 2.17550602e-01 1.32344325e-02 3.62116661e+02] [-2.17528819e-01 9.76049035e-01 -3.08124802e-03 -6.41228860e+01] [-1.35877824e-02 1.28302251e-04 9.99907674e-01 -4.82461869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.14, Y:-64.13, Z:-4.83 [[ 9.76301698e-01 2.16059695e-01 1.23774896e-02 3.62143438e+02] [-2.16040534e-01 9.76380146e-01 -2.88071564e-03 -6.41323336e+01] [-1.27075417e-02 1.38408097e-04 9.99919246e-01 -4.82572481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.17, Y:-64.15, Z:-4.83 [[ 9.77173475e-01 2.12164578e-01 1.08715832e-02 3.62168958e+02] [-2.12149576e-01 9.77233936e-01 -2.52832899e-03 -6.41460962e+01] [-1.11605019e-02 1.64214250e-04 9.99937706e-01 -4.82781381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.19, Y:-64.16, Z:-4.83 [[ 9.77542306e-01 2.10474755e-01 1.05554462e-02 3.62194108e+02] [-2.10460522e-01 9.77599277e-01 -2.45409942e-03 -6.41550624e+01] [-1.08355226e-02 1.77481277e-04 9.99941278e-01 -4.82738029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.22, Y:-64.17, Z:-4.83 [[ 9.78074713e-01 2.08028479e-01 9.69574131e-03 3.62219458e+02] [-2.08016357e-01 9.78122751e-01 -2.25348291e-03 -6.41675731e+01] [-9.95241379e-03 1.87201864e-04 9.99950456e-01 -4.82745408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.25, Y:-64.18, Z:-4.83 [[ 9.78368923e-01 2.06678618e-01 8.84300878e-03 3.62246329e+02] [-2.06668485e-01 9.78408869e-01 -2.05473973e-03 -6.41775130e+01] [-9.07674899e-03 1.82722265e-04 9.99958789e-01 -4.82797745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.27, Y:-64.19, Z:-4.83 [[ 9.78693091e-01 2.05172786e-01 7.99753901e-03 3.62271398e+02] [-2.05164452e-01 9.78725751e-01 -1.85781167e-03 -6.41870212e+01] [-8.20856977e-03 1.77416742e-04 9.99966293e-01 -4.82844412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.30, Y:-64.20, Z:-4.83 [[ 9.78947428e-01 2.03955358e-01 8.00905250e-03 3.62296850e+02] [-2.03946965e-01 9.78980172e-01 -1.85976958e-03 -6.41959843e+01] [-8.22001356e-03 1.87194697e-04 9.99966198e-01 -4.82884965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.32, Y:-64.21, Z:-4.83 [[ 9.79088317e-01 2.03255183e-01 8.56721226e-03 3.62322483e+02] [-2.03245560e-01 9.79125777e-01 -1.98854898e-03 -6.42052792e+01] [-8.79256125e-03 2.05717224e-04 9.99961324e-01 -4.82939341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.35, Y:-64.22, Z:-4.83 [[ 9.79273655e-01 2.02263312e-01 1.06142348e-02 3.62348378e+02] [-2.02248494e-01 9.79331140e-01 -2.46250811e-03 -6.42188959e+01] [-1.08929258e-02 2.64756305e-04 9.99940635e-01 -4.82887325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.37, Y:-64.23, Z:-4.83 [[ 9.79431472e-01 2.01453656e-01 1.14199789e-02 3.62374343e+02] [-2.01436458e-01 9.79498003e-01 -2.64860494e-03 -6.42292607e+01] [-1.17194177e-02 2.93726928e-04 9.99931282e-01 -4.82857107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.40, Y:-64.24, Z:-4.83 [[ 9.79655877e-01 2.00300038e-01 1.24200044e-02 3.62401109e+02] [-2.00279616e-01 9.79734547e-01 -2.87958641e-03 -6.42399032e+01] [-1.27450887e-02 3.33530029e-04 9.99918722e-01 -4.82943835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.43, Y:-64.26, Z:-4.83 [[ 9.79942202e-01 1.98835537e-01 1.33307928e-02 3.62425479e+02] [-1.98811889e-01 9.80032799e-01 -3.08969103e-03 -6.42551728e+01] [-1.36789545e-02 3.77398542e-04 9.99906368e-01 -4.82937359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.45, Y:-64.27, Z:-4.83 [[ 9.79912747e-01 1.98960709e-01 1.36251179e-02 3.62450631e+02] [-1.98936034e-01 9.80007393e-01 -3.15666903e-03 -6.42656423e+01] [-1.39807693e-02 3.82733315e-04 9.99902191e-01 -4.82972654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.48, Y:-64.28, Z:-4.83 [[ 9.79721269e-01 1.99935149e-01 1.31214349e-02 3.62476478e+02] [-1.99912371e-01 9.79809069e-01 -3.03855917e-03 -6.42761107e+01] [-1.34640157e-02 3.53803879e-04 9.99909293e-01 -4.82978817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.50, Y:-64.29, Z:-4.83 [[ 9.79032148e-01 2.03411899e-01 1.09385800e-02 3.62501721e+02] [-2.03396294e-01 9.79093221e-01 -2.53242751e-03 -6.42894751e+01] [-1.12250154e-02 2.54461314e-04 9.99936965e-01 -4.83029664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.53, Y:-64.30, Z:-4.83 [[ 9.78552397e-01 2.05737147e-01 1.03649438e-02 3.62527596e+02] [-2.05723271e-01 9.78607266e-01 -2.39906883e-03 -6.42987204e+01] [-1.06367869e-02 2.15304410e-04 9.99943405e-01 -4.83084040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.55, Y:-64.31, Z:-4.83 [[ 9.78059742e-01 2.08067575e-01 1.03453251e-02 3.62554605e+02] [-2.08053892e-01 9.78114435e-01 -2.39370409e-03 -6.43076517e+01] [-1.06169641e-02 1.88800447e-04 9.99943621e-01 -4.83120943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.58, Y:-64.32, Z:-4.83 [[ 9.77502287e-01 2.10645223e-01 1.08567302e-02 3.62581149e+02] [-2.10630327e-01 9.77562562e-01 -2.51061968e-03 -6.43157850e+01] [-1.11419831e-02 1.67379844e-04 9.99937912e-01 -4.83155507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.61, Y:-64.32, Z:-4.83 [[ 9.76982944e-01 2.12998762e-01 1.16556907e-02 3.62606685e+02] [-2.12981772e-01 9.77052458e-01 -2.69445130e-03 -6.43231324e+01] [-1.19621361e-02 1.49983304e-04 9.99928440e-01 -4.83181059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.63, Y:-64.33, Z:-4.83 [[ 9.76208141e-01 2.16442469e-01 1.30507877e-02 3.62633175e+02] [-2.16421492e-01 9.76295367e-01 -3.01572514e-03 -6.43307133e+01] [-1.33941546e-02 1.19504488e-04 9.99910287e-01 -4.83172038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.66, Y:-64.34, Z:-4.83 [[ 9.76021850e-01 2.17278750e-01 1.30878787e-02 3.62659701e+02] [-2.17257742e-01 9.76109591e-01 -3.02329440e-03 -6.43374966e+01] [-1.34321016e-02 1.07358419e-04 9.99909779e-01 -4.83180701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.69, Y:-64.35, Z:-4.83 [[ 9.76043949e-01 2.17227994e-01 1.22559690e-02 3.62686880e+02] [-2.17209580e-01 9.76120888e-01 -2.83012329e-03 -6.43452380e+01] [-1.25780894e-02 1.00210829e-04 9.99920888e-01 -4.83237355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.71, Y:-64.35, Z:-4.83 [[ 9.76564353e-01 2.14953232e-01 1.08246514e-02 3.62712169e+02] [-2.14938736e-01 9.76624337e-01 -2.49894998e-03 -6.43546420e+01] [-1.11087753e-02 1.13748582e-04 9.99938289e-01 -4.83330321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.74, Y:-64.36, Z:-4.83 [[ 9.76805358e-01 2.13839202e-01 1.11394460e-02 3.62739552e+02] [-2.13823793e-01 9.76868865e-01 -2.57035907e-03 -6.43617378e+01] [-1.14314215e-02 1.28861913e-04 9.99934651e-01 -4.83387755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.77, Y:-64.37, Z:-4.83 [[ 9.76984103e-01 2.12991232e-01 1.16960686e-02 3.62765788e+02] [-2.12974194e-01 9.77054100e-01 -2.69790951e-03 -6.43682622e+01] [-1.20023228e-02 1.44853927e-04 9.99927959e-01 -4.83421870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.79, Y:-64.38, Z:-4.83 [[ 9.77082576e-01 2.12513838e-01 1.21453169e-02 3.62791534e+02] [-2.12495442e-01 9.77158045e-01 -2.80047786e-03 -6.43752592e+01] [-1.24630344e-02 1.55473633e-04 9.99922321e-01 -4.83487879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.82, Y:-64.38, Z:-4.83 [[ 9.76976713e-01 2.13011675e-01 1.19384991e-02 3.62818707e+02] [-2.12993950e-01 9.77049643e-01 -2.75181717e-03 -6.43829166e+01] [-1.22506755e-02 1.45633220e-04 9.99924947e-01 -4.83454374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.84, Y:-64.39, Z:-4.83 [[ 9.75939188e-01 2.17790200e-01 1.04942739e-02 3.62844834e+02] [-2.17776786e-01 9.75995606e-01 -2.41828979e-03 -6.43893254e+01] [-1.07690450e-02 7.46945372e-05 9.99942009e-01 -4.83403797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.87, Y:-64.39, Z:-4.83 [[ 9.75209024e-01 2.21067265e-01 9.82975263e-03 3.62872293e+02] [-2.21055670e-01 9.75258562e-01 -2.26438372e-03 -6.43931349e+01] [-1.00871315e-02 3.53248814e-05 9.99949123e-01 -4.83473190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.90, Y:-64.40, Z:-4.84 [[ 9.74351533e-01 2.24829221e-01 9.53477102e-03 3.62898980e+02] [-2.24818498e-01 9.74398184e-01 -2.19578995e-03 -6.43965464e+01] [-9.78434131e-03 -4.12159687e-06 9.99952132e-01 -4.83531317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.93, Y:-64.40, Z:-4.84 [[ 9.73527713e-01 2.28369751e-01 9.54198101e-03 3.62926831e+02] [-2.28359190e-01 9.73574473e-01 -2.19660587e-03 -6.44007109e+01] [-9.79146747e-03 -4.05423710e-05 9.99952062e-01 -4.83637608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.95, Y:-64.40, Z:-4.84 [[ 9.72294302e-01 2.33550377e-01 9.90008276e-03 3.62954583e+02] [-2.33539284e-01 9.72344698e-01 -2.27831895e-03 -6.44036926e+01] [-1.01583952e-02 -9.68617051e-05 9.99948397e-01 -4.83698716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.98, Y:-64.41, Z:-4.84 [[ 9.71808596e-01 2.35535122e-01 1.05479024e-02 3.62981631e+02] [-2.35522655e-01 9.71865830e-01 -2.42663017e-03 -6.44081385e+01] [-1.08227026e-02 -1.26049921e-04 9.99941425e-01 -4.83670456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.01, Y:-64.41, Z:-4.84 [[ 9.71505256e-01 2.36738019e-01 1.15173245e-02 3.63009556e+02] [-2.36723251e-01 9.71573511e-01 -2.64863439e-03 -6.44119740e+01] [-1.18169598e-02 -1.53256255e-04 9.99930166e-01 -4.83663983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.04, Y:-64.41, Z:-4.84 [[ 9.71312961e-01 2.37448074e-01 1.30209120e-02 3.63036684e+02] [-2.37429276e-01 9.71400215e-01 -2.99339916e-03 -6.44133055e+01] [-1.33592936e-02 -1.84018311e-04 9.99910744e-01 -4.83708874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.06, Y:-64.42, Z:-4.84 [[ 9.71521605e-01 2.36602651e-01 1.28435783e-02 3.63063155e+02] [-2.36584301e-01 9.71606482e-01 -2.95162105e-03 -6.44174975e+01] [-1.31772653e-02 -1.71025373e-04 9.99913161e-01 -4.83771297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.09, Y:-64.42, Z:-4.84 [[ 9.71950879e-01 2.34853612e-01 1.24607656e-02 3.63090762e+02] [-2.34836208e-01 9.72030740e-01 -2.86268839e-03 -6.44213165e+01] [-1.27845599e-02 -1.43846445e-04 9.99918264e-01 -4.83884970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.12, Y:-64.43, Z:-4.84 [[ 9.72399212e-01 2.33056605e-01 1.11530582e-02 3.63118463e+02] [-2.33042554e-01 9.72463165e-01 -2.56149359e-03 -6.44255219e+01] [-1.14429113e-02 -1.08342820e-04 9.99934522e-01 -4.83970645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.15, Y:-64.43, Z:-4.84 [[ 9.73443882e-01 2.28765519e-01 8.56427324e-03 3.63145246e+02] [-2.28757070e-01 9.73481554e-01 -1.96652680e-03 -6.44283242e+01] [-8.78703555e-03 -4.48345768e-05 9.99961392e-01 -4.84156869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.17, Y:-64.43, Z:-4.84 [[ 9.73924998e-01 2.26702296e-01 8.72736308e-03 3.63172161e+02] [-2.26693448e-01 9.73964100e-01 -2.00312645e-03 -6.44341001e+01] [-8.95425170e-03 -2.75410996e-05 9.99959910e-01 -4.84186206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.20, Y:-64.44, Z:-4.84 [[ 9.74429471e-01 2.24460365e-01 1.02347693e-02 3.63199469e+02] [-2.24448082e-01 9.74483219e-01 -2.34820130e-03 -6.44400652e+01] [-1.05006891e-02 -9.01778816e-06 9.99944866e-01 -4.84102061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.23, Y:-64.45, Z:-4.84 [[ 9.75412256e-01 2.20012905e-01 1.28550649e-02 3.63225732e+02] [-2.19993157e-01 9.75496960e-01 -2.94814911e-03 -6.44455460e+01] [-1.31887076e-02 4.76344579e-05 9.99913024e-01 -4.84010160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.25, Y:-64.45, Z:-4.84 [[ 9.75811033e-01 2.18265030e-01 1.23775852e-02 3.63253180e+02] [-2.18246594e-01 9.75889529e-01 -2.83758855e-03 -6.44512921e+01] [-1.26985021e-02 6.75844038e-05 9.99919368e-01 -4.84096740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.28, Y:-64.46, Z:-4.84 [[ 9.76101779e-01 2.17048515e-01 1.07359156e-02 3.63280086e+02] [-2.17034580e-01 9.76160815e-01 -2.46055067e-03 -6.44574181e+01] [-1.10140390e-02 7.16829502e-05 9.99939341e-01 -4.84180460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.31, Y:-64.46, Z:-4.84 [[ 9.76391458e-01 2.15818235e-01 9.06703532e-03 3.63306068e+02] [-2.15808247e-01 9.76433554e-01 -2.07755911e-03 -6.44640130e+01] [-9.30173265e-03 7.17699723e-05 9.99956735e-01 -4.84242238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.33, Y:-64.47, Z:-4.84 [[ 9.76501714e-01 2.15295908e-01 9.59559887e-03 3.63333804e+02] [-2.15284705e-01 9.76548855e-01 -2.19775470e-03 -6.44691422e+01] [-9.84373868e-03 8.03255651e-05 9.99951546e-01 -4.84191312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.36, Y:-64.47, Z:-4.84 [[ 9.76526803e-01 2.15127368e-01 1.07525936e-02 3.63361101e+02] [-2.15113300e-01 9.76585996e-01 -2.46185353e-03 -6.44740864e+01] [-1.10304444e-02 9.10400568e-05 9.99939159e-01 -4.84160325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.39, Y:-64.48, Z:-4.84 [[ 9.76565623e-01 2.14881993e-01 1.20545927e-02 3.63388322e+02] [-2.14864306e-01 9.76640015e-01 -2.75896193e-03 -6.44790560e+01] [-1.23658488e-02 1.04205673e-04 9.99923535e-01 -4.84142953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.41, Y:-64.49, Z:-4.84 [[ 9.76786949e-01 2.13866980e-01 1.21725275e-02 3.63414186e+02] [-2.13848878e-01 9.76862785e-01 -2.78503150e-03 -6.44853462e+01] [-1.24865154e-02 1.17301072e-04 9.99922034e-01 -4.84134751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.44, Y:-64.49, Z:-4.84 [[ 9.77128023e-01 2.12361248e-01 1.11142751e-02 3.63441273e+02] [-2.12346069e-01 9.77191222e-01 -2.54202250e-03 -6.44916059e+01] [-1.14005992e-02 1.23808783e-04 9.99935003e-01 -4.84228824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.47, Y:-64.50, Z:-4.84 [[ 9.77538423e-01 2.10519327e-01 1.00122034e-02 3.63467937e+02] [-2.10506919e-01 9.77589687e-01 -2.28941592e-03 -6.44972195e+01] [-1.02697931e-02 1.30353941e-04 9.99947256e-01 -4.84342903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.49, Y:-64.50, Z:-4.84 [[ 9.77934598e-01 2.08697631e-01 9.44562379e-03 3.63494889e+02] [-2.08686515e-01 9.77980204e-01 -2.15858285e-03 -6.45026748e+01] [-9.68812421e-03 1.39778550e-04 9.99953059e-01 -4.84439698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.52, Y:-64.51, Z:-4.84 [[ 9.78455724e-01 2.06156372e-01 1.11331670e-02 3.63520525e+02] [-2.06140774e-01 9.78519041e-01 -2.54328045e-03 -6.45096607e+01] [-1.14183294e-02 1.93487640e-04 9.99934790e-01 -4.84477917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.55, Y:-64.52, Z:-4.84 [[ 9.78729229e-01 2.04830677e-01 1.15538394e-02 3.63547406e+02] [-2.04813798e-01 9.78797399e-01 -2.63837000e-03 -6.45168194e+01] [-1.18492870e-02 2.15864114e-04 9.99929771e-01 -4.84471320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.57, Y:-64.52, Z:-4.84 [[ 9.78949775e-01 2.03800692e-01 1.10732622e-02 3.63573427e+02] [-2.03785130e-01 9.79012375e-01 -2.52785351e-03 -6.45237312e+01] [-1.13560390e-02 2.18075437e-04 9.99935494e-01 -4.84479192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.60, Y:-64.53, Z:-4.85 [[ 9.79047979e-01 2.03391132e-01 9.85401963e-03 3.63599840e+02] [-2.03378796e-01 9.79097548e-01 -2.24878056e-03 -6.45300248e+01] [-1.01054285e-02 1.97565419e-04 9.99948919e-01 -4.84505208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.63, Y:-64.54, Z:-4.85 [[ 9.78914288e-01 2.04144390e-01 7.20316321e-03 3.63626569e+02] [-2.04137822e-01 9.78940779e-01 -1.64341852e-03 -6.45366999e+01] [-7.38696487e-03 1.38327820e-04 9.99972706e-01 -4.84692774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.65, Y:-64.54, Z:-4.85 [[ 9.78769736e-01 2.04834820e-01 7.24569835e-03 3.63652594e+02] [-2.04828194e-01 9.78796546e-01 -1.65285941e-03 -6.45425078e+01] [-7.43062768e-03 1.33645457e-04 9.99972384e-01 -4.84691863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.68, Y:-64.55, Z:-4.85 [[ 9.78664533e-01 2.05294205e-01 8.36785214e-03 3.63680008e+02] [-2.05285398e-01 9.78700295e-01 -1.90738796e-03 -6.45484940e+01] [-8.58119505e-03 1.48895088e-04 9.99963170e-01 -4.84700036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.71, Y:-64.55, Z:-4.85 [[ 9.78560219e-01 2.05730799e-01 9.73321237e-03 3.63706735e+02] [-2.05718913e-01 9.78608609e-01 -2.21778150e-03 -6.45542399e+01] [-9.98127139e-03 1.67926882e-04 9.99950172e-01 -4.84653879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.73, Y:-64.56, Z:-4.85 [[ 9.78572083e-01 2.05674353e-01 9.73340342e-03 3.63734547e+02] [-2.05662473e-01 9.78620474e-01 -2.21694270e-03 -6.45604396e+01] [-9.98127612e-03 1.67642414e-04 9.99950172e-01 -4.84688579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.76, Y:-64.57, Z:-4.85 [[ 9.78640948e-01 2.05324563e-01 1.01842275e-02 3.63760871e+02] [-2.05311544e-01 9.78693921e-01 -2.31901438e-03 -6.45673386e+01] [-1.04433921e-02 1.78542961e-04 9.99945450e-01 -4.84751416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2257692310001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.79, Y:-64.57, Z:-4.85 [[ 9.78851035e-01 2.04365435e-01 9.24231896e-03 3.63788075e+02] [-2.04354677e-01 9.78894652e-01 -2.10381892e-03 -6.45745598e+01] [-9.47720448e-03 1.70614220e-04 9.99955076e-01 -4.84851460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.81, Y:-64.58, Z:-4.85 [[ 9.79270531e-01 2.02425902e-01 7.27877431e-03 3.63813626e+02] [-2.02419178e-01 9.79297571e-01 -1.65656388e-03 -6.45824045e+01] [-7.46341744e-03 1.48860677e-04 9.99972137e-01 -4.85076648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.84, Y:-64.59, Z:-4.85 [[ 9.79388429e-01 2.01868684e-01 6.88042987e-03 3.63839684e+02] [-2.01862667e-01 9.79412586e-01 -1.56535794e-03 -6.45897504e+01] [-7.05477636e-03 1.44191536e-04 9.99975104e-01 -4.85081869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.87, Y:-64.60, Z:-4.85 [[ 9.79449001e-01 2.01564462e-01 7.17093791e-03 3.63867158e+02] [-2.01557922e-01 9.79475239e-01 -1.63077359e-03 -6.45972266e+01] [-7.35246213e-03 1.51900223e-04 9.99972959e-01 -4.85075517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.89, Y:-64.60, Z:-4.85 [[ 9.79301312e-01 2.02277096e-01 7.27436128e-03 3.63893871e+02] [-2.02270390e-01 9.79328318e-01 -1.65374252e-03 -6.46044721e+01] [-7.45850223e-03 1.48124328e-04 9.99972174e-01 -4.84953213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.92, Y:-64.61, Z:-4.85 [[ 9.78998071e-01 2.03740887e-01 7.24070166e-03 3.63919999e+02] [-2.03734287e-01 9.79024838e-01 -1.64555738e-03 -6.46114047e+01] [-7.42409409e-03 1.35818315e-04 9.99972432e-01 -4.84901244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.95, Y:-64.62, Z:-4.85 [[ 9.78191299e-01 2.07561083e-01 7.75748936e-03 3.63947076e+02] [-2.07553632e-01 9.78222052e-01 -1.76237386e-03 -6.46205973e+01] [-7.95434739e-03 1.13843690e-04 9.99968357e-01 -4.84983788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.97, Y:-64.63, Z:-4.85 [[ 9.77936045e-01 2.08735115e-01 8.41090778e-03 3.63972780e+02] [-2.08726405e-01 9.77972208e-01 -1.91016250e-03 -6.46280052e+01] [-8.62435204e-03 1.12438213e-04 9.99962803e-01 -4.85074786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.00, Y:-64.64, Z:-4.85 [[ 9.77787444e-01 2.09387700e-01 9.40774747e-03 3.63998259e+02] [-2.09376842e-01 9.77832694e-01 -2.13561173e-03 -6.46357076e+01] [-9.64637388e-03 1.18409882e-04 9.99953466e-01 -4.85122035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.02, Y:-64.65, Z:-4.85 [[ 9.77767799e-01 2.09423565e-01 1.05783555e-02 3.64024744e+02] [-2.09409850e-01 9.77825011e-01 -2.40033535e-03 -6.46455405e+01] [-1.08464674e-02 1.31758775e-04 9.99941167e-01 -4.85090489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.05, Y:-64.65, Z:-4.85 [[ 9.77794515e-01 2.09279522e-01 1.09530169e-02 3.64051241e+02] [-2.09264819e-01 9.77855850e-01 -2.48449521e-03 -6.46543467e+01] [-1.12304256e-02 1.37244692e-04 9.99936927e-01 -4.85091464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.08, Y:-64.66, Z:-4.85 [[ 9.77814545e-01 2.09174079e-01 1.11767482e-02 3.64077820e+02] [-2.09158770e-01 9.77878410e-01 -2.53455024e-03 -6.46641001e+01] [-1.14596630e-02 1.40605179e-04 9.99934326e-01 -4.85137127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.10, Y:-64.67, Z:-4.85 [[ 9.77774156e-01 2.09367416e-01 1.10898618e-02 3.64103662e+02] [-2.09352366e-01 9.77837035e-01 -2.51407088e-03 -6.46734896e+01] [-1.13704421e-02 1.36504728e-04 9.99935345e-01 -4.85112670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.13, Y:-64.68, Z:-4.85 [[ 9.77465579e-01 2.10784513e-01 1.14425498e-02 3.64130292e+02] [-2.10768598e-01 9.77532544e-01 -2.59303830e-03 -6.46835955e+01] [-1.17320371e-02 1.22875502e-04 9.99931170e-01 -4.85121543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.16, Y:-64.69, Z:-4.85 [[ 9.77309976e-01 2.11496762e-01 1.15901175e-02 3.64157155e+02] [-2.11480494e-01 9.77378692e-01 -2.62561508e-03 -6.46909275e+01] [-1.18832430e-02 1.14956024e-04 9.99929385e-01 -4.85203349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.18, Y:-64.70, Z:-4.85 [[ 9.77059035e-01 2.12682458e-01 1.10369301e-02 3.64183702e+02] [-2.12667791e-01 9.77121366e-01 -2.49951357e-03 -6.46988899e+01] [-1.13160229e-02 9.49727654e-05 9.99935967e-01 -4.85338194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.21, Y:-64.71, Z:-4.85 [[ 9.76658088e-01 2.14545724e-01 1.04456761e-02 3.64210335e+02] [-2.14532699e-01 9.76713944e-01 -2.36503002e-03 -6.47078187e+01] [-1.07098446e-02 6.88866073e-05 9.99942646e-01 -4.85410697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.73576923100006 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:364.24, Y:-64.72, Z:-4.85 [[ 9.75741993e-01 2.18740939e-01 8.94230265e-03 3.64236460e+02] [-2.18731575e-01 9.75782968e-01 -2.02408491e-03 -6.47174109e+01] [-9.16849686e-03 1.90207033e-05 9.99957968e-01 -4.85435403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76576923100004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:364.26, Y:-64.72, Z:-4.85 [[ 9.75306843e-01 2.20684783e-01 8.64804010e-03 3.64263585e+02] [-2.20676106e-01 9.75345183e-01 -1.95702749e-03 -6.47242277e+01] [-8.86671045e-03 2.86486581e-07 9.99960690e-01 -4.85457298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.79576923100007 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:364.29, Y:-64.73, Z:-4.86 [[ 9.74398592e-01 2.24683687e-01 8.03895685e-03 3.64289688e+02] [-2.24676328e-01 9.74431752e-01 -1.81878139e-03 -6.47312486e+01] [-8.24206531e-03 -3.39452757e-05 9.99966033e-01 -4.85513631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82576923100004 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:364.32, Y:-64.74, Z:-4.86 [[ 9.74054344e-01 2.26174530e-01 7.95085647e-03 3.64315534e+02] [-2.26167388e-01 9.74086793e-01 -1.79801668e-03 -6.47384392e+01] [-8.15148985e-03 -4.68584789e-05 9.99966775e-01 -4.85532163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.85576923100007 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:364.34, Y:-64.75, Z:-4.86 [[ 9.73786321e-01 2.27324263e-01 7.99246517e-03 3.64342930e+02] [-2.27317093e-01 9.73819119e-01 -1.80641644e-03 -6.47460918e+01] [-8.19385768e-03 -5.77603343e-05 9.99966428e-01 -4.85573444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88576923100004 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:364.37, Y:-64.75, Z:-4.86 [[ 9.73597519e-01 2.28138067e-01 7.80342277e-03 3.64369645e+02] [-2.28131262e-01 9.73628789e-01 -1.76319007e-03 -6.47524037e+01] [-7.99988784e-03 -6.35672023e-05 9.99967998e-01 -4.85617784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.91576923100007 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:364.40, Y:-64.76, Z:-4.86 [[ 9.73246498e-01 2.29633906e-01 7.71507138e-03 3.64396894e+02] [-2.29627307e-01 9.73277074e-01 -1.74253364e-03 -6.47570345e+01] [-7.90904691e-03 -7.56762998e-05 9.99968720e-01 -4.85681008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.94576923100004 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:364.42, Y:-64.76, Z:-4.86 [[ 9.72981346e-01 2.30762325e-01 7.48657789e-03 3.64423383e+02] [-2.30756147e-01 9.73010145e-01 -1.69059968e-03 -6.47622128e+01] [-7.67464296e-03 -8.26519148e-05 9.99970546e-01 -4.85711649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.9757692310001 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:364.45, Y:-64.77, Z:-4.86 [[ 9.72666966e-01 2.32085364e-01 7.44030950e-03 3.64450784e+02] [-2.32079308e-01 9.72695418e-01 -1.67912087e-03 -6.47681363e+01] [-7.62685434e-03 -9.35164810e-05 9.99970911e-01 -4.85733124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.00576923100004 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:364.48, Y:-64.77, Z:-4.86 [[ 9.72351913e-01 2.33387697e-01 7.87026479e-03 3.64478564e+02] [-2.33380969e-01 9.72383757e-01 -1.77554323e-03 -6.47735957e+01] [-8.06730759e-03 -1.10317168e-04 9.99967453e-01 -4.85707433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0357692310001 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:364.51, Y:-64.78, Z:-4.86 [[ 9.71672226e-01 2.36168522e-01 8.80427486e-03 3.64506053e+02] [-2.36160221e-01 9.71712101e-01 -1.98569645e-03 -6.47755268e+01] [-9.02417941e-03 -1.49773408e-04 9.99959270e-01 -4.85516537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.06576923100005 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:364.53, Y:-64.78, Z:-4.86 [[ 9.71405425e-01 2.37240775e-01 9.39764168e-03 3.64534149e+02] [-2.37231381e-01 9.71450866e-01 -2.11811999e-03 -6.47791443e+01] [-9.63185158e-03 -1.71862267e-04 9.99953598e-01 -4.85554550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0957692310001 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:364.56, Y:-64.78, Z:-4.86 [[ 9.71202652e-01 2.38041368e-01 1.00854617e-02 3.64560730e+02] [-2.38030599e-01 9.71254997e-01 -2.27247381e-03 -6.47832490e+01] [-1.03364979e-02 -1.93615907e-04 9.99946558e-01 -4.85606025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.12576923100005 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:364.59, Y:-64.79, Z:-4.86 [[ 9.71054609e-01 2.38589720e-01 1.13089602e-02 3.64589141e+02] [-2.38576235e-01 9.71120433e-01 -2.54655043e-03 -6.47860770e+01] [-1.15899430e-02 -2.25209615e-04 9.99932809e-01 -4.85572777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1557692310001 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:364.62, Y:-64.79, Z:-4.86 [[ 9.71002530e-01 2.38783535e-01 1.16837564e-02 3.64616194e+02] [-2.38769166e-01 9.71072792e-01 -2.63008940e-03 -6.47894150e+01] [-1.19738000e-02 -2.35897320e-04 9.99928284e-01 -4.85551772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.18576923100005 meters Centerline goodness : 0.997563 Centerline is valid? [True, True] Translation: X:364.64, Y:-64.79, Z:-4.86 [[ 9.70969555e-01 2.38917852e-01 1.16783530e-02 3.64644184e+02] [-2.38903518e-01 9.71039754e-01 -2.62790754e-03 -6.47924529e+01] [-1.19679991e-02 -2.38381411e-04 9.99928353e-01 -4.85603081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2157692310001 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:364.67, Y:-64.80, Z:-4.86 [[ 9.70901514e-01 2.39197783e-01 1.16048014e-02 3.64671775e+02] [-2.39183658e-01 9.70970835e-01 -2.61053733e-03 -6.47960852e+01] [-1.18923585e-02 -2.41104220e-04 9.99929254e-01 -4.85676682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.24576923100005 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:364.70, Y:-64.80, Z:-4.86 [[ 9.70875073e-01 2.39273828e-01 1.22322359e-02 3.64699387e+02] [-2.39258153e-01 9.70952094e-01 -2.75073696e-03 -6.47992407e+01] [-1.25350945e-02 -2.56040238e-04 9.99921400e-01 -4.85734040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2757692310001 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:364.73, Y:-64.80, Z:-4.86 [[ 9.70934793e-01 2.39014700e-01 1.25539128e-02 3.64725958e+02] [-2.38998181e-01 9.71015914e-01 -2.82204493e-03 -6.48040722e+01] [-1.28645593e-02 -2.60340718e-04 9.99917214e-01 -4.85729286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.30576923100006 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:364.75, Y:-64.81, Z:-4.86 [[ 9.71222195e-01 2.37839178e-01 1.26480183e-02 3.64752760e+02] [-2.37822332e-01 9.71304516e-01 -2.84160376e-03 -6.48086925e+01] [-1.29609220e-02 -2.48152559e-04 9.99915973e-01 -4.85748160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.33576923100003 meters Centerline goodness : 0.997523 Centerline is valid? [True, True] Translation: X:364.78, Y:-64.81, Z:-4.86 [[ 9.72109711e-01 2.34204659e-01 1.22836017e-02 3.64779070e+02] [-2.34188498e-01 9.72187297e-01 -2.75824339e-03 -6.48126568e+01] [-1.25879550e-02 -1.95363045e-04 9.99920749e-01 -4.85807655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.36576923100006 meters Centerline goodness : 0.997722 Centerline is valid? [True, True] Translation: X:364.81, Y:-64.82, Z:-4.86 [[ 9.72585434e-01 2.32189923e-01 1.28613340e-02 3.64805962e+02] [-2.32172044e-01 9.72670452e-01 -2.88692283e-03 -6.48189753e+01] [-1.31801539e-02 -1.78263111e-04 9.99913122e-01 -4.85890736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.39576923100003 meters Centerline goodness : 0.997460 Centerline is valid? [True, True] Translation: X:364.83, Y:-64.83, Z:-4.86 [[ 9.73054630e-01 2.30214959e-01 1.28747606e-02 3.64833511e+02] [-2.30196882e-01 9.73139789e-01 -2.88902398e-03 -6.48256380e+01] [-1.31940384e-02 -1.52551582e-04 9.99912943e-01 -4.85913356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.42576923100006 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:364.86, Y:-64.83, Z:-4.86 [[ 9.73318518e-01 2.29104504e-01 1.27353134e-02 3.64859340e+02] [-2.29086733e-01 9.73401822e-01 -2.85680100e-03 -6.48317060e+01] [-1.30510832e-02 -1.36914025e-04 9.99914822e-01 -4.85968842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.45576923100003 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:364.89, Y:-64.84, Z:-4.86 [[ 9.73445416e-01 2.28610156e-01 1.18919600e-02 3.64886427e+02] [-2.28594635e-01 9.73518044e-01 -2.66667443e-03 -6.48377167e+01] [-1.21866665e-02 -1.22576246e-04 9.99925732e-01 -4.86001995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.48576923100006 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:364.91, Y:-64.84, Z:-4.86 [[ 9.73381600e-01 2.28953494e-01 1.04191815e-02 3.64912552e+02] [-2.28941605e-01 9.73437356e-01 -2.33580774e-03 -6.48445632e+01] [-1.06772118e-02 -1.11751873e-04 9.99942991e-01 -4.86108101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.51576923100004 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:364.94, Y:-64.85, Z:-4.86 [[ 9.73192304e-01 2.29795037e-01 9.53840677e-03 3.64939697e+02] [-2.29785121e-01 9.73239040e-01 -2.13764405e-03 -6.48511572e+01] [-9.77436984e-03 -1.11445217e-04 9.99952223e-01 -4.86154190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.54576923100007 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:364.97, Y:-64.86, Z:-4.86 [[ 9.72367024e-01 2.33329500e-01 7.72751388e-03 3.64967773e+02] [-2.33323107e-01 9.72397722e-01 -1.73139896e-03 -6.48560975e+01] [-7.91820335e-03 -1.19452296e-04 9.99968643e-01 -4.86155802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.57576923100004 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:364.99, Y:-64.86, Z:-4.86 [[ 9.71743982e-01 2.35946594e-01 6.54510840e-03 3.64994441e+02] [-2.35942069e-01 9.71766016e-01 -1.46618663e-03 -6.48609820e+01] [-6.70625566e-03 -1.19508382e-04 9.99977506e-01 -4.86270539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.60576923100007 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:365.02, Y:-64.87, Z:-4.86 [[ 9.71132620e-01 2.38464408e-01 6.01332482e-03 3.65021617e+02] [-2.38460640e-01 9.71151229e-01 -1.34655746e-03 -6.48665920e+01] [-6.16095382e-03 -1.26255411e-04 9.99981013e-01 -4.86356317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.63576923100004 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:365.05, Y:-64.87, Z:-4.86 [[ 9.70498211e-01 2.41025747e-01 6.30964164e-03 3.65047606e+02] [-2.41021655e-01 9.70518710e-01 -1.41246954e-03 -6.48721559e+01] [-6.46406679e-03 -1.49961114e-04 9.99979096e-01 -4.86374645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.66576923100007 meters Centerline goodness : 0.997480 Centerline is valid? [True, True] Translation: X:365.08, Y:-64.88, Z:-4.86 [[ 9.69203271e-01 2.46115432e-01 8.49782420e-03 3.65075178e+02] [-2.46108214e-01 9.69240493e-01 -1.90119103e-03 -6.48752170e+01] [-8.70434776e-03 -2.48743774e-04 9.99962086e-01 -4.86298213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.69576923100004 meters Centerline goodness : 0.997719 Centerline is valid? [True, True] Translation: X:365.10, Y:-64.88, Z:-4.86 [[ 9.68484259e-01 2.48915655e-01 8.90151938e-03 3.65103518e+02] [-2.48907860e-01 9.68525123e-01 -1.99082831e-03 -6.48783571e+01] [-9.11689349e-03 -2.87572264e-04 9.99958399e-01 -4.86230535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7257692310001 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:365.13, Y:-64.88, Z:-4.86 [[ 9.67802960e-01 2.51545027e-01 9.08454714e-03 3.65130386e+02] [-2.51537030e-01 9.67845544e-01 -2.03110733e-03 -6.48808515e+01] [-9.30335342e-03 -3.19388321e-04 9.99956672e-01 -4.86243091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.75576923100004 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:365.16, Y:-64.88, Z:-4.86 [[ 9.67229423e-01 2.53758317e-01 8.59993711e-03 3.65157582e+02] [-2.53751244e-01 9.67267601e-01 -1.92206754e-03 -6.48832743e+01] [-8.80618116e-03 -3.23164453e-04 9.99961173e-01 -4.86246765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7857692310001 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:365.19, Y:-64.88, Z:-4.86 [[ 9.66438190e-01 2.56753422e-01 8.65480667e-03 3.65186768e+02] [-2.56746385e-01 9.66476878e-01 -1.93357784e-03 -6.48817931e+01] [-8.86112326e-03 -3.53406852e-04 9.99960677e-01 -4.86289641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.81576923100005 meters Centerline goodness : 0.997958 Centerline is valid? [True, True] Translation: X:365.21, Y:-64.88, Z:-4.86 [[ 9.66379102e-01 2.56930534e-01 9.90616821e-03 3.65213970e+02] [-2.56921332e-01 9.66429788e-01 -2.21232099e-03 -6.48837201e+01] [-1.01420289e-02 -4.07165162e-04 9.99948485e-01 -4.86293160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8457692310001 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:365.24, Y:-64.89, Z:-4.86 [[ 9.66618808e-01 2.55979961e-01 1.10607652e-02 3.65240916e+02] [-2.55968438e-01 9.66681986e-01 -2.46911869e-03 -6.48858464e+01] [-1.13242873e-02 -4.44510219e-04 9.99935779e-01 -4.86348341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.87576923100005 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:365.27, Y:-64.88, Z:-4.86 [[ 9.67657191e-01 2.52043046e-01 1.06706673e-02 3.65270169e+02] [-2.52032090e-01 9.67715947e-01 -2.38131151e-03 -6.48847607e+01] [-1.09263679e-02 -3.85057373e-04 9.99940231e-01 -4.86363243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9057692310001 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:365.30, Y:-64.89, Z:-4.86 [[ 9.68301101e-01 2.49553470e-01 1.07723579e-02 3.65297620e+02] [-2.49542175e-01 9.68360952e-01 -2.40182065e-03 -6.48862133e+01] [-1.10309134e-02 -3.62472031e-04 9.99939092e-01 -4.86423612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.93576923100005 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:365.33, Y:-64.89, Z:-4.86 [[ 9.68895794e-01 2.47194897e-01 1.16457014e-02 3.65325427e+02] [-2.47181538e-01 9.68965712e-01 -2.59552321e-03 -6.48880971e+01] [-1.19258854e-02 -3.63810858e-04 9.99928818e-01 -4.86449590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9657692310001 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:365.35, Y:-64.89, Z:-4.86 [[ 9.69530880e-01 2.44622814e-01 1.30211985e-02 3.65353628e+02] [-2.44605915e-01 9.69618244e-01 -2.89952806e-03 -6.48903775e+01] [-1.33348823e-02 -3.73880175e-04 9.99911017e-01 -4.86435343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.99576923100005 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:365.38, Y:-64.89, Z:-4.86 [[ 9.70873470e-01 2.39234309e-01 1.31015678e-02 3.65381592e+02] [-2.39216742e-01 9.70961818e-01 -2.91505554e-03 -6.48894578e+01] [-1.34185034e-02 -3.03964270e-04 9.99909922e-01 -4.86436392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0257692310001 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:365.41, Y:-64.89, Z:-4.87 [[ 9.71666289e-01 2.36044730e-01 1.21453263e-02 3.65409350e+02] [-2.36029396e-01 9.71742161e-01 -2.70133749e-03 -6.48918963e+01] [-1.24397621e-02 -2.41855456e-04 9.99922594e-01 -4.86541406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.05576923100006 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:365.44, Y:-64.90, Z:-4.87 [[ 9.71705948e-01 2.35881391e-01 1.21458100e-02 3.65437195e+02] [-2.35866072e-01 9.71781823e-01 -2.69916086e-03 -6.48978754e+01] [-1.24397592e-02 -2.41993831e-04 9.99922594e-01 -4.86576093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.08576923100003 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:365.46, Y:-64.90, Z:-4.87 [[ 9.72463137e-01 2.32792803e-01 1.10886736e-02 3.65464559e+02] [-2.32779854e-01 9.72526337e-01 -2.46238485e-03 -6.49001300e+01] [-1.13572526e-02 -1.86641339e-04 9.99935487e-01 -4.86614173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.11576923100006 meters Centerline goodness : 0.997734 Centerline is valid? [True, True] Translation: X:365.49, Y:-64.90, Z:-4.87 [[ 9.74031618e-01 2.26145594e-01 1.09808011e-02 3.65491564e+02] [-2.26132483e-01 9.74093506e-01 -2.43754109e-03 -6.49008068e+01] [-1.12475662e-02 -1.08873738e-04 9.99936738e-01 -4.86683231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.14576923100003 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:365.52, Y:-64.91, Z:-4.87 [[ 9.74941903e-01 2.22160944e-01 1.15239025e-02 3.65519214e+02] [-2.22146237e-01 9.75010005e-01 -2.55715357e-03 -6.49056627e+01] [-1.18040199e-02 -6.69154054e-05 9.99930328e-01 -4.86728722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.17576923100006 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:365.55, Y:-64.91, Z:-4.87 [[ 9.75816894e-01 2.18219673e-01 1.27107803e-02 3.65546571e+02] [-2.18201478e-01 9.75899674e-01 -2.81802655e-03 -6.49109514e+01] [-1.30193951e-02 -2.36331179e-05 9.99915244e-01 -4.86772232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.20576923100003 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:365.57, Y:-64.92, Z:-4.87 [[ 9.76703273e-01 2.14164079e-01 1.35817808e-02 3.65573026e+02] [-2.14142927e-01 9.76797700e-01 -3.01006596e-03 -6.49158370e+01] [-1.39113003e-02 3.14989715e-05 9.99903233e-01 -4.86738155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.23576923100006 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:365.60, Y:-64.92, Z:-4.87 [[ 9.78074684e-01 2.07799089e-01 1.37641496e-02 3.65599567e+02] [-2.07776751e-01 9.78171520e-01 -3.04932457e-03 -6.49204335e+01] [-1.40973461e-02 1.22596868e-04 9.99900620e-01 -4.86729447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26576923100004 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:365.63, Y:-64.93, Z:-4.87 [[ 9.78584135e-01 2.05470239e-01 1.24527989e-02 3.65625994e+02] [-2.05451778e-01 9.78663354e-01 -2.75790673e-03 -6.49261486e+01] [-1.27537657e-02 1.40394101e-04 9.99918658e-01 -4.86805171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.29576923100007 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:365.65, Y:-64.93, Z:-4.87 [[ 9.78928688e-01 2.03891331e-01 1.12671303e-02 3.65653065e+02] [-2.03876122e-01 9.78993516e-01 -2.49451382e-03 -6.49323642e+01] [-1.15390573e-02 1.44852304e-04 9.99933412e-01 -4.86913458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32576923100004 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:365.68, Y:-64.94, Z:-4.87 [[ 9.79102990e-01 2.03039437e-01 1.15031707e-02 3.65679636e+02] [-2.03023535e-01 9.79170548e-01 -2.54600753e-03 -6.49385828e+01] [-1.17805059e-02 1.57389197e-04 9.99930595e-01 -4.86963971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.35576923100007 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:365.71, Y:-64.94, Z:-4.87 [[ 9.79038117e-01 2.03305028e-01 1.23057142e-02 3.65706969e+02] [-2.03286870e-01 9.79115437e-01 -2.72205605e-03 -6.49449750e+01] [-1.26021224e-02 1.63406491e-04 9.99920577e-01 -4.86930647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38576923100004 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:365.73, Y:-64.95, Z:-4.87 [[ 9.78960060e-01 2.03662014e-01 1.26089038e-02 3.65732719e+02] [-2.03642992e-01 9.79041244e-01 -2.78821564e-03 -6.49517021e+01] [-1.29124905e-02 1.61836858e-04 9.99916617e-01 -4.86941907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.41576923100007 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:365.76, Y:-64.96, Z:-4.87 [[ 9.79005804e-01 2.03472564e-01 1.21058016e-02 3.65759682e+02] [-2.03455027e-01 9.79080636e-01 -2.67602676e-03 -6.49584227e+01] [-1.23970539e-02 1.56859551e-04 9.99923141e-01 -4.87014268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.44576923100004 meters Centerline goodness : 0.997975 Centerline is valid? [True, True] Translation: X:365.79, Y:-64.97, Z:-4.87 [[ 9.79302033e-01 2.02158269e-01 9.97811329e-03 3.65786266e+02] [-2.02146292e-01 9.79352855e-01 -2.20517666e-03 -6.49660507e+01] [-1.02178884e-02 1.42495382e-04 9.99947786e-01 -4.87264291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.4757692310001 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:365.81, Y:-64.97, Z:-4.87 [[ 9.79499044e-01 2.01206341e-01 9.88080197e-03 3.65813477e+02] [-2.01194555e-01 9.79548868e-01 -2.18300433e-03 -6.49736294e+01] [-1.01179627e-02 1.50287098e-04 9.99948801e-01 -4.87349089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.50576923100004 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:365.84, Y:-64.98, Z:-4.87 [[ 9.79755897e-01 1.99924433e-01 1.04212980e-02 3.65840366e+02] [-1.99911257e-01 9.79811304e-01 -2.30162683e-03 -6.49821841e+01] [-1.06710570e-02 1.71697675e-04 9.99943048e-01 -4.87352951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5357692310001 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:365.87, Y:-64.99, Z:-4.87 [[ 9.80057467e-01 1.98378321e-01 1.15500358e-02 3.65867083e+02] [-1.98362040e-01 9.80125501e-01 -2.54997836e-03 -6.49903800e+01] [-1.18263450e-02 2.08036664e-04 9.99930045e-01 -4.87293224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.56576923100005 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:365.89, Y:-65.00, Z:-4.87 [[ 9.80311882e-01 1.97098936e-01 1.18584602e-02 3.65893035e+02] [-1.97081692e-01 9.80383577e-01 -2.61713755e-03 -6.49991225e+01] [-1.21416746e-02 2.28525632e-04 9.99926261e-01 -4.87201127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5957692310001 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:365.92, Y:-65.01, Z:-4.87 [[ 9.80261358e-01 1.97400675e-01 1.09837911e-02 3.65919928e+02] [-1.97385915e-01 9.80322871e-01 -2.42274434e-03 -6.50059432e+01] [-1.12459130e-02 2.06877004e-04 9.99936741e-01 -4.87275058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.62576923100005 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:365.95, Y:-65.01, Z:-4.87 [[ 9.80082703e-01 1.98361768e-01 9.51339355e-03 3.65946767e+02] [-1.98350747e-01 9.80128859e-01 -2.09779834e-03 -6.50131111e+01] [-9.74047456e-03 1.69027150e-04 9.99952546e-01 -4.87345977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6557692310001 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:365.97, Y:-65.02, Z:-4.87 [[ 9.79419080e-01 2.01664260e-01 8.35416589e-03 3.65972411e+02] [-2.01655884e-01 9.79454701e-01 -1.84183958e-03 -6.50221157e+01] [-8.55396028e-03 1.19266114e-04 9.99963407e-01 -4.87449401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.68576923100005 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:366.00, Y:-65.03, Z:-4.87 [[ 9.79095110e-01 2.03195227e-01 9.19050445e-03 3.65998488e+02] [-2.03185166e-01 9.79138237e-01 -2.02533005e-03 -6.50291205e+01] [-9.41031172e-03 1.15616576e-04 9.99955715e-01 -4.87477803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7157692310001 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:366.03, Y:-65.04, Z:-4.87 [[ 9.78813663e-01 2.04487460e-01 1.04255076e-02 3.66025282e+02] [-2.04474598e-01 9.78869177e-01 -2.29645002e-03 -6.50366298e+01] [-1.06748033e-02 1.16045177e-04 9.99943016e-01 -4.87496219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.74576923100005 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:366.05, Y:-65.04, Z:-4.88 [[ 9.78613956e-01 2.05389950e-01 1.13882795e-02 3.66052458e+02] [-2.05374674e-01 9.78680211e-01 -2.50760435e-03 -6.50441565e+01] [-1.16605206e-02 1.15112414e-04 9.99932007e-01 -4.87522413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7757692310001 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:366.08, Y:-65.05, Z:-4.88 [[ 9.78330333e-01 2.06830158e-01 9.54174467e-03 3.66079367e+02] [-2.06819508e-01 9.78376859e-01 -2.10045646e-03 -6.50542014e+01] [-9.76985992e-03 8.15213334e-05 9.99952270e-01 -4.87636455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.80576923100006 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:366.11, Y:-65.06, Z:-4.88 [[ 9.78228973e-01 2.07384936e-01 7.71778375e-03 3.66106609e+02] [-2.07377989e-01 9.78259416e-01 -1.69855102e-03 -6.50618682e+01] [-7.90224851e-03 6.10733467e-05 9.99968775e-01 -4.87663374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.83576923100003 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:366.13, Y:-65.07, Z:-4.88 [[ 9.78104255e-01 2.08004012e-01 6.81155172e-03 3.66133189e+02] [-2.07998618e-01 9.78127971e-01 -1.49875410e-03 -6.50686515e+01] [-6.97431613e-03 4.91444154e-05 9.99975678e-01 -4.87753657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.86576923100006 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:366.16, Y:-65.08, Z:-4.88 [[ 9.77702857e-01 2.09825837e-01 8.38104806e-03 3.66159849e+02] [-2.09817747e-01 9.77738777e-01 -1.84309189e-03 -6.50752719e+01] [-8.58120398e-03 4.35035903e-05 9.99963180e-01 -4.87696521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.89576923100003 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:366.19, Y:-65.08, Z:-4.88 [[ 9.77495442e-01 2.10737557e-01 9.60952433e-03 3.66186675e+02] [-2.10726975e-01 9.77542674e-01 -2.11225076e-03 -6.50820161e+01] [-9.83885067e-03 3.97294976e-05 9.99951597e-01 -4.87713690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.92576923100006 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:366.21, Y:-65.09, Z:-4.88 [[ 9.77281562e-01 2.11705974e-01 1.00661878e-02 3.66213558e+02] [-2.11694422e-01 9.77333402e-01 -2.21185390e-03 -6.50897287e+01] [-1.03062843e-02 3.06482240e-05 9.99946888e-01 -4.87740038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.95576923100003 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:366.24, Y:-65.10, Z:-4.88 [[ 9.77256159e-01 2.11842364e-01 9.65464009e-03 3.66239649e+02] [-2.11831750e-01 9.77303848e-01 -2.12077673e-03 -6.50959451e+01] [-9.88478727e-03 2.73828196e-05 9.99951144e-01 -4.87776129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.98576923100006 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:366.27, Y:-65.10, Z:-4.88 [[ 9.77371452e-01 2.11317682e-01 9.48063815e-03 3.66266867e+02] [-2.11307430e-01 9.77417432e-01 -2.08173295e-03 -6.51022424e+01] [-9.70644798e-03 3.12970678e-05 9.99952891e-01 -4.87845791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.01576923100004 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:366.29, Y:-65.11, Z:-4.88 [[ 9.77815996e-01 2.09246841e-01 9.57272729e-03 3.66292508e+02] [-2.09236296e-01 9.77862852e-01 -2.10126609e-03 -6.51097505e+01] [-9.80049769e-03 5.16895909e-05 9.99951973e-01 -4.87873661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.04576923100007 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:366.32, Y:-65.12, Z:-4.88 [[ 9.78065316e-01 2.08029769e-01 1.05760327e-02 3.66319606e+02] [-2.08016838e-01 9.78122493e-01 -2.32047260e-03 -6.51166132e+01] [-1.08273829e-02 6.95808797e-05 9.99941380e-01 -4.87912055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.07576923100004 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:366.35, Y:-65.12, Z:-4.88 [[ 9.78403154e-01 2.06384871e-01 1.15131560e-02 3.66346295e+02] [-2.06369444e-01 9.78470887e-01 -2.52514889e-03 -6.51236242e+01] [-1.17864405e-02 9.46500314e-05 9.99930533e-01 -4.87878220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.10576923100007 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:366.37, Y:-65.13, Z:-4.88 [[ 9.78903653e-01 2.03944959e-01 1.24133539e-02 3.66373130e+02] [-2.03926842e-01 9.78982347e-01 -2.72158971e-03 -6.51328654e+01] [-1.27075088e-02 1.32758061e-04 9.99919248e-01 -4.87795469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.13576923100004 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:366.40, Y:-65.14, Z:-4.88 [[ 9.79097044e-01 2.03065640e-01 1.15465753e-02 3.66399252e+02] [-2.03049913e-01 9.79165118e-01 -2.53075739e-03 -6.51403421e+01] [-1.18199137e-02 1.33325966e-04 9.99930133e-01 -4.87853852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.16576923100007 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:366.43, Y:-65.15, Z:-4.88 [[ 9.79246132e-01 2.02414533e-01 1.02649613e-02 3.66426229e+02] [-2.02402076e-01 9.79299924e-01 -2.24906208e-03 -6.51486145e+01] [-1.05077187e-02 1.24735867e-04 9.99944785e-01 -4.87951345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.19576923100004 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:366.45, Y:-65.16, Z:-4.88 [[ 9.79395644e-01 2.01729074e-01 9.46320802e-03 3.66452019e+02] [-2.01718461e-01 9.79441354e-01 -2.07278743e-03 -6.51565158e+01] [-9.68679876e-03 1.21175219e-04 9.99953075e-01 -4.88031276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2257692310001 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:366.48, Y:-65.16, Z:-4.88 [[ 9.79413868e-01 2.01631676e-01 9.65099608e-03 3.66478540e+02] [-2.01620641e-01 9.79461409e-01 -2.11302887e-03 -6.51645285e+01] [-9.87883177e-03 1.23689760e-04 9.99951196e-01 -4.88040543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.25576923100004 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:366.50, Y:-65.17, Z:-4.88 [[ 9.78976657e-01 2.03623635e-01 1.19214368e-02 3.66504955e+02] [-2.03606959e-01 9.79049232e-01 -2.60903720e-03 -6.51726671e+01] [-1.22029352e-02 1.26899028e-04 9.99925533e-01 -4.87895190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2857692310001 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:366.53, Y:-65.18, Z:-4.88 [[ 9.78571305e-01 2.05520642e-01 1.26280231e-02 3.66531819e+02] [-2.05502101e-01 9.78652775e-01 -2.76268897e-03 -6.51790673e+01] [-1.29262395e-02 1.08402872e-04 9.99916447e-01 -4.87897911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.31576923100005 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:366.56, Y:-65.19, Z:-4.88 [[ 9.77851938e-01 2.08957880e-01 1.19243836e-02 3.66557950e+02] [-2.08941614e-01 9.77924640e-01 -2.60789556e-03 -6.51858154e+01] [-1.22060888e-02 5.86357881e-05 9.99925501e-01 -4.88105699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3457692310001 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:366.58, Y:-65.19, Z:-4.88 [[ 9.77673025e-01 2.09846054e-01 1.09585290e-02 3.66584701e+02] [-2.09832382e-01 9.77734438e-01 -2.39576982e-03 -6.51921927e+01] [-1.12172740e-02 4.28252806e-05 9.99937083e-01 -4.88201313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.37576923100005 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:366.61, Y:-65.20, Z:-4.88 [[ 9.77592209e-01 2.10294569e-01 9.46923099e-03 3.66611865e+02] [-2.10284387e-01 9.77638069e-01 -2.06959877e-03 -6.51990127e+01] [-9.69270608e-03 3.19921972e-05 9.99953024e-01 -4.88237750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4057692310001 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:366.64, Y:-65.21, Z:-4.88 [[ 9.77557529e-01 2.10509093e-01 8.19752113e-03 3.66637798e+02] [-2.10501474e-01 9.77591899e-01 -1.79120402e-03 -6.52057787e+01] [-8.39089499e-03 2.54146949e-05 9.99964795e-01 -4.88305804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.43576923100005 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:366.67, Y:-65.21, Z:-4.88 [[ 9.77333330e-01 2.11558911e-01 7.89867944e-03 3.66665165e+02] [-2.11551877e-01 9.77365248e-01 -1.72520957e-03 -6.52135232e+01] [-8.08487825e-03 1.51243484e-05 9.99967317e-01 -4.88317135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4657692310001 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:366.69, Y:-65.22, Z:-4.88 [[ 9.77144249e-01 2.12395028e-01 8.80159581e-03 3.66692115e+02] [-2.12386334e-01 9.77183889e-01 -1.92166500e-03 -6.52196714e+01] [-9.00892971e-03 8.40523653e-06 9.99959419e-01 -4.88358823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.49576923100005 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:366.72, Y:-65.22, Z:-4.88 [[ 9.76993221e-01 2.13054550e-01 9.59194702e-03 3.66719845e+02] [-2.13044265e-01 9.77040306e-01 -2.09342487e-03 -6.52249997e+01] [-9.81773254e-03 1.75260363e-06 9.99951805e-01 -4.88332714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5257692310001 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:366.75, Y:-65.23, Z:-4.88 [[ 9.76780574e-01 2.13996661e-01 1.02537508e-02 3.66746252e+02] [-2.13984969e-01 9.76834392e-01 -2.23705903e-03 -6.52299671e+01] [-1.04949396e-02 -9.03275171e-06 9.99944927e-01 -4.88380838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.55576923100006 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:366.77, Y:-65.23, Z:-4.88 [[ 9.76173864e-01 2.16808783e-01 8.86221197e-03 3.66773160e+02] [-2.16800170e-01 9.76214090e-01 -1.93283259e-03 -6.52333900e+01] [-9.07047128e-03 -3.45484041e-05 9.99958862e-01 -4.88375643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.58576923100003 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:366.80, Y:-65.24, Z:-4.88 [[ 9.75796393e-01 2.18519627e-01 8.40072032e-03 3.66799979e+02] [-2.18511957e-01 9.75832552e-01 -1.83152043e-03 -6.52376681e+01] [-8.59791951e-03 -4.84668074e-05 9.99963036e-01 -4.88397637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.61576923100006 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:366.83, Y:-65.24, Z:-4.88 [[ 9.75400168e-01 2.20260486e-01 8.93480841e-03 3.66828016e+02] [-2.20251890e-01 9.75441087e-01 -1.94711780e-03 -6.52424629e+01] [-9.14425234e-03 -6.86894068e-05 9.99958188e-01 -4.88452156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.64576923100003 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:366.86, Y:-65.25, Z:-4.88 [[ 9.74987714e-01 2.22030232e-01 1.00763775e-02 3.66855691e+02] [-2.22019403e-01 9.75039777e-01 -2.19506051e-03 -6.52458065e+01] [-1.03122387e-02 -9.69942776e-05 9.99946823e-01 -4.88453732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.67576923100006 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:366.88, Y:-65.25, Z:-4.89 [[ 9.74904439e-01 2.22401476e-01 9.94575217e-03 3.66882345e+02] [-2.22390952e-01 9.74955165e-01 -2.16592627e-03 -6.52507436e+01] [-1.01783677e-02 -1.00274151e-04 9.99948194e-01 -4.88522617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.70576923100003 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:366.91, Y:-65.26, Z:-4.89 [[ 9.74936331e-01 2.22280171e-01 9.52236533e-03 3.66909761e+02] [-2.22270526e-01 9.74982829e-01 -2.07295628e-03 -6.52556548e+01] [-9.74491977e-03 -9.55407559e-05 9.99952513e-01 -4.88565009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.73576923100006 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:366.94, Y:-65.26, Z:-4.89 [[ 9.75099837e-01 2.21480515e-01 1.12556655e-02 3.66937730e+02] [-2.21466996e-01 9.75164792e-01 -2.44929477e-03 -6.52593023e+01] [-1.15185997e-02 -1.04451491e-04 9.99933653e-01 -4.88567539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76576923100004 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:366.97, Y:-65.26, Z:-4.89 [[ 9.75132444e-01 2.21293236e-01 1.20839015e-02 3.66965959e+02] [-2.21277652e-01 9.75207307e-01 -2.62856846e-03 -6.52633364e+01] [-1.23659935e-02 -1.10694972e-04 9.99923532e-01 -4.88582324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.79576923100007 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:366.99, Y:-65.27, Z:-4.89 [[ 9.75081956e-01 2.21525289e-01 1.19048715e-02 3.66993132e+02] [-2.21510191e-01 9.75154620e-01 -2.58876512e-03 -6.52673773e+01] [-1.21825674e-02 -1.12792216e-04 9.99925783e-01 -4.88653571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82576923100004 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:367.02, Y:-65.27, Z:-4.89 [[ 9.75049791e-01 2.21732291e-01 1.06158162e-02 3.67020807e+02] [-2.21720307e-01 9.75107574e-01 -2.30764783e-03 -6.52719815e+01] [-1.08632429e-02 -1.03670503e-04 9.99940988e-01 -4.88731727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.85576923100007 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:367.05, Y:-65.28, Z:-4.89 [[ 9.75120642e-01 2.21518375e-01 8.32730082e-03 3.67047900e+02] [-2.21510996e-01 9.75156194e-01 -1.80979559e-03 -6.52757612e+01] [-8.52132195e-03 -7.98196656e-05 9.99963690e-01 -4.88829192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88576923100004 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:367.08, Y:-65.28, Z:-4.89 [[ 9.75299481e-01 2.20727055e-01 8.39584847e-03 3.67075223e+02] [-2.20719532e-01 9.75335615e-01 -1.82393036e-03 -6.52799991e+01] [-8.59136080e-03 -7.42494154e-05 9.99963091e-01 -4.88890807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.91576923100007 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:367.10, Y:-65.29, Z:-4.89 [[ 9.75510056e-01 2.19761933e-01 9.20997281e-03 3.67103218e+02] [-2.19752844e-01 9.75553529e-01 -2.00005401e-03 -6.52852957e+01] [-9.42435721e-03 -7.28449243e-05 9.99955587e-01 -4.88993446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.94576923100004 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:367.13, Y:-65.29, Z:-4.89 [[ 9.75784283e-01 2.18476976e-01 1.06228151e-02 3.67130496e+02] [-2.18464818e-01 9.75842101e-01 -2.30598254e-03 -6.52913164e+01] [-1.08699943e-02 -7.05698514e-05 9.99940917e-01 -4.89005015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.9757692310001 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:367.16, Y:-65.30, Z:-4.89 [[ 9.75796732e-01 2.18421359e-01 1.06229762e-02 3.67158370e+02] [-2.18409205e-01 9.75854551e-01 -2.30524027e-03 -6.52972278e+01] [-1.08699934e-02 -7.07098710e-05 9.99940917e-01 -4.89039715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.00576923100004 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:367.18, Y:-65.31, Z:-4.89 [[ 9.76618089e-01 2.14642055e-01 1.20787778e-02 3.67184653e+02] [-2.14626062e-01 9.76692780e-01 -2.62033438e-03 -6.53051974e+01] [-1.23596890e-02 -3.33545605e-05 9.99923616e-01 -4.89011492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0357692310001 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:367.21, Y:-65.31, Z:-4.89 [[ 9.77170138e-01 2.12136738e-01 1.16843943e-02 3.67211831e+02] [-2.12121605e-01 9.77239993e-01 -2.53383609e-03 -6.53114592e+01] [-1.19559771e-02 -2.52351490e-06 9.99928525e-01 -4.89025838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.06576923100005 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:367.24, Y:-65.32, Z:-4.89 [[ 9.77733430e-01 2.09554696e-01 1.11430974e-02 3.67238403e+02] [-2.09540773e-01 9.77796926e-01 -2.41571721e-03 -6.53178628e+01] [-1.14019113e-02 2.69942170e-05 9.99934996e-01 -4.89051911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0957692310001 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:367.27, Y:-65.33, Z:-4.89 [[ 9.78554670e-01 2.05692518e-01 1.10156946e-02 3.67265095e+02] [-2.05678677e-01 9.78616668e-01 -2.38719966e-03 -6.53280625e+01] [-1.12711715e-02 7.03118808e-05 9.99936476e-01 -4.89174764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.12576923100005 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:367.29, Y:-65.34, Z:-4.89 [[ 9.78810251e-01 2.04477552e-01 1.09280774e-02 3.67291083e+02] [-2.04463863e-01 9.78871250e-01 -2.36746603e-03 -6.53358942e+01] [-1.11812744e-02 8.29031071e-05 9.99937484e-01 -4.89149276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1557692310001 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:367.32, Y:-65.34, Z:-4.89 [[ 9.78972943e-01 2.03712233e-01 1.06444097e-02 3.67317950e+02] [-2.03699209e-01 9.79030806e-01 -2.30516047e-03 -6.53432753e+01] [-1.08907944e-02 8.84318939e-05 9.99940690e-01 -4.89161484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.18576923100005 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:367.35, Y:-65.35, Z:-4.89 [[ 9.79034482e-01 2.03466737e-01 9.63172063e-03 3.67345249e+02] [-2.03456067e-01 9.79081856e-01 -2.08526142e-03 -6.53502696e+01] [-9.85452425e-03 8.19108375e-05 9.99951440e-01 -4.89173578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2157692310001 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:367.37, Y:-65.36, Z:-4.89 [[ 9.79264256e-01 2.02448036e-01 7.50396632e-03 3.67371049e+02] [-2.02441531e-01 9.79293004e-01 -1.62444981e-03 -6.53587136e+01] [-7.67744839e-03 7.16512011e-05 9.99970525e-01 -4.89311686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.24576923100005 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:367.40, Y:-65.37, Z:-4.89 [[ 9.79502048e-01 2.01290778e-01 7.59997264e-03 3.67397505e+02] [-2.01284079e-01 9.79531529e-01 -1.64423007e-03 -6.53662690e+01] [-7.77538117e-03 8.07732226e-05 9.99969768e-01 -4.89374398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2757692310001 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:367.42, Y:-65.37, Z:-4.89 [[ 9.79799756e-01 1.99802001e-01 8.46156890e-03 3.67424119e+02] [-1.99793648e-01 9.79836287e-01 -1.82981370e-03 -6.53741569e+01] [-8.65655269e-03 1.02283300e-04 9.99962526e-01 -4.89386903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.30576923100006 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:367.45, Y:-65.38, Z:-4.89 [[ 9.80079884e-01 1.98378209e-01 9.46084850e-03 3.67450913e+02] [-1.98367707e-01 9.80125538e-01 -2.04517248e-03 -6.53823458e+01] [-9.67853688e-03 1.27705576e-04 9.99953154e-01 -4.89427949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.33576923100003 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:367.48, Y:-65.39, Z:-4.90 [[ 9.80841669e-01 1.94577756e-01 9.44016898e-03 3.67476636e+02] [-1.94567130e-01 9.80887083e-01 -2.04006635e-03 -6.53945243e+01] [-9.65669135e-03 1.64235501e-04 9.99953360e-01 -4.89500997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.36576923100006 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:367.50, Y:-65.40, Z:-4.90 [[ 9.81331627e-01 1.92117321e-01 8.89792784e-03 3.67502286e+02] [-1.92107784e-01 9.81371950e-01 -1.92242082e-03 -6.54043018e+01] [-9.10150713e-03 1.77171150e-04 9.99958565e-01 -4.89567961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.39576923100003 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:367.53, Y:-65.42, Z:-4.90 [[ 9.82301267e-01 1.87131673e-01 8.12142814e-03 3.67528533e+02] [-1.87123565e-01 9.82334819e-01 -1.75379173e-03 -6.54193323e+01] [-8.30615162e-03 2.03041251e-04 9.99965483e-01 -4.89665455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.42576923100006 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:367.55, Y:-65.43, Z:-4.90 [[ 9.82639011e-01 1.85338480e-01 8.37980104e-03 3.67554790e+02] [-1.85329786e-01 9.82674716e-01 -1.80921341e-03 -6.54300330e+01] [-8.56993547e-03 2.24776946e-04 9.99963252e-01 -4.89631338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.45576923100003 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:367.58, Y:-65.44, Z:-4.90 [[ 9.82797266e-01 1.84459490e-01 9.17773557e-03 3.67581885e+02] [-1.84449030e-01 9.82840085e-01 -1.98076006e-03 -6.54409147e+01] [-9.38561640e-03 2.53861143e-04 9.99955922e-01 -4.89572256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.48576923100006 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:367.61, Y:-65.45, Z:-4.90 [[ 9.82743384e-01 1.84718406e-01 9.72377195e-03 3.67609185e+02] [-1.84706682e-01 9.82791453e-01 -2.09811494e-03 -6.54517377e+01] [-9.94400041e-03 2.65862929e-04 9.99950522e-01 -4.89509530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.51576923100004 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:367.64, Y:-65.46, Z:-4.90 [[ 9.82490363e-01 1.86055732e-01 9.79542904e-03 3.67635476e+02] [-1.86043905e-01 9.82539160e-01 -2.11313753e-03 -6.54618503e+01] [-1.00175540e-02 2.53757389e-04 9.99949791e-01 -4.89521677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.54576923100007 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:367.66, Y:-65.47, Z:-4.90 [[ 9.82087726e-01 1.88175403e-01 9.68069081e-03 3.67662601e+02] [-1.88163960e-01 9.82135411e-01 -2.08780036e-03 -6.54715598e+01] [-9.90062192e-03 2.28845990e-04 9.99950961e-01 -4.89605548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.57576923100004 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:367.69, Y:-65.49, Z:-4.90 [[ 9.81046164e-01 1.93524975e-01 9.82390528e-03 3.67689852e+02] [-1.93513463e-01 9.81095333e-01 -2.11817040e-03 -6.54859675e+01] [-1.00481065e-02 1.76965014e-04 9.99949501e-01 -4.89804848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.60576923100007 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:367.72, Y:-65.50, Z:-4.90 [[ 9.80544194e-01 1.96043948e-01 9.99267451e-03 3.67718609e+02] [-1.96032171e-01 9.80595098e-01 -2.15426280e-03 -6.54969342e+01] [-1.02210978e-02 1.53464201e-04 9.99947751e-01 -4.89834115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.63576923100004 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:367.75, Y:-65.51, Z:-4.90 [[ 9.80150861e-01 1.98014913e-01 9.71511288e-03 3.67746540e+02] [-1.98003878e-01 9.80198999e-01 -2.09445274e-03 -6.55074928e+01] [-9.93747679e-03 1.29249635e-04 9.99950614e-01 -4.89847451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.66576923100007 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:367.77, Y:-65.52, Z:-4.90 [[ 9.79823755e-01 1.99655270e-01 9.12045016e-03 3.67774712e+02] [-1.99645616e-01 9.79866196e-01 -1.96617651e-03 -6.55172801e+01] [-9.32937831e-03 1.05648557e-04 9.99956475e-01 -4.89895688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.69576923100004 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:367.80, Y:-65.53, Z:-4.90 [[ 9.79049228e-01 2.03495179e-01 7.23336139e-03 3.67801088e+02] [-2.03489212e-01 9.79075947e-01 -1.55926410e-03 -6.55293810e+01] [-7.39931288e-03 5.46853039e-05 9.99972623e-01 -4.89988896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7257692310001 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:367.83, Y:-65.54, Z:-4.90 [[ 9.78587705e-01 2.05701882e-01 7.26907076e-03 3.67829067e+02] [-2.05695918e-01 9.78614702e-01 -1.56673256e-03 -6.55384580e+01] [-7.43589935e-03 3.79670310e-05 9.99972353e-01 -4.90028753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.75576923100004 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:367.86, Y:-65.55, Z:-4.90 [[ 9.78109046e-01 2.07942574e-01 7.91070626e-03 3.67857346e+02] [-2.07935587e-01 9.78141036e-01 -1.70481047e-03 -6.55471858e+01] [-8.09228909e-03 2.25731979e-05 9.99967257e-01 -4.89970012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7857692310001 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:367.89, Y:-65.56, Z:-4.90 [[ 9.77626629e-01 2.10163768e-01 8.79577838e-03 3.67886106e+02] [-2.10155222e-01 9.77666196e-01 -1.89530558e-03 -6.55553728e+01] [-8.99765975e-03 4.42244441e-06 9.99959520e-01 -4.89912973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.81576923100005 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:367.91, Y:-65.57, Z:-4.90 [[ 9.76839431e-01 2.13739388e-01 1.00099701e-02 3.67913923e+02] [-2.13728510e-01 9.76890717e-01 -2.15663517e-03 -6.55670432e+01] [-1.02396048e-02 -3.27297300e-05 9.99947573e-01 -4.90003115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8457692310001 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:367.94, Y:-65.58, Z:-4.90 [[ 9.76639821e-01 2.14641869e-01 1.01749087e-02 3.67943353e+02] [-2.14630680e-01 9.76692821e-01 -2.19202547e-03 -6.55775212e+01] [-1.04082608e-02 -4.30282142e-05 9.99945832e-01 -4.90072300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.87576923100005 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:367.97, Y:-65.59, Z:-4.90 [[ 9.76574905e-01 2.14957144e-01 9.74068131e-03 3.67972364e+02] [-2.14946906e-01 9.76623481e-01 -2.09845225e-03 -6.55880983e+01] [-9.96405539e-03 -4.44334952e-05 9.99950357e-01 -4.90223034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9057692310001 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:368.00, Y:-65.60, Z:-4.90 [[ 9.76513404e-01 2.15270484e-01 8.95487514e-03 3.68001453e+02] [-2.15261843e-01 9.76554462e-01 -1.92929459e-03 -6.55982273e+01] [-9.16024345e-03 -4.36609017e-05 9.99958043e-01 -4.90226021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.93576923100005 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:368.03, Y:-65.61, Z:-4.90 [[ 9.75783461e-01 2.18588802e-01 8.09772120e-03 3.68029100e+02] [-2.18581850e-01 9.75817058e-01 -1.74466845e-03 -6.56092020e+01] [-8.28325947e-03 -6.75962546e-05 9.99965691e-01 -4.90221851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9657692310001 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:368.06, Y:-65.62, Z:-4.90 [[ 9.74979207e-01 2.22144333e-01 8.21223964e-03 3.68057816e+02] [-2.22137309e-01 9.75013787e-01 -1.76928523e-03 -6.56165259e+01] [-8.40008356e-03 -9.92285046e-05 9.99964714e-01 -4.90143069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.99576923100005 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:368.09, Y:-65.62, Z:-4.90 [[ 9.73898698e-01 2.26821189e-01 8.57167961e-03 3.68086893e+02] [-2.26813720e-01 9.73936408e-01 -1.84651599e-03 -6.56236723e+01] [-8.76709980e-03 -1.45855024e-04 9.99961558e-01 -4.90090434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0257692310001 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:368.12, Y:-65.63, Z:-4.90 [[ 9.72741105e-01 2.31725475e-01 8.83447436e-03 3.68116795e+02] [-2.31717745e-01 9.72781201e-01 -1.90284644e-03 -6.56306004e+01] [-9.03494857e-03 -1.96127528e-04 9.99959165e-01 -4.90087771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.05576923100006 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:368.14, Y:-65.64, Z:-4.90 [[ 9.70592050e-01 2.40587050e-01 8.30326235e-03 3.68144959e+02] [-2.40580544e-01 9.70627530e-01 -1.78855753e-03 -6.56371952e+01] [-8.48967881e-03 -2.61643660e-04 9.99963928e-01 -4.90206848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.08576923100003 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:368.17, Y:-65.64, Z:-4.90 [[ 9.69829423e-01 2.43651651e-01 8.04759958e-03 3.68173648e+02] [-2.43645648e-01 9.69862771e-01 -1.73316566e-03 -6.56425275e+01] [-8.22735591e-03 -2.79887560e-04 9.99966116e-01 -4.90302585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.11576923100006 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:368.20, Y:-65.65, Z:-4.90 [[ 9.69291861e-01 2.45762855e-01 8.59689172e-03 3.68202121e+02] [-2.45756088e-01 9.69329932e-01 -1.85132173e-03 -6.56466532e+01] [-8.78821059e-03 -3.18267393e-04 9.99961332e-01 -4.90329193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.14576923100003 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:368.23, Y:-65.65, Z:-4.90 [[ 9.68741487e-01 2.47808986e-01 1.14297254e-02 3.68232263e+02] [-2.47797175e-01 9.68808807e-01 -2.46064180e-03 -6.56484070e+01] [-1.16829878e-02 -4.48527865e-04 9.99931651e-01 -4.90269094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.17576923100006 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:368.26, Y:-65.65, Z:-4.90 [[ 9.68679251e-01 2.48007326e-01 1.23642389e-02 3.68260864e+02] [-2.47993525e-01 9.68758034e-01 -2.66150131e-03 -6.56514126e+01] [-1.26380276e-02 -4.88110092e-04 9.99920018e-01 -4.90263368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.20576923100003 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:368.29, Y:-65.65, Z:-4.90 [[ 9.68872085e-01 2.47253381e-01 1.23550732e-02 3.68290240e+02] [-2.47239544e-01 9.68950740e-01 -2.65907989e-03 -6.56537431e+01] [-1.26289238e-02 -4.78354393e-04 9.99920138e-01 -4.90261622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.23576923100006 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:368.32, Y:-65.65, Z:-4.90 [[ 9.69409792e-01 2.45189871e-01 1.12508916e-02 3.68319741e+02] [-2.45178264e-01 9.69474991e-01 -2.42097169e-03 -6.56527794e+01] [-1.15010558e-02 -4.11560408e-04 9.99933776e-01 -4.90446765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26576923100004 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:368.35, Y:-65.66, Z:-4.90 [[ 9.69681640e-01 2.44121160e-01 1.10623517e-02 3.68347636e+02] [-2.44109875e-01 9.69744660e-01 -2.37989706e-03 -6.56559388e+01] [-1.13086397e-02 -3.92686796e-04 9.99935978e-01 -4.90485994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.29576923100007 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:368.38, Y:-65.66, Z:-4.90 [[ 9.69954776e-01 2.43018087e-01 1.13991773e-02 3.68376243e+02] [-2.43006036e-01 9.70021678e-01 -2.45165932e-03 -6.56589780e+01] [-1.16532466e-02 -3.92070210e-04 9.99932022e-01 -4.90494090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32576923100004 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:368.40, Y:-65.66, Z:-4.90 [[ 9.70268246e-01 2.41719618e-01 1.22946164e-02 3.68404840e+02] [-2.41705503e-01 9.70346052e-01 -2.64364420e-03 -6.56617197e+01] [-1.25690531e-02 -4.06632415e-04 9.99920924e-01 -4.90460553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.35576923100007 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:368.43, Y:-65.66, Z:-4.90 [[ 9.71025423e-01 2.38641914e-01 1.26358262e-02 3.68434922e+02] [-2.38626752e-01 9.71107561e-01 -2.71638167e-03 -6.56608132e+01] [-1.29189889e-02 -3.77570508e-04 9.99916475e-01 -4.90481608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38576923100004 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:368.46, Y:-65.66, Z:-4.91 [[ 9.71448216e-01 2.36952508e-01 1.19110291e-02 3.68462157e+02] [-2.36938916e-01 9.71521177e-01 -2.56002115e-03 -6.56643628e+01] [-1.21784204e-02 -3.35258344e-04 9.99925784e-01 -4.90607700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.41576923100007 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:368.49, Y:-65.67, Z:-4.91 [[ 9.71957805e-01 2.34906481e-01 1.08152897e-02 3.68490751e+02] [-2.34895154e-01 9.72017935e-01 -2.32390767e-03 -6.56691581e+01] [-1.10585566e-02 -2.81718956e-04 9.99938813e-01 -4.90656271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.44576923100004 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:368.52, Y:-65.67, Z:-4.91 [[ 9.72991063e-01 2.30692571e-01 8.32643883e-03 3.68519112e+02] [-2.30685706e-01 9.73026672e-01 -1.78886261e-03 -6.56731103e+01] [-8.51452438e-03 -1.80243087e-04 9.99963735e-01 -4.90638972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.4757692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:368.55, Y:-65.68, Z:-4.91 [[ 9.73404030e-01 2.28981298e-01 7.22219759e-03 3.68547901e+02] [-2.28976088e-01 9.73430811e-01 -1.55137546e-03 -6.56770931e+01] [-7.38554563e-03 -1.43595427e-04 9.99972716e-01 -4.90704210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.50576923100004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:368.58, Y:-65.68, Z:-4.91 [[ 9.73685401e-01 2.27812758e-01 6.17151736e-03 3.68575700e+02] [-2.27808930e-01 9.73704952e-01 -1.32553376e-03 -6.56806707e+01] [-6.31121052e-03 -1.15273900e-04 9.99980077e-01 -4.90716908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5357692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:368.60, Y:-65.68, Z:-4.91 [[ 9.74093717e-01 2.26048238e-01 6.60492674e-03 3.68604971e+02] [-2.26043818e-01 9.74116103e-01 -1.41810964e-03 -6.56839417e+01] [-6.75452668e-03 -1.11631161e-04 9.99977182e-01 -4.90814325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.56576923100005 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:368.63, Y:-65.69, Z:-4.91 [[ 9.74339875e-01 2.24931681e-01 8.21873102e-03 3.68632158e+02] [-2.24924800e-01 9.74374529e-01 -1.76410757e-03 -6.56888789e+01] [-8.40492584e-03 -1.29756082e-04 9.99964670e-01 -4.90792810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5957692310001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:368.66, Y:-65.69, Z:-4.91 [[ 9.74602239e-01 2.23713917e-01 1.01271809e-02 3.68661059e+02] [-2.23703412e-01 9.74654842e-01 -2.17295154e-03 -6.56939000e+01] [-1.03566254e-02 -1.47721489e-04 9.99946358e-01 -4.90765228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.62576923100005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:368.69, Y:-65.70, Z:-4.91 [[ 9.74894961e-01 2.22383827e-01 1.11914235e-02 3.68689406e+02] [-2.22370918e-01 9.74959184e-01 -2.40070951e-03 -6.56991371e+01] [-1.14450601e-02 -1.48207521e-04 9.99934492e-01 -4.90812210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6557692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:368.72, Y:-65.71, Z:-4.91 [[ 9.75632349e-01 2.19157894e-01 1.05516797e-02 3.68718515e+02] [-2.19146235e-01 9.75689401e-01 -2.26297682e-03 -6.57054194e+01] [-1.07911113e-02 -1.04527480e-04 9.99941769e-01 -4.90898790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.68576923100005 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:368.75, Y:-65.71, Z:-4.91 [[ 9.76050457e-01 2.17312056e-01 1.00486792e-02 3.68746334e+02] [-2.17301387e-01 9.76102179e-01 -2.15488480e-03 -6.57126102e+01] [-1.02768201e-02 -8.03156192e-05 9.99947189e-01 -4.90934413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7157692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:368.77, Y:-65.72, Z:-4.91 [[ 9.76567853e-01 2.14991430e-01 9.69094064e-03 3.68774365e+02] [-2.14981396e-01 9.76615934e-01 -2.07784254e-03 -6.57194036e+01] [-9.91104538e-03 -5.42177176e-05 9.99950883e-01 -4.90950964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.74576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:368.80, Y:-65.73, Z:-4.91 [[ 9.76920332e-01 2.13397736e-01 9.38457458e-03 3.68801101e+02] [-2.13388257e-01 9.76965406e-01 -2.01176259e-03 -6.57256023e+01] [-9.59771030e-03 -3.72262281e-05 9.99953940e-01 -4.90977865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7757692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:368.83, Y:-65.73, Z:-4.91 [[ 9.77119270e-01 2.12524907e-01 8.43186807e-03 3.68828661e+02] [-2.12517226e-01 9.77155649e-01 -1.80707006e-03 -6.57327942e+01] [-8.62329492e-03 -2.61942332e-05 9.99962818e-01 -4.91037289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.80576923100006 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:368.86, Y:-65.74, Z:-4.91 [[ 9.77049314e-01 2.12846302e-01 8.43149265e-03 3.68856098e+02] [-2.12838637e-01 9.77085693e-01 -1.80660924e-03 -6.57399649e+01] [-8.62282093e-03 -2.94010793e-05 9.99962822e-01 -4.91151898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.83576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:368.89, Y:-65.75, Z:-4.91 [[ 9.76984997e-01 2.13140191e-01 8.46016381e-03 3.68885158e+02] [-2.13132489e-01 9.77021626e-01 -1.81224147e-03 -6.57478861e+01] [-8.65202449e-03 -3.26030470e-05 9.99962570e-01 -4.91178345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.86576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:368.91, Y:-65.75, Z:-4.91 [[ 9.76992665e-01 2.13105040e-01 8.46019819e-03 3.68913857e+02] [-2.13097338e-01 9.77029294e-01 -1.81208093e-03 -6.57539459e+01] [-8.65202504e-03 -3.24559453e-05 9.99962570e-01 -4.91214063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.89576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.94, Y:-65.76, Z:-4.91 [[ 9.76983421e-01 2.13137646e-01 8.70281454e-03 3.68942674e+02] [-2.13129500e-01 9.77022181e-01 -1.86366744e-03 -6.57622035e+01] [-8.90006054e-03 -3.40543226e-05 9.99960393e-01 -4.91242645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.97, Y:-65.77, Z:-4.91 [[ 9.77103913e-01 2.12517275e-01 1.02152797e-02 3.68969938e+02] [-2.12506022e-01 9.77157309e-01 -2.18721993e-03 -6.57745688e+01] [-1.04467572e-02 -3.36672987e-05 9.99945431e-01 -4.91238710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.95576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:369.00, Y:-65.78, Z:-4.91 [[ 9.77216600e-01 2.11980219e-01 1.05879099e-02 3.68999090e+02] [-2.11968100e-01 9.77273956e-01 -2.26684888e-03 -6.57849933e+01] [-1.08278157e-02 -2.90967907e-05 9.99941377e-01 -4.91255911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.98576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:369.03, Y:-65.79, Z:-4.91 [[ 9.77281060e-01 2.11700879e-01 1.02209498e-02 3.69027534e+02] [-2.11689572e-01 9.77334506e-01 -2.18818601e-03 -6.57947465e+01] [-1.04525278e-02 -2.51957372e-05 9.99945371e-01 -4.91312181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.01576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:369.06, Y:-65.80, Z:-4.91 [[ 9.77281264e-01 2.11729241e-01 9.59478111e-03 3.69055830e+02] [-2.11719271e-01 9.77328362e-01 -2.05480502e-03 -6.58032607e+01] [-9.81231402e-03 -2.32776152e-05 9.99951858e-01 -4.91393520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.04576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:369.08, Y:-65.81, Z:-4.91 [[ 9.76997701e-01 2.13090858e-01 8.23273425e-03 3.69084067e+02] [-2.13083568e-01 9.77032387e-01 -1.76293606e-03 -6.58131319e+01] [-8.41931356e-03 -3.18759119e-05 9.99964556e-01 -4.91423340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:369.11, Y:-65.82, Z:-4.91 [[ 9.76735216e-01 2.14319469e-01 7.44869228e-03 3.69113838e+02] [-2.14313536e-01 9.76763617e-01 -1.59507920e-03 -6.58219749e+01] [-7.61746814e-03 -3.83855607e-05 9.99970986e-01 -4.91445286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.10576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:369.14, Y:-65.83, Z:-4.91 [[ 9.76282753e-01 2.16387456e-01 6.96100016e-03 3.69143015e+02] [-2.16382326e-01 9.76307568e-01 -1.49085916e-03 -6.58304072e+01] [-7.11868036e-03 -5.07373236e-05 9.99974661e-01 -4.91432835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:369.17, Y:-65.84, Z:-4.92 [[ 9.75633580e-01 2.19291378e-01 7.09994855e-03 3.69172618e+02] [-2.19286117e-01 9.75659411e-01 -1.52076767e-03 -6.58381400e+01] [-7.26062286e-03 -7.32081453e-05 9.99973639e-01 -4.91505086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.16576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:369.20, Y:-65.85, Z:-4.91 [[ 9.74858233e-01 2.22699641e-01 7.50308779e-03 3.69202571e+02] [-2.22693866e-01 9.74887101e-01 -1.60711775e-03 -6.58454885e+01] [-7.67256805e-03 -1.04179662e-04 9.99970560e-01 -4.91487351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.19576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:369.23, Y:-65.85, Z:-4.91 [[ 9.73148860e-01 2.30009796e-01 8.76295909e-03 3.69230751e+02] [-2.30002214e-01 9.73188295e-01 -1.87708953e-03 -6.58523452e+01] [-8.95975820e-03 -1.88812458e-04 9.99959843e-01 -4.91378910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2257692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:369.26, Y:-65.86, Z:-4.91 [[ 9.72272521e-01 2.33684773e-01 8.80748058e-03 3.69259708e+02] [-2.33677268e-01 9.72312386e-01 -1.88626405e-03 -6.58570316e+01] [-9.00441364e-03 -2.24145295e-04 9.99959434e-01 -4.91359153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.25576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:369.29, Y:-65.86, Z:-4.91 [[ 9.71337305e-01 2.37541656e-01 8.82057990e-03 3.69287707e+02] [-2.37534288e-01 9.71377318e-01 -1.88896787e-03 -6.58604561e+01] [-9.01681980e-03 -2.60365200e-04 9.99959314e-01 -4.91363434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2857692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:369.32, Y:-65.86, Z:-4.91 [[ 9.69486725e-01 2.44963103e-01 9.41104883e-03 3.69316163e+02] [-2.44955070e-01 9.69532338e-01 -2.01480854e-03 -6.58600189e+01] [-9.61786993e-03 -3.51953994e-04 9.99953685e-01 -4.91496002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.31576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:369.34, Y:-65.86, Z:-4.92 [[ 9.68761817e-01 2.47811705e-01 9.48163608e-03 3.69344939e+02] [-2.47803693e-01 9.68808140e-01 -2.02933426e-03 -6.58638492e+01] [-9.68877900e-03 -3.83642895e-04 9.99952989e-01 -4.91554682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:369.37, Y:-65.87, Z:-4.92 [[ 9.68217920e-01 2.49944385e-01 9.04791109e-03 3.69372532e+02] [-2.49937185e-01 9.68260117e-01 -1.93617559e-03 -6.58672409e+01] [-9.24466767e-03 -3.86769519e-04 9.99957192e-01 -4.91631943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.37576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:369.40, Y:-65.87, Z:-4.92 [[ 9.67969326e-01 2.50915928e-01 8.75102027e-03 3.69400061e+02] [-2.50909238e-01 9.68008807e-01 -1.87202807e-03 -6.58700577e+01] [-8.94078635e-03 -3.83646077e-04 9.99959957e-01 -4.91639218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.43, Y:-65.87, Z:-4.92 [[ 9.67885493e-01 2.51218816e-01 9.31549921e-03 3.69428816e+02] [-2.51211254e-01 9.67930233e-01 -1.99223340e-03 -6.58678924e+01] [-9.51723985e-03 -4.11904433e-04 9.99954625e-01 -4.91662708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.46, Y:-65.87, Z:-4.92 [[ 9.68021401e-01 2.50681242e-01 9.66866022e-03 3.69456923e+02] [-2.50673076e-01 9.68069593e-01 -2.06707224e-03 -6.58697657e+01] [-9.87811219e-03 -4.22702630e-04 9.99951121e-01 -4.91638762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.48, Y:-65.87, Z:-4.92 [[ 9.68215227e-01 2.49915898e-01 1.00656592e-02 3.69484105e+02] [-2.49907014e-01 9.68267451e-01 -2.15124766e-03 -6.58721286e+01] [-1.02838812e-02 -4.32608099e-04 9.99947026e-01 -4.91680603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.51, Y:-65.87, Z:-4.92 [[ 9.68519077e-01 2.48721844e-01 1.04039051e-02 3.69513265e+02] [-2.48712293e-01 9.68574858e-01 -2.22267030e-03 -6.58707523e+01] [-1.06297876e-02 -4.34880506e-04 9.99943408e-01 -4.91669798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.54, Y:-65.87, Z:-4.92 [[ 9.68758493e-01 2.47765811e-01 1.09125991e-02 3.69540615e+02] [-2.47755251e-01 9.68819851e-01 -2.33054983e-03 -6.58725338e+01] [-1.11497732e-02 -4.45913796e-04 9.99937740e-01 -4.91758019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.57, Y:-65.87, Z:-4.92 [[ 9.68975355e-01 2.46873829e-01 1.18352866e-02 3.69567993e+02] [-2.46861354e-01 9.69047516e-01 -2.52655497e-03 -6.58743657e+01] [-1.20926954e-02 -4.73505374e-04 9.99926769e-01 -4.91818706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.60, Y:-65.88, Z:-4.92 [[ 9.69219576e-01 2.45904583e-01 1.20145911e-02 3.69596719e+02] [-2.45891665e-01 9.69293926e-01 -2.56384998e-03 -6.58759707e+01] [-1.22761326e-02 -4.69354223e-04 9.99924535e-01 -4.91802197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.62, Y:-65.87, Z:-4.92 [[ 9.69528232e-01 2.44753068e-01 1.05329362e-02 3.69624677e+02] [-2.44743078e-01 9.69585363e-01 -2.24705243e-03 -6.58728679e+01] [-1.07625538e-02 -3.99282468e-04 9.99942002e-01 -4.91833685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.65, Y:-65.87, Z:-4.92 [[ 9.69688412e-01 2.44171245e-01 9.20797099e-03 3.69653171e+02] [-2.44163591e-01 9.69732068e-01 -1.96375022e-03 -6.58747447e+01] [-9.40875609e-03 -3.44025430e-04 9.99955677e-01 -4.91893986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.68, Y:-65.88, Z:-4.92 [[ 9.69814756e-01 2.43697107e-01 8.42967950e-03 3.69680371e+02] [-2.43690679e-01 9.69851341e-01 -1.79724424e-03 -6.58764926e+01] [-8.61351919e-03 -3.11240333e-04 9.99962855e-01 -4.91945178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.71, Y:-65.88, Z:-4.92 [[ 9.69972907e-01 2.43072418e-01 8.26797817e-03 3.69707463e+02] [-2.43066218e-01 9.70008097e-01 -1.76202609e-03 -6.58785335e+01] [-8.44830572e-03 -3.00548608e-04 9.99964267e-01 -4.91939004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.74, Y:-65.88, Z:-4.92 [[ 9.70102909e-01 2.42476608e-01 1.02684631e-02 3.69735929e+02] [-2.42467022e-01 9.70157183e-01 -2.18729543e-03 -6.58752318e+01] [-1.04923912e-02 -3.67862003e-04 9.99944886e-01 -4.91872951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.76, Y:-65.88, Z:-4.92 [[ 9.70114011e-01 2.42381806e-01 1.13958429e-02 3.69764299e+02] [-2.42370004e-01 9.70180856e-01 -2.42642015e-03 -6.58758487e+01] [-1.16441487e-02 -4.08106307e-04 9.99932121e-01 -4.91860855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.79, Y:-65.88, Z:-4.92 [[ 9.70065729e-01 2.42532746e-01 1.22616940e-02 3.69791151e+02] [-2.42519106e-01 9.70143119e-01 -2.60988108e-03 -6.58772089e+01] [-1.25285797e-02 -4.41938871e-04 9.99921417e-01 -4.91922140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.82, Y:-65.87, Z:-4.92 [[ 9.70616719e-01 2.40296895e-01 1.26723310e-02 3.69820322e+02] [-2.40282149e-01 9.70699345e-01 -2.69626335e-03 -6.58748101e+01] [-1.29489271e-02 -4.27896631e-04 9.99916068e-01 -4.91957057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.85, Y:-65.88, Z:-4.92 [[ 9.71306145e-01 2.37507865e-01 1.24252811e-02 3.69847515e+02] [-2.37493470e-01 9.71385540e-01 -2.64287236e-03 -6.58764884e+01] [-1.26974413e-02 -3.83884961e-04 9.99919311e-01 -4.92003521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.88, Y:-65.88, Z:-4.92 [[ 9.72188408e-01 2.33924498e-01 1.13590591e-02 3.69875523e+02] [-2.33912233e-01 9.72254716e-01 -2.41526980e-03 -6.58785649e+01] [-1.16088895e-02 -3.08925571e-04 9.99932567e-01 -4.92005787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.90, Y:-65.88, Z:-4.92 [[ 9.73120471e-01 2.30069447e-01 1.02273075e-02 3.69902481e+02] [-2.30059297e-01 9.73174185e-01 -2.17403351e-03 -6.58814667e+01] [-1.04531303e-02 -2.37290655e-04 9.99945336e-01 -4.92077428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.93, Y:-65.89, Z:-4.92 [[ 9.74063078e-01 2.26077161e-01 9.49937763e-03 3.69930205e+02] [-2.26068221e-01 9.74109380e-01 -2.01860638e-03 -6.58854557e+01] [-9.70979365e-03 -1.81257463e-04 9.99952842e-01 -4.92170063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.96, Y:-65.89, Z:-4.92 [[ 9.75730516e-01 2.18739633e-01 1.01455784e-02 3.69957644e+02] [-2.18729047e-01 9.75783254e-01 -2.15512948e-03 -6.58885501e+01] [-1.03712977e-02 -1.16307081e-04 9.99946210e-01 -4.92206112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.99, Y:-65.89, Z:-4.92 [[ 9.76382201e-01 2.15771898e-01 1.09674972e-02 3.69985389e+02] [-2.15759351e-01 9.76443792e-01 -2.32867383e-03 -6.58930456e+01] [-1.12116070e-02 -9.26644092e-05 9.99937144e-01 -4.92193414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.01, Y:-65.90, Z:-4.92 [[ 9.76841786e-01 2.13661346e-01 1.13557760e-02 3.70013248e+02] [-2.13647762e-01 9.76907787e-01 -2.41033727e-03 -6.58976211e+01] [-1.16085419e-02 -7.16179566e-05 9.99932616e-01 -4.92190762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.04, Y:-65.90, Z:-4.92 [[ 9.77205733e-01 2.11973698e-01 1.16665151e-02 3.70040009e+02] [-2.11959250e-01 9.77275370e-01 -2.47540437e-03 -6.59023758e+01] [-1.19261184e-02 -5.38464418e-05 9.99928880e-01 -4.92181149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.07, Y:-65.91, Z:-4.92 [[ 9.77368830e-01 2.11234749e-01 1.14040216e-02 3.70066313e+02] [-2.11220906e-01 9.77435358e-01 -2.41873855e-03 -6.59076122e+01] [-1.16576156e-02 -4.47681109e-05 9.99932047e-01 -4.92227845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.09, Y:-65.91, Z:-4.92 [[ 9.77452565e-01 2.10931921e-01 9.70604146e-03 3.70093456e+02] [-2.10921884e-01 9.77500754e-01 -2.05797013e-03 -6.59128790e+01] [-9.92175444e-03 -3.56483682e-05 9.99950778e-01 -4.92389560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.12, Y:-65.92, Z:-4.92 [[ 9.77344588e-01 2.11458537e-01 9.10179430e-03 3.70121176e+02] [-2.11449739e-01 9.77386968e-01 -1.92930342e-03 -6.59184840e+01] [-9.30394282e-03 -3.89777755e-05 9.99956717e-01 -4.92403175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.15, Y:-65.92, Z:-4.92 [[ 9.77236701e-01 2.11948061e-01 9.29782076e-03 3.70148088e+02] [-2.11938908e-01 9.77280931e-01 -1.97025144e-03 -6.59243098e+01] [-9.50417390e-03 -4.51679646e-05 9.99954833e-01 -4.92455404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.17, Y:-65.93, Z:-4.92 [[ 9.76849827e-01 2.13654281e-01 1.07825538e-02 3.70174449e+02] [-2.13642085e-01 9.76909332e-01 -2.28395574e-03 -6.59313918e+01] [-1.10215543e-02 -7.25255037e-05 9.99939258e-01 -4.92315501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.20, Y:-65.94, Z:-4.92 [[ 9.76580394e-01 2.14882452e-01 1.07826318e-02 3.70201706e+02] [-2.14870341e-01 9.76639915e-01 -2.28304084e-03 -6.59372545e+01] [-1.10213340e-02 -8.72948425e-05 9.99939259e-01 -4.92331029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.23, Y:-65.94, Z:-4.92 [[ 9.76294940e-01 2.16173226e-01 1.08317216e-02 3.70228427e+02] [-2.16161093e-01 9.76355020e-01 -2.29262800e-03 -6.59426837e+01] [-1.10712106e-02 -1.03115671e-04 9.99938707e-01 -4.92450494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.25, Y:-65.95, Z:-4.92 [[ 9.75807424e-01 2.18325226e-01 1.15744298e-02 3.70254762e+02] [-2.18311536e-01 9.75876056e-01 -2.44876286e-03 -6.59489714e+01] [-1.18298356e-02 -1.37310559e-04 9.99930016e-01 -4.92435261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.28, Y:-65.96, Z:-4.92 [[ 9.75610026e-01 2.19174046e-01 1.21578799e-02 3.70282060e+02] [-2.19159028e-01 9.75685766e-01 -2.57051565e-03 -6.59554276e+01] [-1.24256607e-02 -1.56688304e-04 9.99922786e-01 -4.92496989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.31, Y:-65.96, Z:-4.93 [[ 9.75389945e-01 2.20121903e-01 1.26808283e-02 3.70308544e+02] [-2.20105658e-01 9.75472356e-01 -2.68010160e-03 -6.59620410e+01] [-1.29597465e-02 -1.76977900e-04 9.99916003e-01 -4.92518029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.34, Y:-65.97, Z:-4.93 [[ 9.75310699e-01 2.20452741e-01 1.30242109e-02 3.70335897e+02] [-2.20435648e-01 9.75397639e-01 -2.75154724e-03 -6.59687051e+01] [-1.33103707e-02 -1.87386920e-04 9.99911396e-01 -4.92555662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.36, Y:-65.97, Z:-4.93 [[ 9.75340662e-01 2.20302326e-01 1.33221110e-02 3.70362398e+02] [-2.20284443e-01 9.75431622e-01 -2.81346880e-03 -6.59749372e+01] [-1.36146221e-02 -1.90563288e-04 9.99907299e-01 -4.92613778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.39, Y:-65.98, Z:-4.93 [[ 9.75510526e-01 2.19579901e-01 1.28016303e-02 3.70389964e+02] [-2.19563339e-01 9.75594504e-01 -2.70251013e-03 -6.59822312e+01] [-1.30826171e-02 -1.74441609e-04 9.99914404e-01 -4.92663799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.42, Y:-65.99, Z:-4.93 [[ 9.75619447e-01 2.19131983e-01 1.21601468e-02 3.70416418e+02] [-2.19117015e-01 9.75695213e-01 -2.56623429e-03 -6.59886134e+01] [-1.24269410e-02 -1.60827001e-04 9.99922770e-01 -4.92735804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.44, Y:-66.00, Z:-4.93 [[ 9.75849042e-01 2.18154957e-01 1.12721650e-02 3.70443443e+02] [-2.18142041e-01 9.75914133e-01 -2.37793932e-03 -6.59961821e+01] [-1.15194244e-02 -1.38423256e-04 9.99933640e-01 -4.92782841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.47, Y:-66.00, Z:-4.93 [[ 9.75971588e-01 2.17613007e-01 1.11372214e-02 3.70470638e+02] [-2.17600372e-01 9.76035123e-01 -2.34868147e-03 -6.60024048e+01] [-1.13814229e-02 -1.31217137e-04 9.99935221e-01 -4.92779893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.50, Y:-66.01, Z:-4.93 [[ 9.76059220e-01 2.17216304e-01 1.12016284e-02 3.70497195e+02] [-2.17203505e-01 9.76123487e-01 -2.36146501e-03 -6.60080411e+01] [-1.14471213e-02 -1.28103263e-04 9.99934471e-01 -4.92829353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.53, Y:-66.01, Z:-4.93 [[ 9.75974655e-01 2.17588285e-01 1.13494710e-02 3.70525038e+02] [-2.17575182e-01 9.76040634e-01 -2.39166933e-03 -6.60138890e+01] [-1.15979441e-02 -1.35154571e-04 9.99932732e-01 -4.92908925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.55, Y:-66.02, Z:-4.93 [[ 9.75792210e-01 2.18425149e-01 1.09552458e-02 3.70552462e+02] [-2.18413002e-01 9.75853695e-01 -2.30785265e-03 -6.60207428e+01] [-1.11948102e-02 -1.40783483e-04 9.99937326e-01 -4.93094275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.58, Y:-66.03, Z:-4.93 [[ 9.75853834e-01 2.18159684e-01 1.07539596e-02 3.70578791e+02] [-2.18147971e-01 9.75913077e-01 -2.26470448e-03 -6.60268564e+01] [-1.09889970e-02 -1.35933923e-04 9.99939610e-01 -4.93125853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.61, Y:-66.03, Z:-4.93 [[ 9.76077186e-01 2.17165387e-01 1.06076378e-02 3.70605199e+02] [-2.17153942e-01 9.76134816e-01 -2.23301325e-03 -6.60331551e+01] [-1.08394178e-02 -1.23897080e-04 9.99941244e-01 -4.93174220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.63, Y:-66.04, Z:-4.93 [[ 9.76377644e-01 2.15819114e-01 1.04310828e-02 3.70632213e+02] [-2.15807978e-01 9.76433356e-01 -2.19497998e-03 -6.60402816e+01] [-1.06589758e-02 -1.07981510e-04 9.99943186e-01 -4.93215262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.66, Y:-66.05, Z:-4.93 [[ 9.77156582e-01 2.12327463e-01 9.05889899e-03 3.70658917e+02] [-2.12318919e-01 9.77198570e-01 -1.90570630e-03 -6.60506470e+01] [-9.25697692e-03 -6.12021919e-05 9.99957151e-01 -4.93381553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.69, Y:-66.06, Z:-4.93 [[ 9.77168535e-01 2.12272439e-01 9.05903487e-03 3.70686830e+02] [-2.12263899e-01 9.77210524e-01 -1.90506016e-03 -6.60563791e+01] [-9.25697597e-03 -6.13412206e-05 9.99957151e-01 -4.93416252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.71, Y:-66.06, Z:-4.93 [[ 9.77409610e-01 2.11183415e-01 8.48646342e-03 3.70712569e+02] [-2.11175882e-01 9.77446450e-01 -1.78427651e-03 -6.60640084e+01] [-8.67187315e-03 -4.81673952e-05 9.99962397e-01 -4.93456587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.74, Y:-66.07, Z:-4.93 [[ 9.77414238e-01 2.11161128e-01 8.50796045e-03 3.70739664e+02] [-2.11153563e-01 9.77451265e-01 -1.78805569e-03 -6.60720165e+01] [-8.69368456e-03 -4.88150770e-05 9.99962208e-01 -4.93465485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.77, Y:-66.08, Z:-4.93 [[ 9.76951474e-01 2.13253110e-01 9.43024120e-03 3.70766345e+02] [-2.13243920e-01 9.76996983e-01 -1.98113544e-03 -6.60813744e+01] [-9.63580050e-03 -7.54684139e-05 9.99953572e-01 -4.93358881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.79, Y:-66.09, Z:-4.93 [[ 9.76443332e-01 2.15548928e-01 9.85285397e-03 3.70792852e+02] [-2.15539021e-01 9.76493036e-01 -2.06921783e-03 -6.60879243e+01] [-1.00672610e-02 -1.03200542e-04 9.99949319e-01 -4.93359839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.82, Y:-66.09, Z:-4.93 [[ 9.75931291e-01 2.17853129e-01 9.90602609e-03 3.70820062e+02] [-2.17843241e-01 9.75981556e-01 -2.07955689e-03 -6.60937608e+01] [-1.01211367e-02 -1.28456195e-04 9.99948772e-01 -4.93405330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.85, Y:-66.10, Z:-4.94 [[ 9.75078861e-01 2.21655700e-01 9.48498359e-03 3.70847310e+02] [-2.21646821e-01 9.75124979e-01 -1.99056407e-03 -6.60991518e+01] [-9.69026430e-03 -1.61359511e-04 9.99953035e-01 -4.93590157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.87, Y:-66.10, Z:-4.94 [[ 9.74928951e-01 2.22298566e-01 9.84316633e-03 3.70873939e+02] [-2.22289043e-01 9.74978624e-01 -2.06505898e-03 -6.61036062e+01] [-1.00559364e-02 -1.74742238e-04 9.99949423e-01 -4.93649731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.90, Y:-66.11, Z:-4.94 [[ 9.74989356e-01 2.21997840e-01 1.06167262e-02 3.70900650e+02] [-2.21986759e-01 9.75047139e-01 -2.22596435e-03 -6.61073635e+01] [-1.08459678e-02 -1.86481088e-04 9.99941163e-01 -4.93677127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.93, Y:-66.11, Z:-4.94 [[ 9.75218775e-01 2.20961267e-01 1.11561766e-02 3.70928026e+02] [-2.20948979e-01 9.75282566e-01 -2.33764007e-03 -6.61116182e+01] [-1.13969524e-02 -1.85235335e-04 9.99935035e-01 -4.93697899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.96, Y:-66.11, Z:-4.94 [[ 9.76312732e-01 2.16100494e-01 1.06782965e-02 3.70955041e+02] [-2.16088952e-01 9.76371119e-01 -2.23683444e-03 -6.61147379e+01] [-1.09093613e-02 -1.23611960e-04 9.99940484e-01 -4.93737769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.98, Y:-66.12, Z:-4.94 [[ 9.77101175e-01 2.12538509e-01 1.00337292e-02 3.70982923e+02] [-2.12528139e-01 9.77152688e-01 -2.10107617e-03 -6.61193928e+01] [-1.02510451e-02 -7.94857942e-05 9.99947453e-01 -4.93787626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.01, Y:-66.12, Z:-4.94 [[ 9.78015612e-01 2.08329900e-01 9.17144914e-03 3.71009170e+02] [-2.08321055e-01 9.78058614e-01 -1.91993981e-03 -6.61241519e+01] [-9.37019569e-03 -3.28748595e-05 9.99956098e-01 -4.93840698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.04, Y:-66.13, Z:-4.94 [[ 9.79019533e-01 2.03569851e-01 8.94814002e-03 3.71036236e+02] [-2.03561240e-01 9.79060425e-01 -1.87238599e-03 -6.61302837e+01] [-9.14193111e-03 1.16079801e-05 9.99958212e-01 -4.93952529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.06, Y:-66.14, Z:-4.94 [[ 9.80781213e-01 1.94895325e-01 9.16651728e-03 3.71062711e+02] [-1.94885915e-01 9.80824043e-01 -1.91747080e-03 -6.61395561e+01] [-9.36444663e-03 9.41942244e-05 9.99956148e-01 -4.93982107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.09, Y:-66.15, Z:-4.94 [[ 9.81417730e-01 1.91660939e-01 9.23712062e-03 3.71089694e+02] [-1.91651247e-01 9.81461191e-01 -1.93151418e-03 -6.61474390e+01] [-9.43607122e-03 1.25316582e-04 9.99955471e-01 -4.93919475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.12, Y:-66.16, Z:-4.94 [[ 9.81741639e-01 1.89969632e-01 9.74135267e-03 3.71116286e+02] [-1.89958776e-01 9.81789956e-01 -2.03632542e-03 -6.61555549e+01] [-9.95080219e-03 1.48690022e-04 9.99950478e-01 -4.93904445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.14, Y:-66.17, Z:-4.94 [[ 9.81718857e-01 1.90037565e-01 1.06681186e-02 3.71143818e+02] [-1.90024558e-01 9.81776806e-01 -2.22926533e-03 -6.61661872e+01] [-1.08973555e-02 1.61307294e-04 9.99940609e-01 -4.93920899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.17, Y:-66.17, Z:-4.94 [[ 9.81556394e-01 1.90875130e-01 1.06644776e-02 3.71171843e+02] [-1.90862187e-01 9.81614314e-01 -2.22798464e-03 -6.61747736e+01] [-1.08936707e-02 1.51447060e-04 9.99940651e-01 -4.93963054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.20, Y:-66.18, Z:-4.94 [[ 9.81359846e-01 1.91900650e-01 1.03437293e-02 3.71198032e+02] [-1.91888535e-01 9.81414348e-01 -2.16050096e-03 -6.61831833e+01] [-1.05660859e-02 1.35385818e-04 9.99944168e-01 -4.93988613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.23, Y:-66.19, Z:-4.94 [[ 9.81066150e-01 1.93396372e-01 1.03466367e-02 3.71225231e+02] [-1.93384340e-01 9.81120701e-01 -2.16045128e-03 -6.61920853e+01] [-1.05691229e-02 1.18668110e-04 9.99944138e-01 -4.94017731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.25, Y:-66.20, Z:-4.94 [[ 9.80432454e-01 1.96570408e-01 1.05960913e-02 3.71251174e+02] [-1.96557981e-01 9.80489708e-01 -2.21201921e-03 -6.62046933e+01] [-1.08241760e-02 8.59891124e-05 9.99941413e-01 -4.93991941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.28, Y:-66.21, Z:-4.94 [[ 9.80152686e-01 1.97925451e-01 1.12351000e-02 3.71278936e+02] [-1.97911576e-01 9.80217073e-01 -2.34467889e-03 -6.62134267e+01] [-1.14769084e-02 7.45869711e-05 9.99934135e-01 -4.94002229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.31, Y:-66.22, Z:-4.94 [[ 9.79936676e-01 1.98966085e-01 1.16879194e-02 3.71305270e+02] [-1.98951151e-01 9.80006374e-01 -2.43860480e-03 -6.62215786e+01] [-1.19394352e-02 6.43532515e-05 9.99928720e-01 -4.94025422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.33, Y:-66.23, Z:-4.94 [[ 9.79718474e-01 2.00023388e-01 1.19313227e-02 3.71332857e+02] [-2.00007912e-01 9.79791121e-01 -2.48866914e-03 -6.62292632e+01] [-1.21879961e-02 5.18361974e-05 9.99925722e-01 -4.94083510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.36, Y:-66.24, Z:-4.94 [[ 9.78981062e-01 2.03623346e-01 1.15591528e-02 3.71360354e+02] [-2.03609078e-01 9.79049301e-01 -2.41050938e-03 -6.62361633e+01] [-1.18078164e-02 6.29459460e-06 9.99930285e-01 -4.94205840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.39, Y:-66.24, Z:-4.94 [[ 9.78568228e-01 2.05635487e-01 1.08751919e-02 3.71387547e+02] [-2.05622987e-01 9.78628656e-01 -2.26740871e-03 -6.62415957e+01] [-1.11090341e-02 -1.73753170e-05 9.99938293e-01 -4.94193611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.42, Y:-66.25, Z:-4.94 [[ 9.78269178e-01 2.07095993e-01 1.00331986e-02 3.71416373e+02] [-2.07085436e-01 9.78320627e-01 -2.09130451e-03 -6.62469953e+01] [-1.02487859e-02 -3.18705657e-05 9.99947479e-01 -4.94219563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.44, Y:-66.25, Z:-4.94 [[ 9.78197433e-01 2.07461188e-01 9.46775321e-03 3.71443553e+02] [-2.07451809e-01 9.78243249e-01 -1.97303424e-03 -6.62530287e+01] [-9.67109369e-03 -3.40854954e-05 9.99953233e-01 -4.94183449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.47, Y:-66.26, Z:-4.94 [[ 9.78513516e-01 2.05945105e-01 9.89507817e-03 3.71471426e+02] [-2.05934789e-01 9.78563546e-01 -2.06141237e-03 -6.62598515e+01] [-1.01075006e-02 -2.06209648e-05 9.99948918e-01 -4.94251975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.50, Y:-66.27, Z:-4.94 [[ 9.79027930e-01 2.03428788e-01 1.10018523e-02 3.71499489e+02] [-2.03415882e-01 9.79089745e-01 -2.29138318e-03 -6.62669245e+01] [-1.12379340e-02 5.37665149e-06 9.99936852e-01 -4.94295388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.53, Y:-66.27, Z:-4.94 [[ 9.79666788e-01 2.00290049e-01 1.16995816e-02 3.71526349e+02] [-2.00275238e-01 9.79736645e-01 -2.43608903e-03 -6.62742898e+01] [-1.19504332e-02 4.34190352e-05 9.99928590e-01 -4.94315439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.55, Y:-66.28, Z:-4.94 [[ 9.81162147e-01 1.92827897e-01 1.17577054e-02 3.71554161e+02] [-1.92812411e-01 9.81232584e-01 -2.44746211e-03 -6.62842921e+01] [-1.20089826e-02 1.34325655e-04 9.99927881e-01 -4.94333397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.58, Y:-66.29, Z:-4.94 [[ 9.81779244e-01 1.89688530e-01 1.13038775e-02 3.71582063e+02] [-1.89674011e-01 9.81844302e-01 -2.35273104e-03 -6.62920965e+01] [-1.15449338e-02 1.65810723e-04 9.99933341e-01 -4.94370496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.61, Y:-66.30, Z:-4.94 [[ 9.82242556e-01 1.87341152e-01 1.01416569e-02 3.71611153e+02] [-1.87329343e-01 9.82294896e-01 -2.11056654e-03 -6.63001329e+01] [-1.03574937e-02 1.73258353e-04 9.99946345e-01 -4.94376239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.64, Y:-66.31, Z:-4.94 [[ 9.82760974e-01 1.84621409e-01 9.78796433e-03 3.71639168e+02] [-1.84610277e-01 9.82809695e-01 -2.03670841e-03 -6.63101156e+01] [-9.99572622e-03 1.94638729e-04 9.99950023e-01 -4.94455626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.67, Y:-66.32, Z:-4.94 [[ 9.82930716e-01 1.83674801e-01 1.05249524e-02 3.71668878e+02] [-1.83661877e-01 9.82987039e-01 -2.18990862e-03 -6.63189720e+01] [-1.07481228e-02 2.19495943e-04 9.99942213e-01 -4.94450790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.70, Y:-66.33, Z:-4.95 [[ 9.83063108e-01 1.82907879e-01 1.14731937e-02 3.71698277e+02] [-1.82892469e-01 9.83130025e-01 -2.38720223e-03 -6.63280444e+01] [-1.17162793e-02 2.48409712e-04 9.99931331e-01 -4.94500722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.73, Y:-66.34, Z:-4.95 [[ 9.83104826e-01 1.82732038e-01 1.06725878e-02 3.71727233e+02] [-1.82718692e-01 9.83162727e-01 -2.22072390e-03 -6.63417644e+01] [-1.08986879e-02 2.33123111e-04 9.99940580e-01 -4.94564952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.76, Y:-66.35, Z:-4.95 [[ 9.83092638e-01 1.82863536e-01 9.47585600e-03 3.71755795e+02] [-1.82853019e-01 9.83138284e-01 -1.97193274e-03 -6.63516746e+01] [-9.67667140e-03 2.05903677e-04 9.99953159e-01 -4.94612929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.79, Y:-66.36, Z:-4.95 [[ 9.83047134e-01 1.83170188e-01 8.18620409e-03 3.71785274e+02] [-1.83162350e-01 9.83081203e-01 -1.70358867e-03 -6.63616810e+01] [-8.35975002e-03 1.75303583e-04 9.99965041e-01 -4.94769056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.82, Y:-66.37, Z:-4.95 [[ 9.82927432e-01 1.83857546e-01 7.07574473e-03 3.71815075e+02] [-1.83851707e-01 9.82952889e-01 -1.47262569e-03 -6.63712122e+01] [-7.22587707e-03 1.46596443e-04 9.99973882e-01 -4.94831341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.85, Y:-66.38, Z:-4.95 [[ 9.82638113e-01 1.85397858e-01 7.06912444e-03 3.71845554e+02] [-1.85392069e-01 9.82663531e-01 -1.47141332e-03 -6.63807329e+01] [-7.21936767e-03 1.35307203e-04 9.99973931e-01 -4.94815804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.87, Y:-66.39, Z:-4.95 [[ 9.81681294e-01 1.90315926e-01 9.03796918e-03 3.71874911e+02] [-1.90306667e-01 9.81722890e-01 -1.88154455e-03 -6.63910824e+01] [-9.23086912e-03 1.27091297e-04 9.99957387e-01 -4.94695172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.90, Y:-66.40, Z:-4.95 [[ 9.81164460e-01 1.92904925e-01 1.01976255e-02 3.71904614e+02] [-1.92893276e-01 9.81217446e-01 -2.12312066e-03 -6.63989197e+01] [-1.04156485e-02 1.16077147e-04 9.99945749e-01 -4.94728783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.93, Y:-66.41, Z:-4.95 [[ 9.80154203e-01 1.97986997e-01 9.94421232e-03 3.71932421e+02] [-1.97976181e-01 9.80204645e-01 -2.07038341e-03 -6.64082115e+01] [-1.01572721e-02 6.05778243e-05 9.99948412e-01 -4.94878203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.96, Y:-66.42, Z:-4.95 [[ 9.79703018e-01 2.00275189e-01 8.47615676e-03 3.71961807e+02] [-2.00267417e-01 9.79739684e-01 -1.76461756e-03 -6.64169410e+01] [-8.65783626e-03 3.13031279e-05 9.99962520e-01 -4.94938708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.99, Y:-66.43, Z:-4.95 [[ 9.79340228e-01 2.02100760e-01 6.92829222e-03 3.71991160e+02] [-2.02095613e-01 9.79364734e-01 -1.44237376e-03 -6.64250733e+01] [-7.07682990e-03 1.23971824e-05 9.99974959e-01 -4.95026544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.02, Y:-66.43, Z:-4.95 [[ 9.78986524e-01 2.03854623e-01 5.35523243e-03 3.72019728e+02] [-2.03851574e-01 9.79001171e-01 -1.11495896e-03 -6.64325912e+01] [-5.47006836e-03 -1.42763774e-07 9.99985039e-01 -4.95080155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.05, Y:-66.44, Z:-4.95 [[ 9.77958064e-01 2.08765036e-01 3.89680287e-03 3.72047922e+02] [-2.08763459e-01 9.77965827e-01 -8.11485142e-04 -6.64395885e+01] [-3.98034976e-03 -1.99116089e-05 9.99992078e-01 -4.95134539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.08, Y:-66.44, Z:-4.95 [[ 9.77280204e-01 2.11913905e-01 3.98735963e-03 3.72076011e+02] [-2.11912282e-01 9.77288338e-01 -8.30288694e-04 -6.64448961e+01] [-4.07274979e-03 -3.35457733e-05 9.99991706e-01 -4.95124858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.10, Y:-66.45, Z:-4.95 [[ 9.76605850e-01 2.15000307e-01 3.98520815e-03 3.72103292e+02] [-2.14998711e-01 9.76613980e-01 -8.29749297e-04 -6.64491749e+01] [-4.07040634e-03 -4.64765975e-05 9.99991715e-01 -4.95180223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.13, Y:-66.45, Z:-4.95 [[ 9.75922253e-01 2.18086390e-01 3.75273293e-03 3.72132257e+02] [-2.18084998e-01 9.75929466e-01 -7.81079820e-04 -6.64531706e+01] [-3.83274553e-03 -5.61415788e-05 9.99992653e-01 -4.95198525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.37576923100005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:372.16, Y:-66.45, Z:-4.95 [[ 9.74766068e-01 2.23189954e-01 4.16625831e-03 3.72160979e+02] [-2.23188286e-01 9.74774968e-01 -8.66992346e-04 -6.64542008e+01] [-4.25466829e-03 -8.47453312e-05 9.99990945e-01 -4.95258244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4057692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:372.19, Y:-66.46, Z:-4.95 [[ 9.74437938e-01 2.24570538e-01 6.22729758e-03 3.72188227e+02] [-2.24566845e-01 9.74457826e-01 -1.29524325e-03 -6.64580973e+01] [-6.35911234e-03 -1.36310403e-04 9.99979771e-01 -4.95207812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.22, Y:-66.46, Z:-4.95 [[ 9.74440802e-01 2.24476798e-01 8.67697074e-03 3.72217550e+02] [-2.24469630e-01 9.74479415e-01 -1.80389171e-03 -6.64631529e+01] [-8.86046121e-03 -1.89930726e-04 9.99960727e-01 -4.95145737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.25, Y:-66.47, Z:-4.95 [[ 9.75376553e-01 2.20295381e-01 1.05130903e-02 3.72246396e+02] [-2.20284619e-01 9.75433192e-01 -2.18530625e-03 -6.64675585e+01] [-1.07362300e-02 -1.84375601e-04 9.99942348e-01 -4.95135447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.27, Y:-66.47, Z:-4.95 [[ 9.76144134e-01 2.16856917e-01 1.07567571e-02 3.72274987e+02] [-2.16845445e-01 9.76203388e-01 -2.23565332e-03 -6.64734090e+01] [-1.09855996e-02 -1.50233914e-04 9.99939645e-01 -4.95205018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5257692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:372.31, Y:-66.48, Z:-4.95 [[ 9.76950425e-01 2.13166903e-01 1.13021831e-02 3.72305815e+02] [-2.13153992e-01 9.77015792e-01 -2.34885207e-03 -6.64804138e+01] [-1.15431089e-02 -1.14393425e-04 9.99933370e-01 -4.95305206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.55576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:372.34, Y:-66.49, Z:-4.95 [[ 9.77683242e-01 2.09762108e-01 1.16334163e-02 3.72337919e+02] [-2.09748186e-01 9.77752449e-01 -2.41792732e-03 -6.64882420e+01] [-1.18817908e-02 -7.61209272e-05 9.99929406e-01 -4.95318776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.58576923100003 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:372.37, Y:-66.50, Z:-4.95 [[ 9.78786175e-01 2.04581971e-01 1.11283338e-02 3.72368584e+02] [-2.04568872e-01 9.78849435e-01 -2.31508633e-03 -6.64985825e+01] [-1.13665882e-02 -1.05362056e-05 9.99935398e-01 -4.95324597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.61576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:372.40, Y:-66.51, Z:-4.95 [[ 9.78974528e-01 2.03738430e-01 9.97623883e-03 3.72400878e+02] [-2.03727842e-01 9.79025358e-01 -2.07702496e-03 -6.65074487e+01] [-1.01901606e-02 9.16923841e-07 9.99948079e-01 -4.95387612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.64576923100003 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:372.43, Y:-66.52, Z:-4.95 [[ 9.78950618e-01 2.03929287e-01 8.27848053e-03 3.72432879e+02] [-2.03921992e-01 9.78985621e-01 -1.72479811e-03 -6.65160346e+01] [-8.45625025e-03 3.27928102e-07 9.99964245e-01 -4.95399513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.67576923100006 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:372.46, Y:-66.52, Z:-4.95 [[ 9.78938470e-01 2.03987613e-01 8.27805281e-03 3.72464833e+02] [-2.03980303e-01 9.78973469e-01 -1.72684824e-03 -6.65227993e+01] [-8.45624973e-03 1.91845150e-06 9.99964245e-01 -4.95439319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.70576923100003 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:372.50, Y:-66.53, Z:-4.96 [[ 9.78755866e-01 2.04906727e-01 7.08433275e-03 3.72496100e+02] [-2.04901399e-01 9.78781504e-01 -1.47756840e-03 -6.65308930e+01] [-7.23677757e-03 -5.41095710e-06 9.99973814e-01 -4.95508201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.73576923100006 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:372.53, Y:-66.54, Z:-4.95 [[ 9.77999497e-01 2.08451860e-01 8.05025409e-03 3.72526047e+02] [-2.08445081e-01 9.78032628e-01 -1.68144668e-03 -6.65391412e+01] [-8.22391185e-03 -3.35818637e-05 9.99966183e-01 -4.95452497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:372.56, Y:-66.55, Z:-4.95 [[ 9.77430276e-01 2.11065169e-01 9.03050066e-03 3.72555285e+02] [-2.11056747e-01 9.77471990e-01 -1.88648401e-03 -6.65464479e+01] [-9.22523251e-03 -6.20415109e-05 9.99957445e-01 -4.95415321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.79576923100007 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:372.59, Y:-66.55, Z:-4.95 [[ 9.76858688e-01 2.13645532e-01 1.01336080e-02 3.72585576e+02] [-2.13635064e-01 9.76911243e-01 -2.11704504e-03 -6.65542198e+01] [-1.03519328e-02 -9.68401577e-05 9.99946413e-01 -4.95470915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82576923100004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:372.62, Y:-66.56, Z:-4.96 [[ 9.76041233e-01 2.17307887e-01 1.09905889e-02 3.72616935e+02] [-2.17295805e-01 9.76103099e-01 -2.29620865e-03 -6.65634552e+01] [-1.12269321e-02 -1.47014540e-04 9.99936965e-01 -4.95565450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.85576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:372.65, Y:-66.57, Z:-4.96 [[ 9.75863439e-01 2.18114777e-01 1.07932030e-02 3.72648211e+02] [-2.18103150e-01 9.75923112e-01 -2.25720564e-03 -6.65719988e+01] [-1.10256662e-02 -1.51307115e-04 9.99939204e-01 -4.95656606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:372.68, Y:-66.58, Z:-4.96 [[ 9.76252806e-01 2.16384650e-01 1.03991486e-02 3.72679128e+02] [-2.16373746e-01 9.76308183e-01 -2.17595204e-03 -6.65841014e+01] [-1.06236165e-02 -1.25823451e-04 9.99943560e-01 -4.95758843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.91576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:372.71, Y:-66.59, Z:-4.96 [[ 9.76643183e-01 2.14590408e-01 1.09109721e-02 3.72709947e+02] [-2.14578266e-01 9.76704124e-01 -2.28529100e-03 -6.65944392e+01] [-1.11471930e-02 -1.09343604e-04 9.99937862e-01 -4.95760236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.94576923100004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:372.74, Y:-66.61, Z:-4.96 [[ 9.77076538e-01 2.12583582e-01 1.13867705e-02 3.72741260e+02] [-2.12570198e-01 9.77142882e-01 -2.38708622e-03 -6.66050406e+01] [-1.16339571e-02 -8.81221292e-05 9.99932319e-01 -4.95735568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.9757692310001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:372.77, Y:-66.62, Z:-4.96 [[ 9.77668202e-01 2.09924730e-01 9.82321240e-03 3.72772336e+02] [-2.09914619e-01 9.77717549e-01 -2.06085974e-03 -6.66199431e+01] [-1.00369526e-02 -4.71988506e-05 9.99949627e-01 -4.95838922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.00576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:372.80, Y:-66.63, Z:-4.96 [[ 9.77747252e-01 2.09637263e-01 7.90758594e-03 3.72802568e+02] [-2.09630692e-01 9.77779227e-01 -1.66015891e-03 -6.66306791e+01] [-8.07990444e-03 -3.44569031e-05 9.99967356e-01 -4.95952153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0357692310001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:372.83, Y:-66.64, Z:-4.96 [[ 9.77688566e-01 2.09972582e-01 6.04833754e-03 3.72833871e+02] [-2.09968741e-01 9.77707274e-01 -1.27036775e-03 -6.66418534e+01] [-6.18024601e-03 -2.79377970e-05 9.99980902e-01 -4.95788584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.06576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:372.86, Y:-66.66, Z:-4.96 [[ 9.76767365e-01 2.14267854e-01 3.84730111e-03 3.72863444e+02] [-2.14266331e-01 9.76774941e-01 -8.08586248e-04 -6.66551038e+01] [-3.93120136e-03 -3.45464339e-05 9.99992272e-01 -4.96043646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0957692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:372.90, Y:-66.66, Z:-4.96 [[ 9.75999430e-01 2.17740508e-01 3.76621554e-03 3.72895404e+02] [-2.17739076e-01 9.76006695e-01 -7.91391339e-04 -6.66644164e+01] [-3.84816953e-03 -4.76547941e-05 9.99992595e-01 -4.96018758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.12576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:372.93, Y:-66.67, Z:-4.96 [[ 9.75114988e-01 2.21647118e-01 4.82851730e-03 3.72926191e+02] [-2.21644800e-01 9.75126940e-01 -1.01677066e-03 -6.66729803e+01] [-4.93378159e-03 -7.87474407e-05 9.99987826e-01 -4.96009643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1557692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:372.96, Y:-66.68, Z:-4.96 [[ 9.74169961e-01 2.25736971e-01 5.97553828e-03 3.72958044e+02] [-2.25733493e-01 9.74188280e-01 -1.25895629e-03 -6.66813231e+01] [-6.10549234e-03 -1.22441730e-04 9.99981354e-01 -4.96014713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.18576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:372.99, Y:-66.69, Z:-4.96 [[ 9.72555466e-01 2.32553851e-01 7.38728291e-03 3.72989169e+02] [-2.32548716e-01 9.72583501e-01 -1.55845664e-03 -6.66887134e+01] [-7.54717457e-03 -2.02217631e-04 9.99971499e-01 -4.96039852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2157692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:373.02, Y:-66.69, Z:-4.96 [[ 9.72002690e-01 2.34853260e-01 7.39703710e-03 3.73020163e+02] [-2.34848169e-01 9.72030811e-01 -1.56188309e-03 -6.66944686e+01] [-7.55696131e-03 -2.19026053e-04 9.99971422e-01 -4.96089617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.24576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:373.05, Y:-66.70, Z:-4.96 [[ 9.71638497e-01 2.36346784e-01 7.67003842e-03 3.73052933e+02] [-2.36341345e-01 9.71668740e-01 -1.62094609e-03 -6.67005443e+01] [-7.83584197e-03 -2.37773579e-04 9.99969271e-01 -4.96172143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2757692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:373.09, Y:-66.71, Z:-4.96 [[ 9.71479452e-01 2.36991742e-01 7.91132476e-03 3.73085131e+02] [-2.36985964e-01 9.71511633e-01 -1.67353717e-03 -6.67055283e+01] [-8.08255852e-03 -2.49065952e-04 9.99967305e-01 -4.96104468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.30576923100006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:373.12, Y:-66.71, Z:-4.96 [[ 9.71604830e-01 2.36487797e-01 7.58785706e-03 3.73118004e+02] [-2.36482456e-01 9.71634431e-01 -1.60643562e-03 -6.67115232e+01] [-7.75252560e-03 -2.33574463e-04 9.99969921e-01 -4.96138947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.33576923100003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:373.15, Y:-66.72, Z:-4.96 [[ 9.71805495e-01 2.35662270e-01 7.57454199e-03 3.73150337e+02] [-2.35656911e-01 9.71834988e-01 -1.60512593e-03 -6.67174486e+01] [-7.73947255e-03 -2.25122971e-04 9.99970024e-01 -4.96182240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.36576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:373.18, Y:-66.72, Z:-4.96 [[ 9.72091434e-01 2.34412357e-01 9.43875115e-03 3.73181460e+02] [-2.34403952e-01 9.72137221e-01 -2.00274398e-03 -6.67228557e+01] [-9.64522925e-03 -2.65630304e-04 9.99953448e-01 -4.96223803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.39576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:373.21, Y:-66.73, Z:-4.96 [[ 9.71944748e-01 2.34988299e-01 1.01934006e-02 3.73214251e+02] [-2.34978506e-01 9.71998156e-01 -2.16499904e-03 -6.67295205e+01] [-1.04167160e-02 -2.90970599e-04 9.99945702e-01 -4.96193881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.42576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:373.25, Y:-66.74, Z:-4.96 [[ 9.71598788e-01 2.36374462e-01 1.10863876e-02 3.73246874e+02] [-2.36362942e-01 9.71661981e-01 -2.35697019e-03 -6.67355375e+01] [-1.13293489e-02 -3.30381792e-04 9.99935766e-01 -4.96256746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.28, Y:-66.74, Z:-4.96 [[ 9.70325383e-01 2.41529513e-01 1.14954654e-02 3.73279659e+02] [-2.41517461e-01 9.70393390e-01 -2.44620629e-03 -6.67394044e+01] [-1.17459546e-02 -4.02739558e-04 9.99930933e-01 -4.96298318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.48576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:373.31, Y:-66.74, Z:-4.96 [[ 9.69543201e-01 2.44686016e-01 1.07114886e-02 3.73311310e+02] [-2.44675723e-01 9.69602283e-01 -2.28126289e-03 -6.67442413e+01] [-1.09440769e-02 -4.09058303e-04 9.99940028e-01 -4.96319641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.51576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:373.34, Y:-66.75, Z:-4.96 [[ 9.68864992e-01 2.47405686e-01 9.54218893e-03 3.73344080e+02] [-2.47397636e-01 9.68911902e-01 -2.03363768e-03 -6.67492566e+01] [-9.74867395e-03 -3.90394628e-04 9.99952404e-01 -4.96454096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.54576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:373.38, Y:-66.75, Z:-4.97 [[ 9.67987631e-01 2.50843214e-01 8.81063697e-03 3.73376822e+02] [-2.50836477e-01 9.68027649e-01 -1.87953373e-03 -6.67511648e+01] [-9.00040848e-03 -3.90663730e-04 9.99959419e-01 -4.96588606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.57576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:373.41, Y:-66.75, Z:-4.97 [[ 9.67767351e-01 2.51673767e-01 9.30964986e-03 3.73406876e+02] [-2.51666268e-01 9.67812037e-01 -1.98754072e-03 -6.67542309e+01] [-9.51020306e-03 -4.19447819e-04 9.99954689e-01 -4.96609188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.60576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:373.44, Y:-66.76, Z:-4.97 [[ 9.67546788e-01 2.52488413e-01 1.01397154e-02 3.73438490e+02] [-2.52479562e-01 9.67599806e-01 -2.16471063e-03 -6.67573807e+01] [-1.03577510e-02 -4.65612084e-04 9.99946249e-01 -4.96571798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.63576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:373.47, Y:-66.76, Z:-4.97 [[ 9.67334047e-01 2.53318761e-01 9.71837666e-03 3.73470247e+02] [-2.53310672e-01 9.67382757e-01 -2.07491337e-03 -6.67559141e+01] [-9.92700449e-03 -4.54634173e-04 9.99950623e-01 -4.96614126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.50, Y:-66.76, Z:-4.97 [[ 9.67369186e-01 2.53214839e-01 8.89397726e-03 3.73498409e+02] [-2.53208052e-01 9.67409982e-01 -1.89968349e-03 -6.67573585e+01] [-9.08515043e-03 -4.14331383e-04 9.99958643e-01 -4.96689653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.53, Y:-66.76, Z:-4.97 [[ 9.67512099e-01 2.52681529e-01 8.50786082e-03 3.73527338e+02] [-2.52675303e-01 9.67549426e-01 -1.81672146e-03 -6.67591384e+01] [-8.69082781e-03 -3.92026318e-04 9.99962157e-01 -4.96723517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.56, Y:-66.76, Z:-4.97 [[ 9.67775472e-01 2.51653085e-01 9.02001876e-03 3.73557043e+02] [-2.51646046e-01 9.67817421e-01 -1.92558248e-03 -6.67615409e+01] [-9.21431006e-03 -4.06320557e-04 9.99957465e-01 -4.96805361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.59, Y:-66.76, Z:-4.97 [[ 9.68933810e-01 2.47121770e-01 9.90466174e-03 3.73586778e+02] [-2.47113048e-01 9.68984351e-01 -2.11416581e-03 -6.67597356e+01] [-1.01199186e-02 -3.99084422e-04 9.99948713e-01 -4.96818217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.62, Y:-66.76, Z:-4.97 [[ 9.69804226e-01 2.43693070e-01 9.66699874e-03 3.73615575e+02] [-2.43684594e-01 9.69852340e-01 -2.06322922e-03 -6.67619717e+01] [-9.87835601e-03 -3.54770251e-04 9.99951145e-01 -4.96815679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.65, Y:-66.77, Z:-4.97 [[ 9.70773381e-01 2.39810697e-01 9.48013602e-03 3.73646395e+02] [-2.39802366e-01 9.70819620e-01 -2.02279292e-03 -6.67655898e+01] [-9.68858942e-03 -3.09685527e-04 9.99953017e-01 -4.96825141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:373.68, Y:-66.77, Z:-4.97 [[ 9.72603389e-01 2.32319895e-01 8.37342032e-03 3.73675645e+02] [-2.32313118e-01 9.72639411e-01 -1.78669544e-03 -6.67690435e+01] [-8.55940350e-03 -2.07509339e-04 9.99963346e-01 -4.96835249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.87576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:373.70, Y:-66.77, Z:-4.97 [[ 9.73285943e-01 2.29447147e-01 8.27532917e-03 3.73704516e+02] [-2.29440422e-01 9.73321106e-01 -1.76579159e-03 -6.67741187e+01] [-8.45970838e-03 -1.80074887e-04 9.99964200e-01 -4.96902508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.73, Y:-66.78, Z:-4.97 [[ 9.73638825e-01 2.27931503e-01 8.64113640e-03 3.73733734e+02] [-2.27924116e-01 9.73677154e-01 -1.84333327e-03 -6.67783539e+01] [-8.83383082e-03 -1.74782536e-04 9.99960966e-01 -4.96947167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.76, Y:-66.78, Z:-4.97 [[ 9.73786724e-01 2.27279515e-01 9.13450657e-03 3.73761825e+02] [-2.27271234e-01 9.73829549e-01 -1.94836770e-03 -6.67817159e+01] [-9.33827647e-03 -1.78715980e-04 9.99956381e-01 -4.96991922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.79, Y:-66.78, Z:-4.97 [[ 9.73778447e-01 2.27240465e-01 1.08308836e-02 3.73791747e+02] [-2.27228825e-01 9.73838655e-01 -2.30970229e-03 -6.67845383e+01] [-1.10723910e-02 -2.11950657e-04 9.99938677e-01 -4.96995206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.82, Y:-66.79, Z:-4.97 [[ 9.73811750e-01 2.27067139e-01 1.14538041e-02 3.73819972e+02] [-2.27054113e-01 9.73879081e-01 -2.44224467e-03 -6.67893748e+01] [-1.17091737e-02 -2.22346764e-04 9.99931421e-01 -4.97005103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.85, Y:-66.79, Z:-4.97 [[ 9.73823542e-01 2.27016266e-01 1.14596306e-02 3.73849227e+02] [-2.27003229e-01 9.73890941e-01 -2.44305640e-03 -6.67940652e+01] [-1.17150440e-02 -2.22267310e-04 9.99931352e-01 -4.97058249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.88, Y:-66.80, Z:-4.97 [[ 9.73802923e-01 2.27129973e-01 1.09472401e-02 3.73877746e+02] [-2.27118085e-01 9.73864431e-01 -2.33356914e-03 -6.67967894e+01] [-1.11911512e-02 -2.13879748e-04 9.99937354e-01 -4.97229015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.91, Y:-66.80, Z:-4.97 [[ 9.73847558e-01 2.26949257e-01 1.07223522e-02 3.73906025e+02] [-2.26937846e-01 9.73906562e-01 -2.28524932e-03 -6.68017758e+01] [-1.09612048e-02 -2.07823040e-04 9.99939903e-01 -4.97322648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.93, Y:-66.81, Z:-4.97 [[ 9.73928992e-01 2.26613234e-01 1.04288377e-02 3.73933533e+02] [-2.26602426e-01 9.73984806e-01 -2.22221470e-03 -6.68069098e+01] [-1.06611127e-02 -1.98920589e-04 9.99943149e-01 -4.97309063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.96, Y:-66.81, Z:-4.97 [[ 9.74158452e-01 2.25660591e-01 9.62331911e-03 3.73962106e+02] [-2.25651347e-01 9.74205968e-01 -2.05001092e-03 -6.68108069e+01] [-9.83770158e-03 -1.74479448e-04 9.99951593e-01 -4.97231535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.99, Y:-66.81, Z:-4.97 [[ 9.74172889e-01 2.25548996e-01 1.07159706e-02 3.73990945e+02] [-2.25537532e-01 9.74231807e-01 -2.28218685e-03 -6.68148895e+01] [-1.09545844e-02 -1.93609016e-04 9.99939978e-01 -4.97188685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.02, Y:-66.82, Z:-4.97 [[ 9.73932330e-01 2.26500083e-01 1.23906544e-02 3.74018339e+02] [-2.26484842e-01 9.74011117e-01 -2.63814192e-03 -6.68184481e+01] [-1.26661745e-02 -2.36923708e-04 9.99919753e-01 -4.97161327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.05, Y:-66.82, Z:-4.97 [[ 9.73441873e-01 2.28514258e-01 1.38619398e-02 3.74046242e+02] [-2.28495400e-01 9.73540521e-01 -2.95047240e-03 -6.68218055e+01] [-1.41693851e-02 -2.95276100e-04 9.99899566e-01 -4.97150151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.08, Y:-66.83, Z:-4.97 [[ 9.72918153e-01 2.30727067e-01 1.39745424e-02 3.74075357e+02] [-2.30708141e-01 9.73018454e-01 -2.97361990e-03 -6.68250666e+01] [-1.42835822e-02 -3.30951914e-04 9.99897930e-01 -4.97212974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.11, Y:-66.83, Z:-4.97 [[ 9.72338635e-01 2.33278422e-01 1.17795129e-02 3.74105178e+02] [-2.33265168e-01 9.72409935e-01 -2.50606272e-03 -6.68251890e+01] [-1.20391257e-02 -3.11008441e-04 9.99927479e-01 -4.97480815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:374.13, Y:-66.83, Z:-4.98 [[ 9.72515840e-01 2.32602904e-01 1.04321435e-02 3.74132979e+02] [-2.32592474e-01 9.72571754e-01 -2.21898985e-03 -6.68274224e+01] [-1.06621516e-02 -2.68435278e-04 9.99943122e-01 -4.97616344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.35576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:374.16, Y:-66.83, Z:-4.98 [[ 9.72958066e-01 2.30798758e-01 9.19425162e-03 3.74160401e+02] [-2.30790580e-01 9.73001483e-01 -1.95520692e-03 -6.68304623e+01] [-9.39727979e-03 -2.19612322e-04 9.99955820e-01 -4.97761188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:374.19, Y:-66.84, Z:-4.98 [[ 9.74479322e-01 2.24372366e-01 6.86244801e-03 3.74188492e+02] [-2.24367654e-01 9.74503477e-01 -1.45897844e-03 -6.68351659e+01] [-7.01483389e-03 -1.17967033e-04 9.99975389e-01 -4.97864886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.41576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:374.22, Y:-66.84, Z:-4.98 [[ 9.75509668e-01 2.19838986e-01 7.19082410e-03 3.74217144e+02] [-2.19833693e-01 9.75536167e-01 -1.52814746e-03 -6.68409598e+01] [-7.35085537e-03 -9.00627921e-05 9.99972978e-01 -4.97881298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.44576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:374.24, Y:-66.85, Z:-4.98 [[ 9.76668683e-01 2.14605924e-01 7.91081241e-03 3.74244201e+02] [-2.14599350e-01 9.76700719e-01 -1.68074394e-03 -6.68458018e+01] [-8.08719378e-03 -5.61252317e-05 9.99967297e-01 -4.97908589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.4757692310001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:374.27, Y:-66.85, Z:-4.98 [[ 9.78981356e-01 2.03664873e-01 1.07760651e-02 3.74272475e+02] [-2.03652020e-01 9.79040662e-01 -2.28851617e-03 -6.68523444e+01] [-1.10162963e-02 4.58472311e-05 9.99939318e-01 -4.97983111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.50576923100004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:374.30, Y:-66.86, Z:-4.98 [[ 9.79914242e-01 1.99099488e-01 1.12903541e-02 3.74301147e+02] [-1.99085081e-01 9.79979277e-01 -2.39728186e-03 -6.68609522e+01] [-1.15416106e-02 1.01389581e-04 9.99933388e-01 -4.98037128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5357692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:374.33, Y:-66.87, Z:-4.98 [[ 9.80655246e-01 1.95427952e-01 1.10997143e-02 3.74328941e+02] [-1.95413795e-01 9.80718051e-01 -2.35653588e-03 -6.68695700e+01] [-1.13462232e-02 1.41911975e-04 9.99935619e-01 -4.98115294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.56576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:374.36, Y:-66.88, Z:-4.98 [[ 9.81131225e-01 1.93098091e-01 9.72867383e-03 3.74356393e+02] [-1.93087104e-01 9.81179446e-01 -2.06513982e-03 -6.68785099e+01] [-9.94434936e-03 1.47691713e-04 9.99950543e-01 -4.98143226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5957692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:374.39, Y:-66.88, Z:-4.98 [[ 9.81133511e-01 1.93086471e-01 9.72875933e-03 3.74385909e+02] [-1.93075487e-01 9.81181733e-01 -2.06473694e-03 -6.68847338e+01] [-9.94435371e-03 1.47397655e-04 9.99950543e-01 -4.98179958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.62576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:374.41, Y:-66.90, Z:-4.98 [[ 9.81571090e-01 1.90952302e-01 7.44404306e-03 3.74413148e+02] [-1.90945810e-01 9.81599308e-01 -1.57979330e-03 -6.68976903e+01] [-7.60873268e-03 1.29270593e-04 9.99971045e-01 -4.98169541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6557692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:374.44, Y:-66.91, Z:-4.98 [[ 9.81640450e-01 1.90612502e-01 6.99286517e-03 3.74441099e+02] [-1.90606765e-01 9.81665350e-01 -1.48402688e-03 -6.69076574e+01] [-7.14752750e-03 1.23893408e-04 9.99974448e-01 -4.98196804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.68576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:374.47, Y:-66.92, Z:-4.98 [[ 9.81604459e-01 1.90799975e-01 6.93225668e-03 3.74469028e+02] [-1.90794343e-01 9.81628929e-01 -1.47093431e-03 -6.69170320e+01] [-7.08555793e-03 1.21240315e-04 9.99974890e-01 -4.98220111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7157692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:374.50, Y:-66.93, Z:-4.98 [[ 9.81429762e-01 1.91679734e-01 7.38249932e-03 3.74497445e+02] [-1.91673372e-01 9.81457521e-01 -1.56642503e-03 -6.69260527e+01] [-7.54586141e-03 1.22307609e-04 9.99971522e-01 -4.98234373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.74576923100005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:374.53, Y:-66.94, Z:-4.98 [[ 9.80591212e-01 1.95864488e-01 8.83046714e-03 3.74525664e+02] [-1.95855558e-01 9.80630966e-01 -1.87338129e-03 -6.69377374e+01] [-9.02635839e-03 1.07525164e-04 9.99959256e-01 -4.98179094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7757692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:374.55, Y:-66.95, Z:-4.98 [[ 9.80118387e-01 1.98167448e-01 9.87978218e-03 3.74554076e+02] [-1.98156390e-01 9.80168176e-01 -2.09564012e-03 -6.69469225e+01] [-1.00991357e-02 9.62334481e-05 9.99948998e-01 -4.98176846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.80576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:374.58, Y:-66.96, Z:-4.98 [[ 9.79763842e-01 1.99873056e-01 1.06571730e-02 3.74583074e+02] [-1.99860288e-01 9.79821797e-01 -2.26070851e-03 -6.69562790e+01] [-1.08939852e-02 8.50147794e-05 9.99940655e-01 -4.98178408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.83576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:374.61, Y:-66.97, Z:-4.98 [[ 9.79563447e-01 2.00848665e-01 1.07362255e-02 3.74612144e+02] [-2.00835766e-01 9.79622278e-01 -2.27747793e-03 -6.69650044e+01] [-1.09748741e-02 7.47160524e-05 9.99939771e-01 -4.98199659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.86576923100006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:374.64, Y:-66.97, Z:-4.98 [[ 9.79489235e-01 2.01252074e-01 9.92173111e-03 3.74642552e+02] [-2.01241079e-01 9.79539483e-01 -2.10465056e-03 -6.69733246e+01] [-1.01422927e-02 6.48226890e-05 9.99948564e-01 -4.98289487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.89576923100003 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:374.67, Y:-66.98, Z:-4.98 [[ 9.79443559e-01 2.01557760e-01 8.04886128e-03 3.74671153e+02] [-2.01550533e-01 9.79476629e-01 -1.70755594e-03 -6.69832335e+01] [-8.22784266e-03 5.02023901e-05 9.99966149e-01 -4.98462801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.92576923100006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:374.70, Y:-66.99, Z:-4.99 [[ 9.79460871e-01 2.01489983e-01 7.62817858e-03 3.74700529e+02] [-2.01483489e-01 9.79490574e-01 -1.61844563e-03 -6.69917169e+01] [-7.79782960e-03 4.82521374e-05 9.99969595e-01 -4.98523409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.95576923100003 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:374.73, Y:-67.00, Z:-4.98 [[ 9.79530023e-01 2.01154678e-01 7.59797971e-03 3.74729813e+02] [-2.01148226e-01 9.79559489e-01 -1.61198726e-03 -6.69999832e+01] [-7.76693190e-03 5.06697850e-05 9.99969836e-01 -4.98488111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.98576923100006 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:374.76, Y:-67.01, Z:-4.98 [[ 9.79676196e-01 2.00412984e-01 8.31789586e-03 3.74758798e+02] [-2.00405223e-01 9.79711505e-01 -1.76483703e-03 -6.70075951e+01] [-8.50283452e-03 6.20190598e-05 9.99963848e-01 -4.98467473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.01576923100004 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:374.79, Y:-67.02, Z:-4.98 [[ 9.80168239e-01 1.97881338e-01 1.06395270e-02 3.74789180e+02] [-1.97868489e-01 9.80225976e-01 -2.25757520e-03 -6.70163870e+01] [-1.08758727e-02 1.07576385e-04 9.99940850e-01 -4.98432131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.04576923100007 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:374.82, Y:-67.02, Z:-4.98 [[ 9.80333425e-01 1.97017967e-01 1.14147242e-02 3.74820142e+02] [-1.97003116e-01 9.80399870e-01 -2.42228045e-03 -6.70249564e+01] [-1.16682268e-02 1.25906267e-04 9.99931916e-01 -4.98407447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.07576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:374.85, Y:-67.03, Z:-4.98 [[ 9.80443684e-01 1.96481521e-01 1.11890532e-02 3.74851260e+02] [-1.96467196e-01 9.80507519e-01 -2.37618340e-03 -6.70338459e+01] [-1.14378269e-02 1.31432100e-04 9.99934577e-01 -4.98467709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.10576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:374.88, Y:-67.04, Z:-4.99 [[ 9.80473226e-01 1.96406650e-01 9.83261583e-03 3.74881769e+02] [-1.96395570e-01 9.80522521e-01 -2.08952628e-03 -6.70425165e+01] [-1.00514981e-02 1.17642377e-04 9.99949475e-01 -4.98593362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.13576923100004 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:374.91, Y:-67.05, Z:-4.99 [[ 9.80359208e-01 1.96970986e-01 9.91235942e-03 3.74913746e+02] [-1.96959740e-01 9.80409311e-01 -2.10789717e-03 -6.70503455e+01] [-1.01333641e-02 1.14160668e-04 9.99948650e-01 -4.98706990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.16576923100007 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:374.95, Y:-67.06, Z:-4.99 [[ 9.80276674e-01 1.97375665e-01 1.00244282e-02 3.74945137e+02] [-1.97364163e-01 9.80327922e-01 -2.13378895e-03 -6.70580362e+01] [-1.02483849e-02 1.13240648e-04 9.99947478e-01 -4.98745998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.19576923100004 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:374.98, Y:-67.07, Z:-4.99 [[ 9.80246895e-01 1.97527098e-01 9.95340320e-03 3.74977383e+02] [-1.97515748e-01 9.80297421e-01 -2.12049164e-03 -6.70669778e+01] [-1.01761500e-02 1.12651469e-04 9.99948215e-01 -4.98766158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2257692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:375.01, Y:-67.08, Z:-4.99 [[ 9.80294187e-01 1.97373472e-01 8.18653508e-03 3.75008367e+02] [-1.97365778e-01 9.80328365e-01 -1.74532492e-03 -6.70773469e+01] [-8.36997339e-03 9.51900053e-05 9.99964967e-01 -4.98748625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.25576923100004 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:375.04, Y:-67.09, Z:-4.99 [[ 9.80212375e-01 1.97820258e-01 7.13054871e-03 3.75039055e+02] [-1.97814425e-01 9.80238307e-01 -1.52132579e-03 -6.70859783e+01] [-7.29058606e-03 8.06969776e-05 9.99973420e-01 -4.98806581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2857692310001 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:375.07, Y:-67.09, Z:-4.99 [[ 9.80111811e-01 1.98333519e-01 6.68232408e-03 3.75069322e+02] [-1.98328399e-01 9.80134588e-01 -1.42704116e-03 -6.70944425e+01] [-6.83260705e-03 7.33652590e-05 9.99976655e-01 -4.98810441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.31576923100005 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:375.10, Y:-67.10, Z:-4.99 [[ 9.79895798e-01 1.99400297e-01 6.61408962e-03 3.75100237e+02] [-1.99395303e-01 9.79918118e-01 -1.41270206e-03 -6.71031131e+01] [-6.76295946e-03 6.54824061e-05 9.99977129e-01 -4.98856627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3457692310001 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:375.13, Y:-67.11, Z:-4.99 [[ 9.79347586e-01 2.02058065e-01 7.13050267e-03 3.75130708e+02] [-2.02052322e-01 9.79373542e-01 -1.52438202e-03 -6.71109604e+01] [-7.29143934e-03 5.21652332e-05 9.99973416e-01 -4.98923073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.37576923100005 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:375.16, Y:-67.12, Z:-4.99 [[ 9.78933615e-01 2.04040503e-01 7.51337346e-03 3.75162688e+02] [-2.04034176e-01 9.78962446e-01 -1.60739382e-03 -6.71170341e+01] [-7.68328391e-03 4.05468858e-05 9.99970482e-01 -4.98907335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4057692310001 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:375.19, Y:-67.12, Z:-4.99 [[ 9.78364482e-01 2.06750295e-01 7.56682357e-03 3.75194102e+02] [-2.06743948e-01 9.78393742e-01 -1.62010812e-03 -6.71223042e+01] [-7.73829066e-03 2.06612626e-05 9.99970059e-01 -4.98937826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.43576923100005 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:375.22, Y:-67.13, Z:-4.99 [[ 9.77019555e-01 2.13057358e-01 6.27308096e-03 3.75224167e+02] [-2.13053115e-01 9.77039693e-01 -1.34468983e-03 -6.71252568e+01] [-6.41554516e-03 -2.27111783e-05 9.99979420e-01 -4.98874425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4657692310001 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:375.26, Y:-67.13, Z:-4.99 [[ 9.76381214e-01 2.15985948e-01 5.45854525e-03 3.75255927e+02] [-2.15982787e-01 9.76396471e-01 -1.16908246e-03 -6.71295963e+01] [-5.58220970e-03 -3.74816651e-05 9.99984419e-01 -4.98936718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.49576923100005 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:375.29, Y:-67.13, Z:-4.99 [[ 9.75964378e-01 2.17864903e-01 5.33072903e-03 3.75285629e+02] [-2.17861905e-01 9.75978935e-01 -1.14365878e-03 -6.71334341e+01] [-5.45184235e-03 -4.51925483e-05 9.99985138e-01 -4.99055501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5257692310001 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:375.32, Y:-67.14, Z:-4.99 [[ 9.75944310e-01 2.17936329e-01 6.03828941e-03 3.75315476e+02] [-2.17932485e-01 9.75962988e-01 -1.29529016e-03 -6.71376043e+01] [-6.17543776e-03 -5.18083563e-05 9.99980930e-01 -4.99131883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.55576923100006 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:375.35, Y:-67.14, Z:-4.99 [[ 9.76913825e-01 2.13438585e-01 9.12951444e-03 3.75347600e+02] [-2.13429598e-01 9.76956483e-01 -1.95894968e-03 -6.71415222e+01] [-9.33725376e-03 -3.47835740e-05 9.99956406e-01 -4.99075286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.58576923100003 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:375.38, Y:-67.15, Z:-4.99 [[ 9.77640911e-01 2.10036453e-01 1.01457888e-02 3.75379080e+02] [-2.10025150e-01 9.77693555e-01 -2.17899630e-03 -6.71467909e+01] [-1.03771410e-02 -5.94890316e-07 9.99946156e-01 -4.99072044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.61576923100006 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:375.41, Y:-67.15, Z:-4.99 [[ 9.78283830e-01 2.07020344e-01 1.01648706e-02 3.75410425e+02] [-2.07008818e-01 9.78336637e-01 -2.18484073e-03 -6.71521993e+01] [-1.03969718e-02 3.31765137e-05 9.99945949e-01 -4.99118813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.64576923100003 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:375.44, Y:-67.16, Z:-4.99 [[ 9.78863384e-01 2.04270014e-01 1.00118515e-02 3.75440675e+02] [-2.04258668e-01 9.78914581e-01 -2.15381408e-03 -6.71577194e+01] [-1.02407071e-02 6.32822846e-05 9.99947561e-01 -4.99191472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.67576923100006 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:375.47, Y:-67.16, Z:-4.99 [[ 9.79690238e-01 2.00239243e-01 1.05491025e-02 3.75470855e+02] [-2.00226394e-01 9.79747025e-01 -2.27117268e-03 -6.71632704e+01] [-1.07902297e-02 1.12836942e-04 9.99941777e-01 -4.99190732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.70576923100003 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:375.50, Y:-67.17, Z:-4.99 [[ 9.79810119e-01 1.99632792e-01 1.09031746e-02 3.75502752e+02] [-1.99619009e-01 9.79870773e-01 -2.34916655e-03 -6.71701819e+01] [-1.11526728e-02 1.25256251e-04 9.99937799e-01 -4.99118725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.73576923100006 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:375.53, Y:-67.18, Z:-4.99 [[ 9.79718370e-01 2.00068224e-01 1.11633770e-02 3.75533708e+02] [-2.00053780e-01 9.79781961e-01 -2.40725286e-03 -6.71760034e+01] [-1.14192902e-02 1.25154078e-04 9.99934790e-01 -4.99053903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76576923100004 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:375.57, Y:-67.18, Z:-4.99 [[ 9.78866334e-01 2.04228012e-01 1.05650409e-02 3.75565137e+02] [-2.04215306e-01 9.78923344e-01 -2.27929606e-03 -6.71777936e+01] [-1.08078613e-02 7.35831215e-05 9.99941591e-01 -4.99042046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.79576923100007 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:375.60, Y:-67.18, Z:-4.99 [[ 9.78324516e-01 2.06834998e-01 1.00212031e-02 3.75595338e+02] [-2.06823700e-01 9.78375839e-01 -2.16228889e-03 -6.71806813e+01] [-1.02517400e-02 4.27979367e-05 9.99947449e-01 -4.99102718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82576923100004 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:375.62, Y:-67.18, Z:-4.99 [[ 9.77805503e-01 2.09308261e-01 9.29789838e-03 3.75624304e+02] [-2.09298648e-01 9.77849708e-01 -2.00602503e-03 -6.71837865e+01] [-9.51182483e-03 1.54647531e-05 9.99954761e-01 -4.99160573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.85576923100007 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:375.65, Y:-67.19, Z:-4.99 [[ 9.77415023e-01 2.11145946e-01 8.78988294e-03 3.75654076e+02] [-2.11137432e-01 9.77454546e-01 -1.89618445e-03 -6.71867534e+01] [-8.99208270e-03 -2.51414377e-06 9.99959570e-01 -4.99302509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88576923100004 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:375.68, Y:-67.19, Z:-4.99 [[ 9.76961883e-01 2.13236597e-01 8.69668052e-03 3.75683140e+02] [-2.13228345e-01 9.77000590e-01 -1.87598856e-03 -6.71858704e+01] [-8.89669142e-03 -2.16094799e-05 9.99960423e-01 -4.99380988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.91576923100007 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:375.71, Y:-67.19, Z:-4.99 [[ 9.76708269e-01 2.14396640e-01 8.66242647e-03 3.75710866e+02] [-2.14388504e-01 9.76746681e-01 -1.86809046e-03 -6.71885767e+01] [-8.86150862e-03 -3.25452552e-05 9.99960736e-01 -4.99360642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.94576923100004 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:375.74, Y:-67.19, Z:-4.99 [[ 9.76333121e-01 2.16112558e-01 8.30657802e-03 3.75740103e+02] [-2.16105143e-01 9.76368455e-01 -1.79085342e-03 -6.71905827e+01] [-8.49730666e-03 -4.66247138e-05 9.99963896e-01 -4.99313638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.9757692310001 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:375.77, Y:-67.19, Z:-4.99 [[ 9.75567119e-01 2.19583246e-01 7.21076199e-03 3.75769409e+02] [-2.19577755e-01 9.75593765e-01 -1.55438759e-03 -6.71873062e+01] [-7.37609190e-03 -6.69135055e-05 9.99972794e-01 -4.99414298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.00576923100004 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:375.80, Y:-67.19, Z:-5.00 [[ 9.75271272e-01 2.20889347e-01 7.33771983e-03 3.75797676e+02] [-2.20883701e-01 9.75298872e-01 -1.58130554e-03 -6.71879868e+01] [-7.50576342e-03 -7.85808447e-05 9.99971828e-01 -4.99521106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0357692310001 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:375.83, Y:-67.19, Z:-5.00 [[ 9.75063989e-01 2.21803395e-01 7.31241129e-03 3.75825656e+02] [-2.21797816e-01 9.75091404e-01 -1.57549803e-03 -6.71888785e+01] [-7.47972021e-03 -8.56654592e-05 9.99972023e-01 -4.99504799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.06576923100005 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:375.85, Y:-67.19, Z:-5.00 [[ 9.74732844e-01 2.23286932e-01 6.23120796e-03 3.75853962e+02] [-2.23282913e-01 9.74752758e-01 -1.34229362e-03 -6.71859638e+01] [-6.37360377e-03 -8.29445842e-05 9.99979685e-01 -4.99589891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0957692310001 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:375.88, Y:-67.19, Z:-5.00 [[ 9.74729686e-01 2.23324176e-01 5.32453320e-03 3.75881767e+02] [-2.23321244e-01 9.74744227e-01 -1.14660844e-03 -6.71876637e+01] [-5.44612338e-03 -7.14480935e-05 9.99985167e-01 -4.99675193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.12576923100005 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:375.91, Y:-67.19, Z:-5.00 [[ 9.74812277e-01 2.22969873e-01 5.04579400e-03 3.75908787e+02] [-2.22967236e-01 9.74825334e-01 -1.08655928e-03 -6.71897377e+01] [-5.16103781e-03 -6.58554132e-05 9.99986680e-01 -4.99670094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1557692310001 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:375.94, Y:-67.19, Z:-5.00 [[ 9.74995697e-01 2.22146495e-01 5.85884242e-03 3.75936791e+02] [-2.22142931e-01 9.75013297e-01 -1.26055422e-03 -6.71924486e+01] [-5.99247696e-03 -7.24654891e-05 9.99982042e-01 -4.99694972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.18576923100005 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:375.96, Y:-67.20, Z:-5.00 [[ 9.75172100e-01 2.21318358e-01 7.58686883e-03 3.75964942e+02] [-2.21312361e-01 9.75201608e-01 -1.63150818e-03 -6.71956850e+01] [-7.75980939e-03 -8.80665949e-05 9.99969888e-01 -4.99685354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2157692310001 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:375.99, Y:-67.20, Z:-5.00 [[ 9.75495343e-01 2.19780498e-01 1.02649403e-02 3.75992935e+02] [-2.19769447e-01 9.75549344e-01 -2.20631337e-03 -6.71953981e+01] [-1.04988604e-02 -1.03671836e-04 9.99944880e-01 -4.99627124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.24576923100005 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:376.02, Y:-67.20, Z:-5.00 [[ 9.75611044e-01 2.19231366e-01 1.09863288e-02 3.76020749e+02] [-2.19218685e-01 9.75672894e-01 -2.36028386e-03 -6.71980946e+01] [-1.12365114e-02 -1.05689546e-04 9.99936863e-01 -4.99603864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2757692310001 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:376.05, Y:-67.20, Z:-5.00 [[ 9.75594093e-01 2.19312234e-01 1.08770558e-02 3.76048222e+02] [-2.19299817e-01 9.75654720e-01 -2.33607579e-03 -6.72015229e+01] [-1.11245809e-02 -1.06274615e-04 9.99938114e-01 -4.99666083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.30576923100006 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:376.08, Y:-67.20, Z:-5.00 [[ 9.75450947e-01 2.20016994e-01 9.37938187e-03 3.76075503e+02] [-2.20007799e-01 9.75496034e-01 -2.01387651e-03 -6.72033210e+01] [-9.59263687e-03 -9.90994134e-05 9.99953985e-01 -4.99725536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.33576923100003 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:376.10, Y:-67.21, Z:-5.00 [[ 9.75328885e-01 2.20584854e-01 8.71140146e-03 3.76103119e+02] [-2.20576951e-01 9.75367783e-01 -1.86974537e-03 -6.72069151e+01] [-8.90925784e-03 -9.79177043e-05 9.99960307e-01 -4.99720469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.36576923100006 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:376.13, Y:-67.21, Z:-5.00 [[ 9.75152918e-01 2.21368972e-01 8.51851040e-03 3.76130723e+02] [-2.21361451e-01 9.75190119e-01 -1.82771933e-03 -6.72099815e+01] [-8.71176751e-03 -1.03363982e-04 9.99962046e-01 -4.99714123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.39576923100003 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:376.16, Y:-67.21, Z:-5.00 [[ 9.74962281e-01 2.22196909e-01 8.77982707e-03 3.76157772e+02] [-2.22188957e-01 9.75001805e-01 -1.88327724e-03 -6.72135585e+01] [-8.97880563e-03 -1.14656344e-04 9.99959683e-01 -4.99748033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.42576923100006 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:376.19, Y:-67.22, Z:-5.00 [[ 9.74823988e-01 2.22740947e-01 1.02305192e-02 3.76185050e+02] [-2.22730199e-01 9.74877659e-01 -2.19273644e-03 -6.72165197e+01] [-1.04619168e-02 -1.41113498e-04 9.99945263e-01 -4.99771529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.45576923100003 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:376.21, Y:-67.22, Z:-5.00 [[ 9.74968287e-01 2.22104030e-01 1.03266235e-02 3.76212595e+02] [-2.22093052e-01 9.75022965e-01 -2.21242565e-03 -6.72215938e+01] [-1.05600838e-02 -1.36426495e-04 9.99944231e-01 -4.99870293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.48576923100006 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:376.24, Y:-67.23, Z:-5.00 [[ 9.74981336e-01 2.22046732e-01 1.03267834e-02 3.76240486e+02] [-2.22035759e-01 9.75036015e-01 -2.21167904e-03 -6.72274330e+01] [-1.05600819e-02 -1.36569410e-04 9.99944231e-01 -4.99904992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.51576923100004 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:376.27, Y:-67.23, Z:-5.00 [[ 9.75303892e-01 2.20669746e-01 9.33708120e-03 3.76267591e+02] [-2.20660717e-01 9.75348579e-01 -1.99924367e-03 -6.72326088e+01] [-9.54808148e-03 -1.10456901e-04 9.99954410e-01 -4.99986235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.54576923100007 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:376.29, Y:-67.24, Z:-5.00 [[ 9.76325348e-01 2.16171881e-01 7.65070904e-03 3.76294424e+02] [-2.16165684e-01 9.76355322e-01 -1.63780481e-03 -6.72381110e+01] [-7.82385783e-03 -5.47904027e-05 9.99969392e-01 -5.00136242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.57576923100004 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:376.32, Y:-67.24, Z:-5.00 [[ 9.77009920e-01 2.13049685e-01 7.83882500e-03 3.76321460e+02] [-2.13043085e-01 9.77041366e-01 -1.67732401e-03 -6.72447816e+01] [-8.01620964e-03 -3.12452659e-05 9.99967869e-01 -5.00134885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.60576923100007 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:376.35, Y:-67.25, Z:-5.00 [[ 9.77736123e-01 2.09667064e-01 8.47327524e-03 3.76348784e+02] [-2.09659230e-01 9.77772838e-01 -1.81239620e-03 -6.72524491e+01] [-8.66493817e-03 -4.45513110e-06 9.99962459e-01 -5.00115763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.63576923100004 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:376.38, Y:-67.26, Z:-5.00 [[ 9.78828324e-01 2.04468588e-01 9.36528783e-03 3.76375068e+02] [-2.04458788e-01 9.78873125e-01 -2.00239386e-03 -6.72619938e+01] [-9.57685521e-03 4.51844186e-05 9.99954140e-01 -5.00158297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.66576923100007 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:376.40, Y:-67.27, Z:-5.00 [[ 9.79169052e-01 2.02858197e-01 8.74756422e-03 3.76401264e+02] [-2.02849587e-01 9.79208123e-01 -1.86981585e-03 -6.72691973e+01] [-8.94499342e-03 5.64260190e-05 9.99959991e-01 -5.00219870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.69576923100004 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:376.43, Y:-67.28, Z:-5.00 [[ 9.79405549e-01 2.01752533e-01 7.79014361e-03 3.76428286e+02] [-2.01745677e-01 9.79436528e-01 -1.66431440e-03 -6.72765112e+01] [-7.96573085e-03 5.84109631e-05 9.99968271e-01 -5.00253681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7257692310001 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:376.45, Y:-67.28, Z:-5.00 [[ 9.79570736e-01 2.00966638e-01 7.32013629e-03 3.76454044e+02] [-2.00960566e-01 9.79598084e-01 -1.56346720e-03 -6.72833884e+01] [-7.48499624e-03 6.04679890e-05 9.99971985e-01 -5.00316953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.75576923100004 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:376.48, Y:-67.29, Z:-5.00 [[ 9.79713902e-01 2.00275850e-01 7.08902685e-03 3.76480994e+02] [-2.00270142e-01 9.79739547e-01 -1.51346474e-03 -6.72921595e+01] [-7.24851039e-03 6.30420356e-05 9.99973727e-01 -5.00327715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7857692310001 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:376.51, Y:-67.30, Z:-5.00 [[ 9.79705852e-01 2.00296151e-01 7.60890213e-03 3.76507621e+02] [-2.00289580e-01 9.79735397e-01 -1.62384712e-03 -6.72992029e+01] [-7.77996108e-03 6.69087158e-05 9.99969733e-01 -5.00325762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.81576923100005 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:376.53, Y:-67.31, Z:-5.00 [[ 9.79647969e-01 2.00568269e-01 7.88830222e-03 3.76533755e+02] [-2.00561220e-01 9.79679726e-01 -1.68290060e-03 -6.73054245e+01] [-8.06554622e-03 6.65626385e-05 9.99967471e-01 -5.00306907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8457692310001 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:376.56, Y:-67.31, Z:-5.00 [[ 9.79452271e-01 2.01508908e-01 8.21031412e-03 3.76561511e+02] [-2.01501311e-01 9.79486680e-01 -1.75079679e-03 -6.73114829e+01] [-8.39469447e-03 6.04328411e-05 9.99964762e-01 -5.00301652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.87576923100005 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:376.59, Y:-67.32, Z:-5.00 [[ 9.78785324e-01 2.04674494e-01 9.36167771e-03 3.76588975e+02] [-2.04664769e-01 9.78830093e-01 -1.99550432e-03 -6.73163174e+01] [-9.57192070e-03 3.71647342e-05 9.99954187e-01 -5.00206479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9057692310001 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:376.62, Y:-67.32, Z:-5.00 [[ 9.78439499e-01 2.06294602e-01 9.93401990e-03 3.76616035e+02] [-2.06283744e-01 9.78489927e-01 -2.11672847e-03 -6.73219922e+01] [-1.01570081e-02 2.18639267e-05 9.99948416e-01 -5.00221563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.93576923100005 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:376.64, Y:-67.33, Z:-5.00 [[ 9.78114966e-01 2.07802620e-01 1.04491705e-02 3.76642667e+02] [-2.07790700e-01 9.78170778e-01 -2.22566776e-03 -6.73274688e+01] [-1.06835729e-02 5.71848620e-06 9.99942929e-01 -5.00308257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9657692310001 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:376.67, Y:-67.33, Z:-5.00 [[ 9.77850500e-01 2.09024410e-01 1.08257343e-02 3.76670405e+02] [-2.09011702e-01 9.77910423e-01 -2.30486226e-03 -6.73326694e+01] [-1.10683709e-02 -8.89445336e-06 9.99938744e-01 -5.00493061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.99576923100005 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:376.70, Y:-67.34, Z:-5.01 [[ 9.77901798e-01 2.08835815e-01 9.78144359e-03 3.76697243e+02] [-2.08825438e-01 9.77950716e-01 -2.08188404e-03 -6.73384192e+01] [-1.00005417e-02 -6.73609371e-06 9.99949993e-01 -5.00600775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0257692310001 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:376.72, Y:-67.34, Z:-5.01 [[ 9.78083984e-01 2.08064413e-01 7.80515302e-03 3.76724330e+02] [-2.08057786e-01 9.78115126e-01 -1.66069696e-03 -6.73443201e+01] [-7.97987017e-03 3.78245084e-07 9.99968160e-01 -5.00729971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.05576923100006 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:376.75, Y:-67.35, Z:-5.01 [[ 9.78191080e-01 2.07623375e-01 5.89453395e-03 3.76751543e+02] [-2.07619588e-01 9.78208840e-01 -1.25396838e-03 -6.73510255e+01] [-6.02643836e-03 2.79996997e-06 9.99981841e-01 -5.00741020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.08576923100003 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:376.78, Y:-67.36, Z:-5.01 [[ 9.78086976e-01 2.08131685e-01 5.20277574e-03 3.76778084e+02] [-2.08128744e-01 9.78100814e-01 -1.10660292e-03 -6.73578554e+01] [-5.31915831e-03 -4.93274852e-07 9.99985853e-01 -5.00619867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.11576923100006 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:376.81, Y:-67.36, Z:-5.01 [[ 9.77860676e-01 2.09172760e-01 5.93762170e-03 3.76805498e+02] [-2.09168952e-01 9.77878702e-01 -1.26215863e-03 -6.73631947e+01] [-6.07028301e-03 -7.75082261e-06 9.99981576e-01 -5.00590488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.14576923100003 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:376.83, Y:-67.37, Z:-5.01 [[ 9.77501592e-01 2.10803034e-01 7.26067929e-03 3.76832093e+02] [-2.10797391e-01 9.77528557e-01 -1.54271616e-03 -6.73681501e+01] [-7.42273060e-03 -2.25247439e-05 9.99972451e-01 -5.00575036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.17576923100006 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:376.86, Y:-67.37, Z:-5.01 [[ 9.76940012e-01 2.13315822e-01 9.19635371e-03 3.76858894e+02] [-2.13306889e-01 9.76983294e-01 -1.95292496e-03 -6.73727997e+01] [-9.40127373e-03 -5.37550722e-05 9.99955806e-01 -5.00579194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.20576923100003 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:376.89, Y:-67.38, Z:-5.01 [[ 9.76754439e-01 2.14124035e-01 1.00827946e-02 3.76885433e+02] [-2.14113349e-01 9.76806477e-01 -2.14020366e-03 -6.73780148e+01] [-1.03072081e-02 -6.84075025e-05 9.99946877e-01 -5.00557297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.23576923100006 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:376.91, Y:-67.38, Z:-5.01 [[ 9.76684917e-01 2.14397899e-01 1.09596054e-02 3.76912527e+02] [-2.14385303e-01 9.76746402e-01 -2.32528525e-03 -6.73831596e+01] [-1.12032914e-02 -7.85073017e-05 9.99937238e-01 -5.00555007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26576923100004 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:376.94, Y:-67.39, Z:-5.01 [[ 9.76757422e-01 2.14056708e-01 1.11653376e-02 3.76939913e+02] [-2.14043622e-01 9.76821232e-01 -2.36811749e-03 -6.73876885e+01] [-1.14134503e-02 -7.67929647e-05 9.99934862e-01 -5.00567874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.29576923100007 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:376.97, Y:-67.39, Z:-5.01 [[ 9.77059299e-01 2.12746554e-01 9.69691821e-03 3.76967350e+02] [-2.12736625e-01 9.77107415e-01 -2.05608979e-03 -6.73906597e+01] [-9.91235671e-03 -5.39680031e-05 9.99950870e-01 -5.00663807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32576923100004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:376.99, Y:-67.39, Z:-5.01 [[ 9.77303798e-01 2.11663007e-01 8.72110746e-03 3.76994195e+02] [-2.11654938e-01 9.77342709e-01 -1.84851526e-03 -6.73948582e+01] [-8.91477309e-03 -3.93044788e-05 9.99960262e-01 -5.00742206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.35576923100007 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:377.02, Y:-67.40, Z:-5.01 [[ 9.77575939e-01 2.10420760e-01 8.26968209e-03 3.77022099e+02] [-2.10413466e-01 9.77610916e-01 -1.75215121e-03 -6.73993514e+01] [-8.45322047e-03 -2.71916074e-05 9.99964271e-01 -5.00791692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:377.05, Y:-67.40, Z:-5.01 [[ 9.77888503e-01 2.08970222e-01 8.09456429e-03 3.77048703e+02] [-2.08963189e-01 9.77922004e-01 -1.71453517e-03 -6.74033899e+01] [-8.27413933e-03 -1.48417386e-05 9.99965769e-01 -5.00830890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.41576923100007 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:377.08, Y:-67.41, Z:-5.01 [[ 9.78578067e-01 2.05713235e-01 8.18730264e-03 3.77075914e+02] [-2.05705931e-01 9.78612316e-01 -1.73349215e-03 -6.74068309e+01] [-8.36879747e-03 1.21806813e-05 9.99964981e-01 -5.00846659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.44576923100004 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:377.10, Y:-67.41, Z:-5.01 [[ 9.78943281e-01 2.03962319e-01 8.33214021e-03 3.77103786e+02] [-2.03954698e-01 9.78978739e-01 -1.76341701e-03 -6.74116991e+01] [-8.51665874e-03 2.69060951e-05 9.99963732e-01 -5.00923056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.4757692310001 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:377.13, Y:-67.42, Z:-5.01 [[ 9.79206613e-01 2.02688474e-01 8.47302865e-03 3.77130761e+02] [-2.02680550e-01 9.79243270e-01 -1.79262713e-03 -6.74171301e+01] [-8.66050114e-03 3.80342336e-05 9.99962496e-01 -5.00951719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.50576923100004 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:377.16, Y:-67.42, Z:-5.01 [[ 9.79443231e-01 2.01558190e-01 8.07800210e-03 3.77157116e+02] [-2.01550953e-01 9.79476541e-01 -1.70857083e-03 -6.74225835e+01] [-8.25659000e-03 4.53191094e-05 9.99965913e-01 -5.00982077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5357692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:377.18, Y:-67.43, Z:-5.01 [[ 9.79423816e-01 2.01659334e-01 7.90573615e-03 3.77184922e+02] [-2.01652411e-01 9.79455722e-01 -1.67148665e-03 -6.74274270e+01] [-8.08038939e-03 4.28830767e-05 9.99967352e-01 -5.01038484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.56576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:377.21, Y:-67.43, Z:-5.01 [[ 9.79350024e-01 2.01988499e-01 8.61257161e-03 3.77211617e+02] [-2.01980302e-01 9.79387893e-01 -1.82025488e-03 -6.74318488e+01] [-8.80271891e-03 4.30968444e-05 9.99961254e-01 -5.01061173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:377.24, Y:-67.44, Z:-5.01 [[ 9.78851649e-01 2.04260423e-01 1.12750961e-02 3.77239118e+02] [-2.04246540e-01 9.78916584e-01 -2.38168573e-03 -6.74364477e+01] [-1.15238627e-02 2.84176444e-05 9.99933598e-01 -5.00933351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.62576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:377.27, Y:-67.44, Z:-5.01 [[ 9.78467247e-01 2.06067603e-01 1.17469209e-02 3.77266933e+02] [-2.06052674e-01 9.78537758e-01 -2.48043568e-03 -6.74414959e+01] [-1.20059430e-02 6.54061697e-06 9.99927926e-01 -5.00952309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6557692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:377.29, Y:-67.45, Z:-5.01 [[ 9.78090360e-01 2.07898098e-01 1.08456293e-02 3.77294872e+02] [-2.07885493e-01 9.78150490e-01 -2.28938142e-03 -6.74454177e+01] [-1.10846157e-02 -1.54270944e-05 9.99938564e-01 -5.00914636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.68576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:377.32, Y:-67.44, Z:-5.01 [[ 9.77073271e-01 2.12695579e-01 9.40287707e-03 3.77322846e+02] [-2.12686331e-01 9.77118512e-01 -1.98428277e-03 -6.74443264e+01] [-9.60977343e-03 -6.10737719e-05 9.99953823e-01 -5.00977797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7157692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:377.35, Y:-67.45, Z:-5.01 [[ 9.76388928e-01 2.15836423e-01 8.90501463e-03 3.77350873e+02] [-2.15828267e-01 9.76429532e-01 -1.87846994e-03 -6.74465285e+01] [-9.10056150e-03 -8.78366176e-05 9.99958585e-01 -5.00983979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.74576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:377.38, Y:-67.45, Z:-5.01 [[ 9.75600369e-01 2.19369165e-01 9.00495876e-03 3.77377556e+02] [-2.19360981e-01 9.75641919e-01 -1.89890961e-03 -6.74487132e+01] [-9.20217746e-03 -1.22759665e-04 9.99957652e-01 -5.01036621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7757692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:377.41, Y:-67.45, Z:-5.01 [[ 9.74928184e-01 2.22327023e-01 9.25905146e-03 3.77405677e+02] [-2.22318512e-01 9.74972138e-01 -1.95163288e-03 -6.74506003e+01] [-9.46121793e-03 -1.55756644e-04 9.99955230e-01 -5.01019867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.80576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:377.43, Y:-67.45, Z:-5.01 [[ 9.74499246e-01 2.24196899e-01 9.32576779e-03 3.77433986e+02] [-2.24188356e-01 9.74543852e-01 -1.96500570e-03 -6.74519738e+01] [-9.52891785e-03 -1.75831977e-04 9.99954583e-01 -5.01098727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8357692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:377.46, Y:-67.45, Z:-5.01 [[ 9.74510108e-01 2.24178085e-01 8.61604281e-03 3.77463051e+02] [-2.24170798e-01 9.74548182e-01 -1.81490457e-03 -6.74495035e+01] [-8.80361070e-03 -1.62822339e-04 9.99961234e-01 -5.01229676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.86576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:377.49, Y:-67.45, Z:-5.01 [[ 9.75004592e-01 2.22033987e-01 8.18250256e-03 3.77490898e+02] [-2.22027344e-01 9.75038917e-01 -1.72302502e-03 -6.74526838e+01] [-8.36082855e-03 -1.36781999e-04 9.99965038e-01 -5.01290138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.89576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:377.52, Y:-67.46, Z:-5.01 [[ 9.75723752e-01 2.18860511e-01 7.95216688e-03 3.77518310e+02] [-2.18854135e-01 9.75756151e-01 -1.67396146e-03 -6.74562954e+01] [-8.12573980e-03 -1.07040648e-04 9.99966980e-01 -5.01340136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.92576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:377.55, Y:-67.46, Z:-5.01 [[ 9.77423343e-01 2.11140558e-01 7.95447634e-03 3.77545603e+02] [-2.11133927e-01 9.77455709e-01 -1.67390912e-03 -6.74574455e+01] [-8.12857842e-03 -4.33419848e-05 9.99966962e-01 -5.01322158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.95576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:377.57, Y:-67.46, Z:-5.01 [[ 9.78226457e-01 2.07387583e-01 7.96170242e-03 3.77572994e+02] [-2.07380822e-01 9.78258856e-01 -1.67470215e-03 -6.74613928e+01] [-8.13591834e-03 -1.28664414e-05 9.99966903e-01 -5.01385576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.98576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:377.60, Y:-67.47, Z:-5.01 [[ 9.78988754e-01 2.03753579e-01 8.09309795e-03 3.77599356e+02] [-2.03746473e-01 9.79022206e-01 -1.70177041e-03 -6.74657813e+01] [-8.27006442e-03 1.70739337e-05 9.99965802e-01 -5.01384840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.01576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:377.63, Y:-67.47, Z:-5.01 [[ 9.79978555e-01 1.98922762e-01 8.47147200e-03 3.77625559e+02] [-1.98914800e-01 9.80015169e-01 -1.78071106e-03 -6.74713429e+01] [-8.65639502e-03 5.99574871e-05 9.99962531e-01 -5.01397876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.04576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:377.65, Y:-67.48, Z:-5.01 [[ 9.80069855e-01 1.98451763e-01 8.94297078e-03 3.77652563e+02] [-1.98442884e-01 9.80110654e-01 -1.87840515e-03 -6.74769954e+01] [-9.13787375e-03 6.62993504e-05 9.99958247e-01 -5.01412609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.07576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:377.68, Y:-67.48, Z:-5.01 [[ 9.79987151e-01 1.98827251e-01 9.63889724e-03 3.77680061e+02] [-1.98816962e-01 9.80034550e-01 -2.02380304e-03 -6.74822786e+01] [-9.84883951e-03 6.69247053e-05 9.99951497e-01 -5.01399158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.10576923100007 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:377.71, Y:-67.49, Z:-5.01 [[ 9.79825224e-01 1.99566392e-01 1.07603918e-02 3.77706899e+02] [-1.99553623e-01 9.79884305e-01 -2.25843570e-03 -6.74877793e+01] [-1.09946469e-02 6.55970913e-05 9.99939555e-01 -5.01384800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:377.73, Y:-67.49, Z:-5.01 [[ 9.79487310e-01 2.01096223e-01 1.28420312e-02 3.77733524e+02] [-2.01078194e-01 9.79571491e-01 -2.69333027e-03 -6.74937239e+01] [-1.31213062e-02 5.58303802e-05 9.99913910e-01 -5.01322232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.16576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:377.76, Y:-67.50, Z:-5.01 [[ 9.79466828e-01 2.01180708e-01 1.30788524e-02 3.77759760e+02] [-2.01162031e-01 9.79554143e-01 -2.74185774e-03 -6.74999449e+01] [-1.33630529e-02 5.45901997e-05 9.99910709e-01 -5.01339167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.19576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:377.79, Y:-67.51, Z:-5.01 [[ 9.79567020e-01 2.00725808e-01 1.25540057e-02 3.77786683e+02] [-2.00708575e-01 9.79647460e-01 -2.63084262e-03 -6.75063405e+01] [-1.28265778e-02 5.73900720e-05 9.99917734e-01 -5.01436886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:377.81, Y:-67.51, Z:-5.02 [[ 9.79966692e-01 1.98817814e-01 1.16944328e-02 3.77813906e+02] [-1.98802733e-01 9.80036464e-01 -2.44993728e-03 -6.75141942e+01] [-1.19480618e-02 7.59717236e-05 9.99928616e-01 -5.01546861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.25576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:377.84, Y:-67.52, Z:-5.02 [[ 9.80157086e-01 1.97902741e-01 1.12513110e-02 3.77840381e+02] [-1.97888730e-01 9.80221658e-01 -2.35633698e-03 -6.75208548e+01] [-1.14951042e-02 8.30727460e-05 9.99933926e-01 -5.01557586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2857692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:377.87, Y:-67.53, Z:-5.02 [[ 9.80353718e-01 1.96969255e-01 1.04737775e-02 3.77867551e+02] [-1.96957069e-01 9.80409662e-01 -2.19267671e-03 -6.75272611e+01] [-1.07004825e-02 8.67142516e-05 9.99942744e-01 -5.01574648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.31576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:377.89, Y:-67.53, Z:-5.02 [[ 9.80467249e-01 1.96470424e-01 9.12936019e-03 3.77894434e+02] [-1.96461149e-01 9.80509748e-01 -1.91072762e-03 -6.75337750e+01] [-9.32682813e-03 7.98412575e-05 9.99956501e-01 -5.01614180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.92, Y:-67.54, Z:-5.02 [[ 9.80503296e-01 1.96357858e-01 7.54176180e-03 3.77919917e+02] [-1.96351528e-01 9.80532298e-01 -1.57809928e-03 -6.75432846e+01] [-7.70481322e-03 6.64950962e-05 9.99970315e-01 -5.01756428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.95, Y:-67.55, Z:-5.02 [[ 9.80526680e-01 1.96248416e-01 7.34773221e-03 3.77945520e+02] [-1.96242407e-01 9.80554208e-01 -1.53709029e-03 -6.75507539e+01] [-7.50650128e-03 6.52213778e-05 9.99971824e-01 -5.01822033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.97, Y:-67.56, Z:-5.02 [[ 9.80537744e-01 1.96193118e-01 7.34798545e-03 3.77973438e+02] [-1.96187117e-01 9.80565274e-01 -1.53587856e-03 -6.75564519e+01] [-7.50650817e-03 6.44068195e-05 9.99971824e-01 -5.01856732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.00, Y:-67.56, Z:-5.02 [[ 9.80555189e-01 1.96085788e-01 7.86671319e-03 3.78000171e+02] [-1.96078909e-01 9.80586742e-01 -1.64383885e-03 -6.75635979e+01] [-8.03632810e-03 6.93781703e-05 9.99967706e-01 -5.01876376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.03, Y:-67.57, Z:-5.02 [[ 9.80490108e-01 1.96362421e-01 8.99710687e-03 3.78027633e+02] [-1.96353443e-01 9.80531383e-01 -1.87929080e-03 -6.75706861e+01] [-9.19096774e-03 7.60131322e-05 9.99957759e-01 -5.01921896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.49576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:378.05, Y:-67.58, Z:-5.02 [[ 9.80220686e-01 1.97546406e-01 1.19509118e-02 3.78054929e+02] [-1.97530666e-01 9.80293533e-01 -2.49514861e-03 -6.75789025e+01] [-1.22083092e-02 8.51247108e-05 9.99925472e-01 -5.01850686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.08, Y:-67.59, Z:-5.02 [[ 9.80061170e-01 1.98350973e-01 1.17044240e-02 3.78081171e+02] [-1.98335943e-01 9.80131056e-01 -2.44287692e-03 -6.75855511e+01] [-1.19564165e-02 7.27608384e-05 9.99928517e-01 -5.01883503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.55576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:378.11, Y:-67.59, Z:-5.02 [[ 9.79846841e-01 1.99476650e-01 1.04515219e-02 3.78108587e+02] [-1.99464737e-01 9.79902579e-01 -2.18061191e-03 -6.75922876e+01] [-1.06764544e-02 5.19556326e-05 9.99943004e-01 -5.01922735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5857692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:378.14, Y:-67.60, Z:-5.02 [[ 9.79193103e-01 2.02749555e-01 8.57235740e-03 3.78135576e+02] [-2.02741671e-01 9.79230626e-01 -1.78803002e-03 -6.75986428e+01] [-8.75683719e-03 1.28525987e-05 9.99961658e-01 -5.02011404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.61576923100006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:378.16, Y:-67.60, Z:-5.02 [[ 9.78911724e-01 2.04091063e-01 8.86982125e-03 3.78162364e+02] [-2.04082682e-01 9.78951908e-01 -1.84957948e-03 -6.76043188e+01] [-9.06061108e-03 3.98129178e-07 9.99958952e-01 -5.02038675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.64576923100003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:378.19, Y:-67.61, Z:-5.02 [[ 9.78691269e-01 2.05089298e-01 1.00886035e-02 3.78189512e+02] [-2.05078519e-01 9.78743266e-01 -2.10269525e-03 -6.76105266e+01] [-1.03053931e-02 -1.10663845e-05 9.99946898e-01 -5.02042798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.22, Y:-67.62, Z:-5.02 [[ 9.78425422e-01 2.06274299e-01 1.16020630e-02 3.78215870e+02] [-2.06260138e-01 9.78494207e-01 -2.41713648e-03 -6.76166636e+01] [-1.18511446e-02 -2.80553343e-05 9.99929772e-01 -5.01942963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.24, Y:-67.62, Z:-5.02 [[ 9.78208073e-01 2.07287484e-01 1.18686257e-02 3.78243600e+02] [-2.07272752e-01 9.78280071e-01 -2.47161588e-03 -6.76218416e+01] [-1.21231750e-02 -4.22880977e-05 9.99926511e-01 -5.01925293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:378.27, Y:-67.63, Z:-5.02 [[ 9.77951369e-01 2.08513656e-01 1.15401242e-02 3.78270633e+02] [-2.08499823e-01 9.78019454e-01 -2.40240349e-03 -6.76262247e+01] [-1.17873999e-02 -5.66800671e-05 9.99930525e-01 -5.01956814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:378.30, Y:-67.63, Z:-5.02 [[ 9.77329484e-01 2.11448733e-01 1.07941077e-02 3.78299368e+02] [-2.11436826e-01 9.77389086e-01 -2.24572904e-03 -6.76276346e+01] [-1.10248996e-02 -8.74546652e-05 9.99939220e-01 -5.02122289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.79576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:378.33, Y:-67.63, Z:-5.02 [[ 9.77008187e-01 2.12923484e-01 1.08900432e-02 3.78325812e+02] [-2.12911464e-01 9.77068871e-01 -2.26489997e-03 -6.76306800e+01] [-1.11225726e-02 -1.05789221e-04 9.99938137e-01 -5.02255446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.35, Y:-67.63, Z:-5.02 [[ 9.76176223e-01 2.16652464e-01 1.19034551e-02 3.78354183e+02] [-2.16638393e-01 9.76248781e-01 -2.47456862e-03 -6.76308851e+01] [-1.21568549e-02 -1.63130342e-04 9.99926089e-01 -5.02129275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.38, Y:-67.63, Z:-5.02 [[ 9.75704451e-01 2.18756178e-01 1.21061137e-02 3.78381553e+02] [-2.18741797e-01 9.75779533e-01 -2.51581349e-03 -6.76324586e+01] [-1.23632478e-02 -1.93422653e-04 9.99923553e-01 -5.02027517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.41, Y:-67.63, Z:-5.02 [[ 9.75266627e-01 2.20749004e-01 1.11751510e-02 3.78410098e+02] [-2.20736890e-01 9.75330629e-01 -2.32148420e-03 -6.76344215e+01] [-1.14119324e-02 -2.02702007e-04 9.99934861e-01 -5.02020915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.44, Y:-67.64, Z:-5.02 [[ 9.75054149e-01 2.21738489e-01 1.00721717e-02 3.78437120e+02] [-2.21728708e-01 9.75106151e-01 -2.09174362e-03 -6.76360922e+01] [-1.02852567e-02 -1.93726317e-04 9.99947087e-01 -5.02082116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.94576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:378.47, Y:-67.63, Z:-5.02 [[ 9.75461576e-01 2.19950103e-01 9.83185410e-03 3.78465761e+02] [-2.19940700e-01 9.75511108e-01 -2.04103370e-03 -6.76346364e+01] [-1.00400085e-02 -1.71474922e-04 9.99949583e-01 -5.02292118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.49, Y:-67.64, Z:-5.02 [[ 9.75948246e-01 2.17715298e-01 1.11834454e-02 3.78492970e+02] [-2.17702995e-01 9.76012305e-01 -2.32067126e-03 -6.76369921e+01] [-1.14204260e-02 -1.69814522e-04 9.99934770e-01 -5.02369393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.52, Y:-67.64, Z:-5.02 [[ 9.76498464e-01 2.15148122e-01 1.27293444e-02 3.78519481e+02] [-2.15131982e-01 9.76581415e-01 -2.64018540e-03 -6.76399103e+01] [-1.29992721e-02 -1.60352096e-04 9.99915493e-01 -5.02381897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.55, Y:-67.64, Z:-5.02 [[ 9.77626388e-01 2.09878144e-01 1.40645208e-02 3.78547365e+02] [-2.09857921e-01 9.77727546e-01 -2.91525292e-03 -6.76418065e+01] [-1.43631173e-02 -1.01522916e-04 9.99896840e-01 -5.02347008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.06576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:378.58, Y:-67.65, Z:-5.02 [[ 9.78163579e-01 2.07459158e-01 1.25184349e-02 3.78575434e+02] [-2.07442950e-01 9.78243678e-01 -2.59394458e-03 -6.76452513e+01] [-1.27842174e-02 -5.95589561e-05 9.99918277e-01 -5.02352517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0957692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:378.60, Y:-67.65, Z:-5.02 [[ 9.78645535e-01 2.05259622e-01 1.10183315e-02 3.78602955e+02] [-2.05246934e-01 9.78707559e-01 -2.28239402e-03 -6.76483999e+01] [-1.12522077e-02 -2.78240497e-05 9.99936692e-01 -5.02480392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.63, Y:-67.65, Z:-5.03 [[ 9.79381454e-01 2.01855605e-01 8.14140096e-03 3.78630544e+02] [-2.01848563e-01 9.79415292e-01 -1.68607729e-03 -6.76513359e+01] [-8.31415675e-03 7.98274610e-06 9.99965437e-01 -5.02605300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1557692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:378.66, Y:-67.66, Z:-5.03 [[ 9.79589478e-01 2.00842618e-01 8.16686470e-03 3.78657204e+02] [-2.00835500e-01 9.79623521e-01 -1.69096511e-03 -6.76560824e+01] [-8.34007061e-03 1.62552739e-05 9.99965221e-01 -5.02616170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.68, Y:-67.66, Z:-5.03 [[ 9.79700466e-01 2.00240629e-01 9.52294034e-03 3.78683984e+02] [-2.00230940e-01 9.79746748e-01 -1.97003371e-03 -6.76605808e+01] [-9.72455061e-03 2.32556490e-05 9.99952715e-01 -5.02561330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.71, Y:-67.66, Z:-5.03 [[ 9.79883354e-01 1.99270315e-01 1.09523908e-02 3.78711333e+02] [-1.99257447e-01 9.79944560e-01 -2.26479917e-03 -6.76645920e+01] [-1.11840431e-02 3.68935647e-05 9.99937456e-01 -5.02553437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.74, Y:-67.67, Z:-5.03 [[ 9.80360498e-01 1.96880955e-01 1.14535187e-02 3.78738852e+02] [-1.96866748e-01 9.80427399e-01 -2.36602701e-03 -6.76685785e+01] [-1.16951692e-02 6.47424476e-05 9.99931607e-01 -5.02656217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:378.77, Y:-67.67, Z:-5.03 [[ 9.80660227e-01 1.95417277e-01 1.08446577e-02 3.78765243e+02] [-1.95404460e-01 9.80720185e-01 -2.23951770e-03 -6.76747845e+01] [-1.10732152e-02 7.71114519e-05 9.99938687e-01 -5.02720226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.79, Y:-67.68, Z:-5.03 [[ 9.80938038e-01 1.94069324e-01 9.88250198e-03 3.78791904e+02] [-1.94058618e-01 9.80987814e-01 -2.04017524e-03 -6.76810724e+01] [-1.00905494e-02 8.35008226e-05 9.99949086e-01 -5.02767264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:378.82, Y:-67.69, Z:-5.03 [[ 9.81458090e-01 1.91427404e-01 9.77582264e-03 3.78819083e+02] [-1.91416811e-01 9.81506769e-01 -2.01675386e-03 -6.76880775e+01] [-9.98109805e-03 1.08102599e-04 9.99950182e-01 -5.02849207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.36576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:378.85, Y:-67.69, Z:-5.03 [[ 9.81770865e-01 1.89775484e-01 1.05467966e-02 3.78845111e+02] [-1.89763067e-01 9.81827504e-01 -2.17497999e-03 -6.76939908e+01] [-1.07678928e-02 1.33939523e-04 9.99942016e-01 -5.02850832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:378.87, Y:-67.70, Z:-5.03 [[ 9.82085984e-01 1.88102216e-01 1.11658909e-02 3.78872282e+02] [-1.88088203e-01 9.82149444e-01 -2.30163204e-03 -6.77009833e+01] [-1.13995157e-02 1.60228206e-04 9.99935011e-01 -5.02885940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.42576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:378.90, Y:-67.71, Z:-5.03 [[ 9.82731190e-01 1.84716911e-01 1.09119766e-02 3.78898136e+02] [-1.84703327e-01 9.82791751e-01 -2.24854367e-03 -6.77107365e+01] [-1.11395447e-02 1.94235607e-04 9.99937934e-01 -5.02967522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:378.92, Y:-67.72, Z:-5.03 [[ 9.83158668e-01 1.82448187e-01 1.05685106e-02 3.78924979e+02] [-1.82435323e-01 9.83215446e-01 -2.17691098e-03 -6.77183547e+01] [-1.07882963e-02 2.12179256e-04 9.99941782e-01 -5.03036308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.95, Y:-67.73, Z:-5.03 [[ 9.83625087e-01 1.79910551e-01 1.06715782e-02 3.78951294e+02] [-1.79897294e-01 9.83682944e-01 -2.19736488e-03 -6.77262110e+01] [-1.08927785e-02 2.41595185e-04 9.99940643e-01 -5.03020975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.51576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:378.98, Y:-67.74, Z:-5.03 [[ 9.84262306e-01 1.76205781e-01 1.33878885e-02 3.78977571e+02] [-1.76184592e-01 9.84353289e-01 -2.75529581e-03 -6.77392366e+01] [-1.36639111e-02 3.53194146e-04 9.99906582e-01 -5.03017707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.54576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.00, Y:-67.75, Z:-5.03 [[ 9.84528542e-01 1.74660165e-01 1.40490754e-02 3.79002885e+02] [-1.74636689e-01 9.84628698e-01 -2.89028822e-03 -6.77490379e+01] [-1.43379411e-02 3.92087233e-04 9.99897130e-01 -5.03053186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.03, Y:-67.76, Z:-5.03 [[ 9.84740882e-01 1.73469510e-01 1.39185275e-02 3.79029376e+02] [-1.73446365e-01 9.84839157e-01 -2.86229998e-03 -6.77598593e+01] [-1.42040327e-02 4.04505792e-04 9.99899036e-01 -5.03107499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.06, Y:-67.77, Z:-5.03 [[ 9.84991379e-01 1.72135699e-01 1.26997781e-02 3.79055318e+02] [-1.72116331e-01 9.85073171e-01 -2.61082939e-03 -6.77700123e+01] [-1.29596276e-02 3.85805233e-04 9.99915946e-01 -5.03156650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.08, Y:-67.79, Z:-5.03 [[ 9.85089804e-01 1.71661654e-01 1.14172510e-02 3.79080286e+02] [-1.71645979e-01 9.85155903e-01 -2.34631572e-03 -6.77855423e+01] [-1.16505446e-02 3.51606482e-04 9.99932068e-01 -5.03178093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.11, Y:-67.80, Z:-5.03 [[ 9.84941668e-01 1.72497721e-01 1.15951570e-02 3.79106785e+02] [-1.72481621e-01 9.85009856e-01 -2.38204972e-03 -6.77967164e+01] [-1.18322421e-02 3.46228549e-04 9.99929937e-01 -5.03149803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.69576923100004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:379.13, Y:-67.81, Z:-5.03 [[ 9.84673159e-01 1.74019923e-01 1.16548703e-02 3.79133455e+02] [-1.74003773e-01 9.84742077e-01 -2.39349439e-03 -6.78076932e+01] [-1.18935569e-02 3.28818267e-04 9.99929215e-01 -5.02969436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.16, Y:-67.82, Z:-5.03 [[ 9.83865196e-01 1.78657061e-01 9.53570356e-03 3.79158461e+02] [-1.78646473e-01 9.83911381e-01 -1.95774944e-03 -6.78242591e+01] [-9.73205302e-03 2.22641734e-04 9.99952618e-01 -5.03289038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.18, Y:-67.83, Z:-5.03 [[ 9.83277735e-01 1.81867521e-01 9.43932474e-03 3.79184629e+02] [-1.81857299e-01 9.83323024e-01 -1.93742183e-03 -6.78344019e+01] [-9.63425946e-03 1.88413650e-04 9.99953572e-01 -5.03411458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.21, Y:-67.84, Z:-5.03 [[ 9.82520654e-01 1.85905270e-01 9.61228108e-03 3.79211376e+02] [-1.85894868e-01 9.82567661e-01 -1.97238064e-03 -6.78443362e+01] [-9.81139249e-03 1.51030995e-04 9.99951856e-01 -5.03455378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.24, Y:-67.86, Z:-5.03 [[ 9.80940668e-01 1.94126505e-01 8.38491216e-03 3.79235980e+02] [-1.94118893e-01 9.80976502e-01 -1.72009568e-03 -6.78567110e+01] [-8.55931796e-03 5.96419384e-05 9.99963367e-01 -5.03467087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.26, Y:-67.87, Z:-5.04 [[ 9.80281236e-01 1.97454560e-01 7.77148977e-03 3.79262843e+02] [-1.97448131e-01 9.80312040e-01 -1.59365086e-03 -6.78654881e+01] [-7.93315862e-03 2.77599074e-05 9.99968532e-01 -5.03521652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.87576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.29, Y:-67.87, Z:-5.04 [[ 9.79674338e-01 2.00448554e-01 7.65298997e-03 3.79289772e+02] [-2.00442415e-01 9.79704229e-01 -1.56883875e-03 -6.78745546e+01] [-7.81213810e-03 2.96727654e-06 9.99969485e-01 -5.03503501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.32, Y:-67.89, Z:-5.04 [[ 9.78750053e-01 2.04847722e-01 9.25979314e-03 3.79315977e+02] [-2.04838938e-01 9.78793854e-01 -1.89742137e-03 -6.78857074e+01] [-9.45211106e-03 -3.96649209e-05 9.99955327e-01 -5.03549311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.93576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.34, Y:-67.89, Z:-5.04 [[ 9.78329802e-01 2.06781027e-01 1.06021167e-02 3.79342843e+02] [-2.06769635e-01 9.78387246e-01 -2.17159009e-03 -6.78930080e+01] [-1.08220194e-02 -6.76644881e-05 9.99941438e-01 -5.03560467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9657692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:379.37, Y:-67.90, Z:-5.04 [[ 9.77866178e-01 2.08908703e-01 1.16142593e-02 3.79370515e+02] [-2.08895191e-01 9.77935143e-01 -2.37816029e-03 -6.78995306e+01] [-1.18548107e-02 -1.00640406e-04 9.99929724e-01 -5.03553062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.40, Y:-67.90, Z:-5.04 [[ 9.76434668e-01 2.15524933e-01 1.11508429e-02 3.79397268e+02] [-2.15512917e-01 9.76498322e-01 -2.28253594e-03 -6.79048893e+01] [-1.13807228e-02 -1.74403460e-04 9.99935222e-01 -5.03533374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.43, Y:-67.91, Z:-5.04 [[ 9.75576246e-01 2.19392051e-01 1.08680874e-02 3.79425251e+02] [-2.19380885e-01 9.75636757e-01 -2.22379720e-03 -6.79086283e+01] [-1.10911890e-02 -2.14766913e-04 9.99938468e-01 -5.03542845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.45, Y:-67.91, Z:-5.04 [[ 9.74609851e-01 2.23647987e-01 1.08266307e-02 3.79452424e+02] [-2.23637178e-01 9.74669949e-01 -2.21451413e-03 -6.79113981e+01] [-1.10476632e-02 -2.62949835e-04 9.99938938e-01 -5.03535958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.48, Y:-67.91, Z:-5.04 [[ 9.72980055e-01 2.30648366e-01 1.05424776e-02 3.79480376e+02] [-2.30638536e-01 9.73037111e-01 -2.15547075e-03 -6.79118830e+01] [-1.07553777e-02 -3.34271540e-04 9.99942103e-01 -5.03681293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.51, Y:-67.92, Z:-5.04 [[ 9.72463409e-01 2.32833985e-01 1.01614122e-02 3.79507531e+02] [-2.32824979e-01 9.72516435e-01 -2.07692148e-03 -6.79154866e+01] [-1.03657183e-02 -3.46100443e-04 9.99946215e-01 -5.03785572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.14576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.54, Y:-67.92, Z:-5.04 [[ 9.72271269e-01 2.33630734e-01 1.02596510e-02 3.79535665e+02] [-2.33621605e-01 9.72325332e-01 -2.09616714e-03 -6.79190709e+01] [-1.04654476e-02 -3.58833044e-04 9.99945171e-01 -5.03908378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.56, Y:-67.92, Z:-5.04 [[ 9.72500522e-01 2.32614609e-01 1.15403435e-02 3.79563572e+02] [-2.32602998e-01 9.72568913e-01 -2.35695702e-03 -6.79200244e+01] [-1.17720419e-02 -3.92176561e-04 9.99930630e-01 -5.03901690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.59, Y:-67.92, Z:-5.04 [[ 9.72706070e-01 2.31761627e-01 1.13775909e-02 3.79590589e+02] [-2.31750293e-01 9.72772536e-01 -2.32290264e-03 -6.79227797e+01] [-1.16061676e-02 -3.77258510e-04 9.99932575e-01 -5.03892779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.62, Y:-67.92, Z:-5.04 [[ 9.72807793e-01 2.31332788e-01 1.14078331e-02 3.79618064e+02] [-2.31321375e-01 9.72874607e-01 -2.32810331e-03 -6.79215169e+01] [-1.16369578e-02 -3.74078600e-04 9.99932218e-01 -5.03974753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.65, Y:-67.92, Z:-5.04 [[ 9.72773128e-01 2.31459866e-01 1.17801074e-02 3.79646762e+02] [-2.31447717e-01 9.72844376e-01 -2.40313971e-03 -6.79233919e+01] [-1.20164416e-02 -3.88769240e-04 9.99927724e-01 -5.03949228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.29576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.67, Y:-67.93, Z:-5.04 [[ 9.72786496e-01 2.31403671e-01 1.17802748e-02 3.79674708e+02] [-2.31391528e-01 9.72857744e-01 -2.40231894e-03 -6.79289603e+01] [-1.20164370e-02 -3.88912360e-04 9.99927724e-01 -5.03983927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.70, Y:-67.93, Z:-5.04 [[ 9.72758359e-01 2.31493426e-01 1.23275676e-02 3.79701963e+02] [-2.31480145e-01 9.72836382e-01 -2.51314248e-03 -6.79299132e+01] [-1.25744822e-02 -4.08906784e-04 9.99920854e-01 -5.03995320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.35576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.73, Y:-67.93, Z:-5.04 [[ 9.72895618e-01 2.30937761e-01 1.19107819e-02 3.79731173e+02] [-2.30925333e-01 9.72968447e-01 -2.42721038e-03 -6.79284352e+01] [-1.21493495e-02 -3.89078936e-04 9.99926118e-01 -5.03978009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.76, Y:-67.93, Z:-5.04 [[ 9.73080531e-01 2.30173277e-01 1.15992785e-02 3.79758806e+02] [-2.30161446e-01 9.73149590e-01 -2.36289230e-03 -6.79305230e+01] [-1.18317078e-02 -3.70422222e-04 9.99929934e-01 -5.04004418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.79, Y:-67.93, Z:-5.04 [[ 9.73282056e-01 2.29295452e-01 1.20679663e-02 3.79787288e+02] [-2.29282592e-01 9.73356797e-01 -2.45728037e-03 -6.79324838e+01] [-1.23098802e-02 -3.75347693e-04 9.99924160e-01 -5.04047764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.82, Y:-67.93, Z:-5.04 [[ 9.73540026e-01 2.28177542e-01 1.24429739e-02 3.79815595e+02] [-2.28163790e-01 9.73619469e-01 -2.53273915e-03 -6.79343606e+01] [-1.26926358e-02 -3.73313135e-04 9.99919376e-01 -5.04070567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.84, Y:-67.94, Z:-5.04 [[ 9.73901927e-01 2.26615359e-01 1.26694623e-02 3.79843085e+02] [-2.26600983e-01 9.73984265e-01 -2.57790898e-03 -6.79362945e+01] [-1.29240507e-02 -3.60282077e-04 9.99916416e-01 -5.04117932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.87, Y:-67.94, Z:-5.04 [[ 9.74754496e-01 2.22896163e-01 1.30756448e-02 3.79872325e+02] [-2.22880529e-01 9.74842139e-01 -2.65945257e-03 -6.79351273e+01] [-1.33394713e-02 -3.21993286e-04 9.99910973e-01 -5.04191994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.90, Y:-67.94, Z:-5.04 [[ 9.75102395e-01 2.21406511e-01 1.24288687e-02 3.79900375e+02] [-2.21392276e-01 9.75181560e-01 -2.52707387e-03 -6.79364892e+01] [-1.26799142e-02 -2.87499744e-04 9.99919565e-01 -5.04200574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.93, Y:-67.93, Z:-5.04 [[ 9.75503969e-01 2.19748620e-01 1.01267460e-02 3.79928229e+02] [-2.19739086e-01 9.75556506e-01 -2.05842892e-03 -6.79336956e+01] [-1.03315499e-02 -2.17236332e-04 9.99946605e-01 -5.04188998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.96, Y:-67.94, Z:-5.04 [[ 9.75606047e-01 2.19321918e-01 9.52564665e-03 3.79956854e+02] [-2.19313468e-01 9.75652528e-01 -1.93561629e-03 -6.79358529e+01] [-9.71824431e-03 -2.00703649e-04 9.99952757e-01 -5.04224339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.98, Y:-67.94, Z:-5.04 [[ 9.75801474e-01 2.18452412e-01 9.48824168e-03 3.79984417e+02] [-2.18443994e-01 9.75847584e-01 -1.92735591e-03 -6.79373058e+01] [-9.68011327e-03 -1.91932669e-04 9.99953128e-01 -5.04272720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.01, Y:-67.94, Z:-5.04 [[ 9.76153845e-01 2.16853797e-01 9.90459477e-03 3.80012779e+02] [-2.16844548e-01 9.76204075e-01 -2.01125909e-03 -6.79382344e+01] [-1.01050550e-02 -1.84459080e-04 9.99948926e-01 -5.04306656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.04, Y:-67.94, Z:-5.04 [[ 9.76993568e-01 2.12915872e-01 1.22637801e-02 3.80041227e+02] [-2.12901418e-01 9.77070519e-01 -2.48750335e-03 -6.79356308e+01] [-1.25122069e-02 -1.80701388e-04 9.99921703e-01 -5.04324221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.07, Y:-67.94, Z:-5.04 [[ 9.77511376e-01 2.10484428e-01 1.29543557e-02 3.80068411e+02] [-2.10468102e-01 9.77597197e-01 -2.62632749e-03 -6.79380273e+01] [-1.32169429e-02 -1.59213669e-04 9.99912640e-01 -5.04337311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.10, Y:-67.94, Z:-5.04 [[ 9.78034874e-01 2.08053308e-01 1.27124528e-02 3.80095242e+02] [-2.08037403e-01 9.78117480e-01 -2.57563350e-03 -6.79407592e+01] [-1.29701414e-02 -1.25606278e-04 9.99915876e-01 -5.04337778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.12, Y:-67.94, Z:-5.04 [[ 9.79148297e-01 2.02795297e-01 1.19448549e-02 3.80124097e+02] [-2.02780874e-01 9.79221152e-01 -2.41917942e-03 -6.79417945e+01] [-1.21872528e-02 -5.34527084e-05 9.99925731e-01 -5.04345331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.15, Y:-67.95, Z:-5.04 [[ 9.79758088e-01 1.99817238e-01 1.21309576e-02 3.80152345e+02] [-1.99802145e-01 9.79833185e-01 -2.45600211e-03 -6.79457368e+01] [-1.23770664e-02 -1.75034193e-05 9.99923401e-01 -5.04414378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.18, Y:-67.95, Z:-5.05 [[ 9.81136544e-01 1.92954601e-01 1.18154227e-02 3.80180408e+02] [-1.92939794e-01 9.81207683e-01 -2.39131284e-03 -6.79492022e+01] [-1.20547983e-02 6.65392042e-05 9.99927336e-01 -5.04562715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.21, Y:-67.95, Z:-5.05 [[ 9.81892322e-01 1.89069725e-01 1.18366639e-02 3.80207424e+02] [-1.89054592e-01 9.81963658e-01 -2.39473618e-03 -6.79549109e+01] [-1.20759459e-02 1.13597401e-04 9.99927077e-01 -5.04652868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.89576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.23, Y:-67.96, Z:-5.05 [[ 9.82560085e-01 1.85546056e-01 1.21795128e-02 3.80233239e+02] [-1.85529775e-01 9.82635556e-01 -2.46316915e-03 -6.79616489e+01] [-1.24250537e-02 1.60549409e-04 9.99922793e-01 -5.04681475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.26, Y:-67.97, Z:-5.05 [[ 9.83207299e-01 1.82113220e-01 1.17551297e-02 3.80260493e+02] [-1.82097820e-01 9.83277548e-01 -2.37636924e-03 -6.79693930e+01] [-1.19913234e-02 1.95880091e-04 9.99928082e-01 -5.04709915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.95576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:380.29, Y:-67.98, Z:-5.05 [[ 9.84414524e-01 1.75538930e-01 1.06831254e-02 3.80286516e+02] [-1.75525831e-01 9.84472458e-01 -2.15896551e-03 -6.79807477e+01] [-1.08962252e-02 2.50152544e-04 9.99940603e-01 -5.04751268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.98576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:380.31, Y:-67.99, Z:-5.05 [[ 9.84919404e-01 1.72685214e-01 1.06575804e-02 3.80313368e+02] [-1.72672019e-01 9.84977024e-01 -2.15303468e-03 -6.79889098e+01] [-1.08692690e-02 2.80299718e-04 9.99940888e-01 -5.04785082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.01576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:380.34, Y:-68.00, Z:-5.05 [[ 9.85229872e-01 1.70898772e-01 1.07568481e-02 3.80339235e+02] [-1.70885233e-01 9.85288546e-01 -2.17230783e-03 -6.79973000e+01] [-1.09698440e-02 3.02036076e-04 9.99939784e-01 -5.04818996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.04576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:380.36, Y:-68.01, Z:-5.05 [[ 9.85341631e-01 1.70202500e-01 1.15316413e-02 3.80364112e+02] [-1.70186904e-01 9.85409052e-01 -2.32772075e-03 -6.80092303e+01] [-1.17595676e-02 3.31065837e-04 9.99930799e-01 -5.04905197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.39, Y:-68.02, Z:-5.05 [[ 9.85119927e-01 1.71472852e-01 1.16529141e-02 3.80390991e+02] [-1.71457027e-01 9.85188794e-01 -2.35121450e-03 -6.80176425e+01] [-1.18834899e-02 3.18254254e-04 9.99929338e-01 -5.04839030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.42, Y:-68.03, Z:-5.05 [[ 9.84430462e-01 1.75439312e-01 1.08495909e-02 3.80417959e+02] [-1.75425841e-01 9.84490216e-01 -2.18847028e-03 -6.80280110e+01] [-1.10652598e-02 2.51098198e-04 9.99938747e-01 -5.04793951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.44, Y:-68.04, Z:-5.05 [[ 9.84054112e-01 1.77610915e-01 9.58476767e-03 3.80443639e+02] [-1.77600510e-01 9.84100769e-01 -1.93278646e-03 -6.80357220e+01] [-9.77566120e-03 1.99706835e-04 9.99952197e-01 -5.04925637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.47, Y:-68.04, Z:-5.05 [[ 9.83728904e-01 1.79464194e-01 8.36932162e-03 3.80470378e+02] [-1.79456334e-01 9.83764493e-01 -1.68707875e-03 -6.80436260e+01] [-8.53621167e-03 1.57700358e-04 9.99963553e-01 -5.04980729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.50, Y:-68.05, Z:-5.05 [[ 9.83051837e-01 1.83097148e-01 9.19344000e-03 3.80496277e+02] [-1.83087828e-01 9.83094815e-01 -1.85249973e-03 -6.80526505e+01] [-9.37721062e-03 1.37896301e-04 9.99956023e-01 -5.05006935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.52, Y:-68.06, Z:-5.05 [[ 9.82593363e-01 1.85506627e-01 9.87800061e-03 3.80522870e+02] [-1.85495999e-01 9.82643005e-01 -1.98954903e-03 -6.80591062e+01] [-1.00756227e-02 1.22588091e-04 9.99949232e-01 -5.04945825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.25576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.55, Y:-68.06, Z:-5.05 [[ 9.82140402e-01 1.87888206e-01 9.91225126e-03 3.80550151e+02] [-1.87877633e-01 9.82190416e-01 -1.99560410e-03 -6.80648818e+01] [-1.01106687e-02 9.76731093e-05 9.99948881e-01 -5.04944348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.58, Y:-68.07, Z:-5.05 [[ 9.81148727e-01 1.93069172e-01 8.45404582e-03 3.80577693e+02] [-1.93061678e-01 9.81185147e-01 -1.70152547e-03 -6.80701659e+01] [-8.62349630e-03 3.72972799e-05 9.99962816e-01 -5.05056250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.60, Y:-68.08, Z:-5.05 [[ 9.80606823e-01 1.95803760e-01 8.43477717e-03 3.80604679e+02] [-1.95796404e-01 9.80643099e-01 -1.69722199e-03 -6.80753238e+01] [-8.60382847e-03 1.28084260e-05 9.99962986e-01 -5.05110303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.63, Y:-68.08, Z:-5.05 [[ 9.79642735e-01 2.00543010e-01 9.08919536e-03 3.80631472e+02] [-2.00534679e-01 9.79684898e-01 -1.82817234e-03 -6.80794150e+01] [-9.27117461e-03 -3.17431221e-05 9.99957021e-01 -5.05043135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.37576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.66, Y:-68.08, Z:-5.05 [[ 9.79273542e-01 2.02309378e-01 9.70801363e-03 3.80658789e+02] [-2.02299975e-01 9.79321660e-01 -1.95116403e-03 -6.80837970e+01] [-9.90200680e-03 -5.32076102e-05 9.99950973e-01 -5.05029047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4057692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:380.69, Y:-68.09, Z:-5.05 [[ 9.78641324e-01 2.05290433e-01 1.08164998e-02 3.80687144e+02] [-2.05278952e-01 9.78701093e-01 -2.17311457e-03 -6.80859913e+01] [-1.10322398e-02 -9.37000164e-05 9.99939139e-01 -5.05011064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.71, Y:-68.09, Z:-5.05 [[ 9.78329509e-01 2.06765461e-01 1.09277907e-02 3.80713891e+02] [-2.06753843e-01 9.78390531e-01 -2.19467230e-03 -6.80895691e+01] [-1.11454294e-02 -1.12250045e-04 9.99937881e-01 -5.05062405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.74, Y:-68.09, Z:-5.05 [[ 9.78162389e-01 2.07578889e-01 1.04568296e-02 3.80741502e+02] [-2.07568307e-01 9.78218274e-01 -2.09922092e-03 -6.80936281e+01] [-1.06648157e-02 -1.17127459e-04 9.99943122e-01 -5.05131267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.77, Y:-68.10, Z:-5.05 [[ 9.78038821e-01 2.08174163e-01 1.01775312e-02 3.80768194e+02] [-2.08164179e-01 9.78091766e-01 -2.04244078e-03 -6.80975355e+01] [-1.03797429e-02 -1.21011055e-04 9.99946122e-01 -5.05189964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.80, Y:-68.10, Z:-5.05 [[ 9.78055981e-01 2.08076324e-01 1.05233919e-02 3.80795012e+02] [-2.08065653e-01 9.78112584e-01 -2.11097351e-03 -6.81010585e+01] [-1.07323056e-02 -1.24906131e-04 9.99942399e-01 -5.05254247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.82, Y:-68.10, Z:-5.05 [[ 9.78464365e-01 2.06054664e-01 1.22049788e-02 3.80823265e+02] [-2.06040176e-01 9.78540475e-01 -2.44642715e-03 -6.81037383e+01] [-1.24471635e-02 -1.20974197e-04 9.99922524e-01 -5.05237522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.85, Y:-68.11, Z:-5.05 [[ 9.78847570e-01 2.04243456e-01 1.19182958e-02 3.80850004e+02] [-2.04229516e-01 9.78920120e-01 -2.38810291e-03 -6.81077906e+01] [-1.21548140e-02 -9.64790587e-05 9.99926123e-01 -5.05264406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.88, Y:-68.11, Z:-5.05 [[ 9.79514477e-01 2.01112255e-01 1.02591398e-02 3.80878094e+02] [-2.01101763e-01 9.79568200e-01 -2.05488985e-03 -6.81116709e+01] [-1.04627906e-02 -5.03367350e-05 9.99945262e-01 -5.05383235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.91, Y:-68.12, Z:-5.05 [[ 9.79812799e-01 1.99683383e-01 9.66574442e-03 3.80905674e+02] [-1.99674006e-01 9.79860473e-01 -1.93540229e-03 -6.81164382e+01] [-9.85754857e-03 -3.36659748e-05 9.99951413e-01 -5.05392244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.93, Y:-68.12, Z:-5.05 [[ 9.80109602e-01 1.98202259e-01 1.00514752e-02 3.80933171e+02] [-1.98192049e-01 9.80161142e-01 -2.01187696e-03 -6.81211923e+01] [-1.02508240e-02 -2.02625328e-05 9.99947459e-01 -5.05433280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.96, Y:-68.13, Z:-5.05 [[ 9.80675659e-01 1.95317513e-01 1.12392673e-02 3.80959265e+02] [-1.95304568e-01 9.80740062e-01 -2.24870775e-03 -6.81269795e+01] [-1.14620117e-02 1.01727016e-05 9.99934309e-01 -5.05480284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.99, Y:-68.13, Z:-5.05 [[ 9.80988676e-01 1.93728871e-01 1.14167155e-02 3.80986490e+02] [-1.93715417e-01 9.81055108e-01 -2.28322549e-03 -6.81333357e+01] [-1.16427537e-02 2.82245456e-05 9.99932220e-01 -5.05461009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.01, Y:-68.14, Z:-5.06 [[ 9.81298078e-01 1.92134398e-01 1.17666806e-02 3.81012894e+02] [-1.92120003e-01 9.81368621e-01 -2.35234151e-03 -6.81394508e+01] [-1.19994168e-02 4.77334941e-05 9.99928003e-01 -5.05559039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.04, Y:-68.15, Z:-5.06 [[ 9.81871009e-01 1.89195572e-01 1.15912556e-02 3.81040529e+02] [-1.89181410e-01 9.81939422e-01 -2.31631190e-03 -6.81463756e+01] [-1.18201468e-02 8.14694296e-05 9.99930136e-01 -5.05590397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.07, Y:-68.15, Z:-5.06 [[ 9.82110857e-01 1.87961889e-01 1.13398851e-02 3.81067990e+02] [-1.87948261e-01 9.82176318e-01 -2.26527004e-03 -6.81528735e+01] [-1.15635510e-02 9.34346102e-05 9.99933136e-01 -5.05639567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.10, Y:-68.16, Z:-5.06 [[ 9.82256954e-01 1.87189682e-01 1.14586305e-02 3.81095285e+02] [-1.87175724e-01 9.82323782e-01 -2.28815207e-03 -6.81600028e+01] [-1.16844037e-02 1.02775825e-04 9.99931730e-01 -5.05671533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.12, Y:-68.17, Z:-5.06 [[ 9.82406459e-01 1.86402749e-01 1.14701825e-02 3.81121018e+02] [-1.86388719e-01 9.82473411e-01 -2.28963453e-03 -6.81676504e+01] [-1.16959435e-02 1.11439114e-04 9.99931594e-01 -5.05730944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.15, Y:-68.17, Z:-5.06 [[ 9.82452367e-01 1.86199742e-01 1.08167870e-02 3.81148500e+02] [-1.86187263e-01 9.82511906e-01 -2.15834460e-03 -6.81738574e+01] [-1.10295052e-02 1.06522790e-04 9.99939167e-01 -5.05751185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.18, Y:-68.18, Z:-5.06 [[ 9.82540772e-01 1.85792024e-01 9.74451232e-03 3.81175496e+02] [-1.85781883e-01 9.82589087e-01 -1.94376325e-03 -6.81795527e+01] [-9.93598717e-03 9.94727947e-05 9.99950632e-01 -5.05803162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.20, Y:-68.19, Z:-5.06 [[ 9.82667031e-01 1.85231248e-01 7.40884462e-03 3.81201358e+02] [-1.85225371e-01 9.82694957e-01 -1.47774947e-03 -6.81865823e+01] [-7.55435962e-03 7.98296974e-05 9.99971462e-01 -5.05838379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.23, Y:-68.19, Z:-5.06 [[ 9.82633744e-01 1.85424692e-01 6.97205932e-03 3.81228603e+02] [-1.85419499e-01 9.82658475e-01 -1.38961933e-03 -6.81922803e+01] [-7.10882291e-03 7.27311028e-05 9.99974729e-01 -5.05910340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.26, Y:-68.20, Z:-5.06 [[ 9.82528469e-01 1.85986169e-01 6.85223920e-03 3.81255261e+02] [-1.85981170e-01 9.82552360e-01 -1.36530737e-03 -6.81969267e+01] [-6.98661209e-03 6.70658927e-05 9.99975591e-01 -5.05880323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.28, Y:-68.20, Z:-5.06 [[ 9.81996256e-01 1.88729775e-01 8.02650721e-03 3.81283365e+02] [-1.88723014e-01 9.82029057e-01 -1.59837085e-03 -6.81995802e+01] [-8.18392348e-03 5.48075518e-05 9.99966510e-01 -5.05943401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.31, Y:-68.20, Z:-5.06 [[ 9.81748295e-01 1.89997187e-01 8.44709004e-03 3.81311512e+02] [-1.89989752e-01 9.81784634e-01 -1.68146406e-03 -6.82040454e+01] [-8.61269664e-03 4.59139382e-05 9.99962909e-01 -5.05964820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.34, Y:-68.21, Z:-5.06 [[ 9.81575101e-01 1.90782501e-01 1.05999253e-02 3.81337840e+02] [-1.90770850e-01 9.81632332e-01 -2.10900547e-03 -6.82078035e+01] [-1.08075907e-02 4.79905023e-05 9.99941595e-01 -5.05966066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.37, Y:-68.21, Z:-5.06 [[ 9.81689174e-01 1.90176957e-01 1.09128988e-02 3.81365084e+02] [-1.90164581e-01 9.81749827e-01 -2.17029118e-03 -6.82125014e+01] [-1.11264758e-02 5.53045329e-05 9.99938097e-01 -5.05956879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.39, Y:-68.22, Z:-5.06 [[ 9.82081089e-01 1.88206081e-01 9.75731303e-03 3.81392904e+02] [-1.88196096e-01 9.82129557e-01 -1.93985101e-03 -6.82183605e+01] [-9.94803728e-03 6.88027691e-05 9.99950515e-01 -5.05981518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.42, Y:-68.22, Z:-5.06 [[ 9.82092134e-01 1.88148433e-01 9.75745557e-03 3.81420875e+02] [-1.88138453e-01 9.82140602e-01 -1.93913378e-03 -6.82237868e+01] [-9.94803827e-03 6.86554325e-05 9.99950515e-01 -5.06016218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.45, Y:-68.23, Z:-5.06 [[ 9.82255217e-01 1.87312829e-01 9.41233908e-03 3.81448600e+02] [-1.87303509e-01 9.82300310e-01 -1.87002946e-03 -6.82293403e+01] [-9.59602410e-03 7.38820630e-05 9.99953954e-01 -5.06053494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.48, Y:-68.23, Z:-5.06 [[ 9.82246183e-01 1.87363842e-01 9.33952782e-03 3.81475027e+02] [-1.87354674e-01 9.82290581e-01 -1.85491840e-03 -6.82341281e+01] [-9.52167485e-03 7.21823236e-05 9.99954665e-01 -5.06024013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.50, Y:-68.24, Z:-5.06 [[ 9.82249201e-01 1.87319897e-01 9.88755767e-03 3.81502620e+02] [-1.87309628e-01 9.82298962e-01 -1.96284123e-03 -6.82383087e+01] [-1.00802169e-02 7.59644825e-05 9.99949190e-01 -5.06061842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.53, Y:-68.24, Z:-5.06 [[ 9.82267618e-01 1.87143212e-01 1.13024542e-02 3.81530360e+02] [-1.87129793e-01 9.82332637e-01 -2.24278153e-03 -6.82423948e+01] [-1.15224910e-02 8.79857559e-05 9.99933610e-01 -5.06117863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.56, Y:-68.25, Z:-5.06 [[ 9.82286531e-01 1.86991799e-01 1.21341433e-02 3.81557164e+02] [-1.86976332e-01 9.82361470e-01 -2.40687569e-03 -6.82477311e+01] [-1.23701809e-02 9.54439648e-05 9.99923482e-01 -5.06141109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.58, Y:-68.25, Z:-5.06 [[ 9.82356920e-01 1.86581084e-01 1.27428662e-02 3.81584630e+02] [-1.86564007e-01 9.82439559e-01 -2.52651412e-03 -6.82532900e+01] [-1.29904956e-02 1.04578445e-04 9.99915614e-01 -5.06115236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.61, Y:-68.26, Z:-5.06 [[ 9.82846869e-01 1.84098631e-01 1.09419541e-02 3.81610888e+02] [-1.84085893e-01 9.82907768e-01 -2.16878593e-03 -6.82603191e+01] [-1.11542022e-02 1.17325070e-04 9.99937783e-01 -5.06261930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.64, Y:-68.27, Z:-5.06 [[ 9.83289807e-01 1.81794165e-01 9.59359791e-03 3.81637800e+02] [-1.81784271e-01 9.83336598e-01 -1.90081254e-03 -6.82672718e+01] [-9.77929256e-03 1.25084395e-04 9.99952174e-01 -5.06398679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.66, Y:-68.27, Z:-5.06 [[ 9.83721296e-01 1.79465443e-01 9.19602679e-03 3.81664492e+02] [-1.79456256e-01 9.83764268e-01 -1.82142755e-03 -6.82745475e+01] [-9.37360586e-03 1.41492534e-04 9.99956057e-01 -5.06455864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.69, Y:-68.28, Z:-5.06 [[ 9.84038285e-01 1.77692478e-01 9.69727405e-03 3.81691608e+02] [-1.77682183e-01 9.84086051e-01 -1.91998435e-03 -6.82814362e+01] [-9.88411890e-03 1.66305292e-04 9.99951137e-01 -5.06459675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.72, Y:-68.29, Z:-5.06 [[ 9.84141835e-01 1.76928766e-01 1.26909313e-02 3.81719212e+02] [-1.76911083e-01 9.84223633e-01 -2.51156478e-03 -6.82881914e+01] [-1.29350826e-02 2.26569571e-04 9.99916313e-01 -5.06349598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.75, Y:-68.29, Z:-5.06 [[ 9.83974112e-01 1.77840889e-01 1.29446912e-02 3.81745950e+02] [-1.77822584e-01 9.84059231e-01 -2.56082745e-03 -6.82934656e+01] [-1.31937627e-02 2.17929474e-04 9.99912935e-01 -5.06303638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.77, Y:-68.30, Z:-5.06 [[ 9.83667407e-01 1.79563929e-01 1.24590272e-02 3.81773402e+02] [-1.79547122e-01 9.83746289e-01 -2.46375941e-03 -6.82997423e+01] [-1.26989241e-02 1.86537354e-04 9.99919348e-01 -5.06366435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.80, Y:-68.31, Z:-5.06 [[ 9.83360455e-01 1.81347540e-01 1.07370775e-02 3.81800393e+02] [-1.81335172e-01 9.83419061e-01 -2.12262211e-03 -6.83052050e+01] [-1.09439790e-02 1.40292839e-04 9.99940103e-01 -5.06406553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.83, Y:-68.31, Z:-5.06 [[ 9.82554875e-01 1.85786418e-01 8.32617529e-03 3.81826749e+02] [-1.85779142e-01 9.82590150e-01 -1.64566446e-03 -6.83096762e+01] [-8.48695993e-03 7.01259319e-05 9.99963983e-01 -5.06489546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.85, Y:-68.31, Z:-5.07 [[ 9.82117325e-01 1.88098741e-01 8.02637238e-03 3.81854222e+02] [-1.88092063e-01 9.82150122e-01 -1.58577062e-03 -6.83138173e+01] [-8.18138407e-03 4.77158640e-05 9.99966531e-01 -5.06544404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.88, Y:-68.32, Z:-5.07 [[ 9.81657658e-01 1.90479693e-01 8.10733687e-03 3.81881582e+02] [-1.90472965e-01 9.81691136e-01 -1.60118706e-03 -6.83178734e+01] [-8.26389436e-03 2.75890408e-05 9.99965853e-01 -5.06538435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.91, Y:-68.32, Z:-5.07 [[ 9.80694873e-01 1.95336221e-01 9.01813095e-03 3.81909682e+02] [-1.95328108e-01 9.80736336e-01 -1.78034056e-03 -6.83212845e+01] [-9.19217370e-03 -1.55235905e-05 9.99957751e-01 -5.06589427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.94, Y:-68.33, Z:-5.07 [[ 9.80417265e-01 1.96702621e-01 9.49026850e-03 3.81936821e+02] [-1.96693707e-01 9.80463196e-01 -1.87287015e-03 -6.83250137e+01] [-9.67325744e-03 -3.04818587e-05 9.99953212e-01 -5.06654456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.81576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:381.96, Y:-68.33, Z:-5.07 [[ 9.80293299e-01 1.97335779e-01 9.14538490e-03 3.81964684e+02] [-1.97327536e-01 9.80335957e-01 -1.80406760e-03 -6.83289626e+01] [-9.32155674e-03 -3.61208883e-05 9.99956553e-01 -5.06721671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.99, Y:-68.33, Z:-5.07 [[ 9.80447529e-01 1.96661741e-01 6.84117883e-03 3.81991467e+02] [-1.96657113e-01 9.80471396e-01 -1.34931978e-03 -6.83323455e+01] [-6.97293974e-03 -2.24292377e-05 9.99975689e-01 -5.06813469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.02, Y:-68.34, Z:-5.07 [[ 9.80529616e-01 1.96246892e-01 6.98780492e-03 3.82018951e+02] [-1.96242057e-01 9.80554515e-01 -1.37761806e-03 -6.83372996e+01] [-7.12227692e-03 -2.05059097e-05 9.99974636e-01 -5.06873579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.05, Y:-68.34, Z:-5.07 [[ 9.80563611e-01 1.96031948e-01 8.15351725e-03 3.82045327e+02] [-1.96025365e-01 9.80597509e-01 -1.60674162e-03 -6.83421359e+01] [-8.31029140e-03 -2.27838346e-05 9.99965469e-01 -5.06903592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.07, Y:-68.35, Z:-5.07 [[ 9.80597056e-01 1.95814041e-01 9.28846642e-03 3.82072541e+02] [-1.95805497e-01 9.80641046e-01 -1.82944957e-03 -6.83470821e+01] [-9.46688334e-03 -2.47799231e-05 9.99955188e-01 -5.06868244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.10, Y:-68.35, Z:-5.07 [[ 9.80534561e-01 1.96122161e-01 9.38470549e-03 3.82098970e+02] [-1.96113459e-01 9.80579470e-01 -1.84773204e-03 -6.83526932e+01] [-9.56483073e-03 -2.87019312e-05 9.99954256e-01 -5.06895195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.13, Y:-68.36, Z:-5.07 [[ 9.80570901e-01 1.95968764e-01 8.77221813e-03 3.82125457e+02] [-1.95961160e-01 9.80610138e-01 -1.72659307e-03 -6.83583353e+01] [-8.94048434e-03 -2.59671135e-05 9.99960033e-01 -5.06934271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.15, Y:-68.36, Z:-5.07 [[ 9.80658771e-01 1.95524649e-01 8.85932114e-03 3.82152984e+02] [-1.95516886e-01 9.80698787e-01 -1.74239472e-03 -6.83639718e+01] [-9.02900661e-03 -2.34522168e-05 9.99959237e-01 -5.06990753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.18, Y:-68.37, Z:-5.07 [[ 9.80757483e-01 1.95001631e-01 9.44050226e-03 3.82180972e+02] [-1.94992799e-01 9.80802918e-01 -1.85598081e-03 -6.83691854e+01] [-9.62119145e-03 -2.05628872e-05 9.99953715e-01 -5.07000086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.21, Y:-68.37, Z:-5.07 [[ 9.80633857e-01 1.95519066e-01 1.13812815e-02 3.82208755e+02] [-1.95506276e-01 9.80699900e-01 -2.23655839e-03 -6.83748972e+01] [-1.15989115e-02 -3.18670773e-05 9.99932730e-01 -5.07019984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.23, Y:-68.38, Z:-5.07 [[ 9.80581600e-01 1.95777370e-01 1.14432375e-02 3.82234628e+02] [-1.95764468e-01 9.80648367e-01 -2.24790725e-03 -6.83806227e+01] [-1.16618816e-02 -3.59228154e-05 9.99931997e-01 -5.07068295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.26, Y:-68.39, Z:-5.07 [[ 9.80921468e-01 1.94145136e-01 1.00369588e-02 3.82261459e+02] [-1.94135132e-01 9.80972816e-01 -1.97093605e-03 -6.83857238e+01] [-1.02286314e-02 -1.51928399e-05 9.99947686e-01 -5.07141800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.29, Y:-68.39, Z:-5.07 [[ 9.81275187e-01 1.92392210e-01 9.17846064e-03 3.82289016e+02] [-1.92383774e-01 9.81318112e-01 -1.80167238e-03 -6.83907086e+01] [-9.35361740e-03 2.14949666e-06 9.99956254e-01 -5.07229533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.32, Y:-68.40, Z:-5.07 [[ 9.81729991e-01 1.90103915e-01 8.16860932e-03 3.82316290e+02] [-1.90097158e-01 9.81763974e-01 -1.60295742e-03 -6.83959227e+01] [-8.32437483e-03 2.08419597e-05 9.99965352e-01 -5.07361787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.34, Y:-68.40, Z:-5.07 [[ 9.82251051e-01 1.87431534e-01 7.23140178e-03 3.82342946e+02] [-1.87426169e-01 9.82277669e-01 -1.41866965e-03 -6.84018575e+01] [-7.36914791e-03 3.81358226e-05 9.99972847e-01 -5.07471818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.37, Y:-68.41, Z:-5.08 [[ 9.82804846e-01 1.84517627e-01 6.91958103e-03 3.82370519e+02] [-1.84512647e-01 9.82829203e-01 -1.35688567e-03 -6.84083330e+01] [-7.05113563e-03 5.68036038e-05 9.99975139e-01 -5.07566708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.40, Y:-68.42, Z:-5.08 [[ 9.83932542e-01 1.78386514e-01 7.41654761e-03 3.82397523e+02] [-1.78380622e-01 9.83960487e-01 -1.45373904e-03 -6.84156466e+01] [-7.55691724e-03 1.07412768e-04 9.99971440e-01 -5.07611761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.42, Y:-68.42, Z:-5.08 [[ 9.84396694e-01 1.75778037e-01 8.07658774e-03 3.82424851e+02] [-1.75770968e-01 9.84429816e-01 -1.58245861e-03 -6.84225004e+01] [-8.22899525e-03 1.38137385e-04 9.99966132e-01 -5.07611179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.45, Y:-68.43, Z:-5.08 [[ 9.84745888e-01 1.73781091e-01 8.69874072e-03 3.82451624e+02] [-1.73772819e-01 9.84784294e-01 -1.70367120e-03 -6.84298749e+01] [-8.86244908e-03 1.66078510e-04 9.99960714e-01 -5.07568068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.48, Y:-68.44, Z:-5.08 [[ 9.84944967e-01 1.72624096e-01 9.18337623e-03 3.82476825e+02] [-1.72614832e-01 9.84987760e-01 -1.79792253e-03 -6.84414838e+01] [-9.35587793e-03 1.85667803e-04 9.99956216e-01 -5.07628083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.50, Y:-68.45, Z:-5.08 [[ 9.84947480e-01 1.72652700e-01 8.33706793e-03 3.82503147e+02] [-1.72645072e-01 9.84982750e-01 -1.63159141e-03 -6.84504396e+01] [-8.49356675e-03 1.67678157e-04 9.99963915e-01 -5.07702506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.53, Y:-68.46, Z:-5.08 [[ 9.84886621e-01 1.73051300e-01 7.18271620e-03 3.82529257e+02] [-1.73045651e-01 9.84912802e-01 -1.40534786e-03 -6.84593771e+01] [-7.31754641e-03 1.41170505e-04 9.99973216e-01 -5.07772425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.55, Y:-68.47, Z:-5.08 [[ 9.84732524e-01 1.73954956e-01 6.44433505e-03 3.82554534e+02] [-1.73950431e-01 9.84753603e-01 -1.26045338e-03 -6.84683653e+01] [-6.56534427e-03 1.20214586e-04 9.99978441e-01 -5.07807125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.58, Y:-68.48, Z:-5.08 [[ 9.84211652e-01 1.76889029e-01 6.13963876e-03 3.82580890e+02] [-1.76884982e-01 9.84230797e-01 -1.20034255e-03 -6.84815272e+01] [-6.25514898e-03 9.53812300e-05 9.99980432e-01 -5.07768640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.61, Y:-68.49, Z:-5.08 [[ 9.83852272e-01 1.78852255e-01 6.82477955e-03 3.82607079e+02] [-1.78847304e-01 9.83875939e-01 -1.33388036e-03 -6.84901740e+01] [-6.95330389e-03 9.17477974e-05 9.99975821e-01 -5.07786438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.63, Y:-68.50, Z:-5.08 [[ 9.83369995e-01 1.81461499e-01 7.42817042e-03 3.82633589e+02] [-1.81455717e-01 9.83398047e-01 -1.45078889e-03 -6.84986524e+01] [-7.56811061e-03 7.87782745e-05 9.99971358e-01 -5.07752658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.66, Y:-68.51, Z:-5.08 [[ 9.82245224e-01 1.87459921e-01 7.28681907e-03 3.82659394e+02] [-1.87454525e-01 9.82272252e-01 -1.42269087e-03 -6.85103539e+01] [-7.42433770e-03 3.14841108e-05 9.99972439e-01 -5.07844588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.69, Y:-68.52, Z:-5.08 [[ 9.81737785e-01 1.90113025e-01 6.92520340e-03 3.82686209e+02] [-1.90108221e-01 9.81762210e-01 -1.35164693e-03 -6.85185222e+01] [-7.05586869e-03 1.04247718e-05 9.99975107e-01 -5.07899245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.71, Y:-68.53, Z:-5.08 [[ 9.81232245e-01 1.92720939e-01 6.47465455e-03 3.82713188e+02] [-1.92716798e-01 9.81253606e-01 -1.26331489e-03 -6.85266607e+01] [-6.59674536e-03 -8.16938362e-06 9.99978241e-01 -5.07912709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.74, Y:-68.54, Z:-5.08 [[ 9.80198891e-01 1.97895367e-01 6.89615951e-03 3.82738544e+02] [-1.97890800e-01 9.80223149e-01 -1.34524174e-03 -6.85353508e+01] [-7.02599230e-03 -4.60820544e-05 9.99975316e-01 -5.07820947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.77, Y:-68.54, Z:-5.08 [[ 9.79560282e-01 2.00997551e-01 7.85095787e-03 3.82765788e+02] [-2.00991742e-01 9.79591741e-01 -1.53024026e-03 -6.85415607e+01] [-7.99830803e-03 -7.90151202e-05 9.99968010e-01 -5.07863817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.79, Y:-68.55, Z:-5.08 [[ 9.78975934e-01 2.03775300e-01 9.04140022e-03 3.82793057e+02] [-2.03767720e-01 9.79017678e-01 -1.76152272e-03 -6.85470271e+01] [-9.21064547e-03 -1.17857165e-04 9.99957574e-01 -5.07889623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.82, Y:-68.55, Z:-5.08 [[ 9.78429632e-01 2.06356429e-01 9.61659482e-03 3.82819423e+02] [-2.06347985e-01 9.78476878e-01 -1.87297018e-03 -6.85518937e+01] [-9.79611512e-03 -1.51795442e-04 9.99952005e-01 -5.07902478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.85, Y:-68.56, Z:-5.08 [[ 9.77982754e-01 2.08468210e-01 9.52571466e-03 3.82846626e+02] [-2.08460035e-01 9.78029128e-01 -1.85414499e-03 -6.85572365e+01] [-9.70295669e-03 -1.72408992e-04 9.99952910e-01 -5.07946021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.87, Y:-68.56, Z:-5.08 [[ 9.77490909e-01 2.10831916e-01 7.83743091e-03 3.82873286e+02] [-2.10826461e-01 9.77522315e-01 -1.52516052e-03 -6.85622702e+01] [-7.98281613e-03 -1.61507278e-04 9.99968124e-01 -5.08106415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.90, Y:-68.57, Z:-5.08 [[ 9.77522982e-01 2.10676477e-01 8.01508893e-03 3.82900420e+02] [-2.10670774e-01 9.77555827e-01 -1.55896708e-03 -6.85673227e+01] [-8.16363458e-03 -1.64618841e-04 9.99966663e-01 -5.08250360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.93, Y:-68.57, Z:-5.08 [[ 9.77729204e-01 2.09702816e-01 8.38640284e-03 3.82927538e+02] [-2.09696541e-01 9.77765157e-01 -1.63059352e-03 -6.85732425e+01] [-8.54187254e-03 -1.64320765e-04 9.99963504e-01 -5.08316251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.95, Y:-68.58, Z:-5.08 [[ 9.78017970e-01 2.08356209e-01 8.27896062e-03 3.82953511e+02] [-2.08350049e-01 9.78052998e-01 -1.60920281e-03 -6.85792270e+01] [-8.43254966e-03 -1.51092584e-04 9.99964434e-01 -5.08379135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.98, Y:-68.59, Z:-5.08 [[ 9.78626106e-01 2.05540357e-01 6.64130386e-03 3.82979526e+02] [-2.05536331e-01 9.78648635e-01 -1.29055253e-03 -6.85871115e+01] [-6.76476359e-03 -1.02060834e-04 9.99977114e-01 -5.08271629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.01, Y:-68.59, Z:-5.08 [[ 9.78782783e-01 2.04795107e-01 6.57485385e-03 3.83006935e+02] [-2.04791147e-01 9.78804861e-01 -1.27708692e-03 -6.85927704e+01] [-6.69704005e-03 -9.64811787e-05 9.99977570e-01 -5.08232856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.03, Y:-68.60, Z:-5.08 [[ 9.78438486e-01 2.06358535e-01 8.61878317e-03 3.83033214e+02] [-2.06351799e-01 9.78476436e-01 -1.67331990e-03 -6.85970018e+01] [-8.77858008e-03 -1.41260819e-04 9.99961458e-01 -5.08184969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.06, Y:-68.60, Z:-5.08 [[ 9.78043271e-01 2.08185215e-01 9.50142217e-03 3.83061269e+02] [-2.08177123e-01 9.78089406e-01 -1.84384761e-03 -6.86018110e+01] [-9.67710217e-03 -1.74615981e-04 9.99953161e-01 -5.08228399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.09, Y:-68.61, Z:-5.08 [[ 9.77598419e-01 2.10264292e-01 9.50050459e-03 3.83087536e+02] [-2.10256306e-01 9.77644562e-01 -1.84301908e-03 -6.86066425e+01] [-9.67563775e-03 -1.95808463e-04 9.99953171e-01 -5.08232183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.12, Y:-68.61, Z:-5.08 [[ 9.77609332e-01 2.10213536e-01 9.50066420e-03 3.83115537e+02] [-2.10205556e-01 9.77655476e-01 -1.84219589e-03 -6.86119301e+01] [-9.67563090e-03 -1.96144510e-04 9.99953171e-01 -5.08266882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.14, Y:-68.62, Z:-5.08 [[ 9.77230348e-01 2.11997312e-01 8.83096608e-03 3.83142854e+02] [-2.11990493e-01 9.77270229e-01 -1.71194366e-03 -6.86167706e+01] [-8.99316770e-03 -1.99117554e-04 9.99959541e-01 -5.08327778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.17, Y:-68.62, Z:-5.08 [[ 9.76776496e-01 2.14128526e-01 7.52675433e-03 3.83170001e+02] [-2.14123639e-01 9.76805477e-01 -1.45874082e-03 -6.86214539e+01] [-7.66453288e-03 -1.86792277e-04 9.99970610e-01 -5.08438213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.20, Y:-68.63, Z:-5.08 [[ 9.76725828e-01 2.14351553e-01 7.75041710e-03 3.83197273e+02] [-2.14346382e-01 9.76756558e-01 -1.50158148e-03 -6.86264567e+01] [-7.89213705e-03 -1.94640449e-04 9.99968838e-01 -5.08495679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.22, Y:-68.63, Z:-5.09 [[ 9.76864545e-01 2.13700762e-01 8.22467402e-03 3.83224630e+02] [-2.13694920e-01 9.76899147e-01 -1.59286543e-03 -6.86314659e+01] [-8.37507359e-03 -2.01557293e-04 9.99964908e-01 -5.08523282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.25, Y:-68.64, Z:-5.09 [[ 9.77118254e-01 2.12523352e-01 8.58732280e-03 3.83251836e+02] [-2.12516945e-01 9.77155967e-01 -1.66239008e-03 -6.86366858e+01] [-8.74445043e-03 -2.00599918e-04 9.99961746e-01 -5.08513549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.28, Y:-68.64, Z:-5.08 [[ 9.77668173e-01 2.09944028e-01 9.40470464e-03 3.83278975e+02] [-2.09936230e-01 9.77713387e-01 -1.82001352e-03 -6.86419516e+01] [-9.57720659e-03 -1.95018943e-04 9.99954118e-01 -5.08466687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.31, Y:-68.65, Z:-5.09 [[ 9.77815770e-01 2.09222663e-01 1.01092480e-02 3.83306483e+02] [-2.09213623e-01 9.77868005e-01 -1.95552869e-03 -6.86474345e+01] [-1.02946511e-02 -2.02845605e-04 9.99946988e-01 -5.08502381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.33, Y:-68.65, Z:-5.09 [[ 9.77885395e-01 2.08912856e-01 9.77617282e-03 3.83334155e+02] [-2.08904391e-01 9.77934242e-01 -1.89052576e-03 -6.86531645e+01] [-9.95540929e-03 -1.93567903e-04 9.99950425e-01 -5.08542578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.36, Y:-68.66, Z:-5.09 [[ 9.77983342e-01 2.08474102e-01 9.33445403e-03 3.83360407e+02] [-2.08466369e-01 9.78027871e-01 -1.80463384e-03 -6.86579294e+01] [-9.50557562e-03 -1.81017905e-04 9.99954805e-01 -5.08638103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.39, Y:-68.66, Z:-5.09 [[ 9.78333321e-01 2.06829365e-01 9.24811598e-03 3.83387899e+02] [-2.06821709e-01 9.78377017e-01 -1.78715288e-03 -6.86620370e+01] [-9.41777981e-03 -1.64279938e-04 9.99955638e-01 -5.08785649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.42, Y:-68.67, Z:-5.09 [[ 9.78725565e-01 2.04957032e-01 9.42778434e-03 3.83415589e+02] [-2.04948994e-01 9.78770960e-01 -1.82125143e-03 -6.86670250e+01] [-9.60091982e-03 -1.49709584e-04 9.99953899e-01 -5.08864960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.44, Y:-68.68, Z:-5.09 [[ 9.79937423e-01 1.99117333e-01 8.65649751e-03 3.83443510e+02] [-1.99110335e-01 9.79975653e-01 -1.67162295e-03 -6.86750086e+01] [-8.81600590e-03 -8.55122291e-05 9.99961135e-01 -5.08943003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.47, Y:-68.68, Z:-5.09 [[ 9.80721553e-01 1.95249859e-01 7.92012842e-03 3.83470509e+02] [-1.95243877e-01 9.80753532e-01 -1.52913843e-03 -6.86827445e+01] [-8.06625799e-03 -4.66975589e-05 9.99967466e-01 -5.08998008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.50, Y:-68.69, Z:-5.09 [[ 9.81467289e-01 1.91497587e-01 7.11577336e-03 3.83497816e+02] [-1.91492662e-01 9.81493084e-01 -1.37347501e-03 -6.86904167e+01] [-7.24709949e-03 -1.45975807e-05 9.99973739e-01 -5.08991443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.53, Y:-68.70, Z:-5.09 [[ 9.82077049e-01 1.88342741e-01 7.18897328e-03 3.83525805e+02] [-1.88337633e-01 9.82103361e-01 -1.38711847e-03 -6.86977736e+01] [-7.32156852e-03 8.30300168e-06 9.99973197e-01 -5.09020190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.55, Y:-68.71, Z:-5.09 [[ 9.82603758e-01 1.85501881e-01 8.88296853e-03 3.83553806e+02] [-1.85493972e-01 9.82643908e-01 -1.71340877e-03 -6.87068434e+01] [-9.04663547e-03 3.58647879e-05 9.99959078e-01 -5.08949713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.58, Y:-68.71, Z:-5.09 [[ 9.82654408e-01 1.85199870e-01 9.55630042e-03 3.83581247e+02] [-1.85190706e-01 9.82700873e-01 -1.84280820e-03 -6.87139189e+01] [-9.73227260e-03 4.11055847e-05 9.99952639e-01 -5.08923854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.61, Y:-68.72, Z:-5.09 [[ 9.82623564e-01 1.85374053e-01 9.34837401e-03 3.83608325e+02] [-1.85365296e-01 9.82668031e-01 -1.80216340e-03 -6.87213695e+01] [-9.52042261e-03 3.79841025e-05 9.99954679e-01 -5.08998412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.64, Y:-68.73, Z:-5.09 [[ 9.82554818e-01 1.85823139e-01 7.46934739e-03 3.83635205e+02] [-1.85817565e-01 9.82583208e-01 -1.43957384e-03 -6.87320760e+01] [-7.60676145e-03 2.65242742e-05 9.99971068e-01 -5.09074280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.66, Y:-68.74, Z:-5.09 [[ 9.82523937e-01 1.86022017e-01 6.52089242e-03 3.83662227e+02] [-1.86017774e-01 9.82545576e-01 -1.25660262e-03 -6.87399396e+01] [-6.64082975e-03 2.16402592e-05 9.99977949e-01 -5.09072689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.69, Y:-68.75, Z:-5.09 [[ 9.82427552e-01 1.86532772e-01 6.45219463e-03 3.83689569e+02] [-1.86528631e-01 9.82448739e-01 -1.24291884e-03 -6.87478387e+01] [-6.57079557e-03 1.75586792e-05 9.99978412e-01 -5.09066534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.72, Y:-68.76, Z:-5.09 [[ 9.82085891e-01 1.88260498e-01 8.08002665e-03 3.83715913e+02] [-1.88254068e-01 9.82119130e-01 -1.55601800e-03 -6.87577242e+01] [-8.22848547e-03 7.04543999e-06 9.99966145e-01 -5.09096131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.74, Y:-68.77, Z:-5.09 [[ 9.81721664e-01 1.90102712e-01 9.13964642e-03 3.83743666e+02] [-1.90094571e-01 9.81764207e-01 -1.75941403e-03 -6.87652033e+01] [-9.30744710e-03 -1.01422972e-05 9.99956685e-01 -5.09121306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.77, Y:-68.77, Z:-5.09 [[ 9.81223027e-01 1.92627189e-01 9.80497287e-03 3.83771084e+02] [-1.92617949e-01 9.81272014e-01 -1.88701710e-03 -6.87724301e+01] [-9.98483628e-03 -3.70291378e-05 9.99950150e-01 -5.09113599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.80, Y:-68.78, Z:-5.09 [[ 9.79772830e-01 1.99867673e-01 9.90527724e-03 3.83798871e+02] [-1.99858619e-01 9.79822893e-01 -1.90571742e-03 -6.87797932e+01] [-1.00863087e-02 -1.12484875e-04 9.99949126e-01 -5.09067924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.83, Y:-68.78, Z:-5.09 [[ 9.78906096e-01 2.04094512e-01 9.39608174e-03 3.83825903e+02] [-2.04086563e-01 9.78951178e-01 -1.80737508e-03 -6.87849232e+01] [-9.56718062e-03 -1.48363541e-04 9.99954222e-01 -5.09017500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.91576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:383.85, Y:-68.79, Z:-5.09 [[ 9.77991301e-01 2.08449918e-01 9.03582516e-03 3.83853799e+02] [-2.08442757e-01 9.78033025e-01 -1.73755205e-03 -6.87904160e+01] [-9.19952800e-03 -1.84141518e-04 9.99957666e-01 -5.09064081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.88, Y:-68.80, Z:-5.09 [[ 9.77203695e-01 2.12117092e-01 8.90377735e-03 3.83880803e+02] [-2.12110294e-01 9.77244234e-01 -1.71179566e-03 -6.87952088e+01] [-9.06426619e-03 -2.15809786e-04 9.99958895e-01 -5.09141475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.91, Y:-68.80, Z:-5.09 [[ 9.76558354e-01 2.15040111e-01 9.56723005e-03 3.83908937e+02] [-2.15032409e-01 9.76605182e-01 -1.83873975e-03 -6.88000914e+01] [-9.73880925e-03 -2.61627862e-04 9.99952542e-01 -5.09233065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.94, Y:-68.80, Z:-5.09 [[ 9.76092597e-01 2.17106523e-01 1.03922903e-02 3.83936373e+02] [-2.17097558e-01 9.76147870e-01 -1.99677617e-03 -6.88044858e+01] [-1.05779251e-02 -3.07102395e-04 9.99944005e-01 -5.09216416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.96, Y:-68.81, Z:-5.09 [[ 9.75482522e-01 2.19746982e-01 1.20463374e-02 3.83964175e+02] [-2.19735146e-01 9.75556822e-01 -2.31374604e-03 -6.88069284e+01] [-1.22603253e-02 -3.89984887e-04 9.99924763e-01 -5.09206731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.99, Y:-68.81, Z:-5.09 [[ 9.75186701e-01 2.21052883e-01 1.21046170e-02 3.83991842e+02] [-2.21041044e-01 9.75261737e-01 -2.32410670e-03 -6.88104406e+01] [-1.23189203e-02 -4.09179223e-04 9.99924036e-01 -5.09226550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.02, Y:-68.81, Z:-5.09 [[ 9.74909832e-01 2.22300508e-01 1.15456972e-02 3.84018397e+02] [-2.22289832e-01 9.74978112e-01 -2.21617576e-03 -6.88132141e+01] [-1.17494590e-02 -4.05919542e-04 9.99930890e-01 -5.09279874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.05, Y:-68.81, Z:-5.09 [[ 9.74346984e-01 2.24855359e-01 9.38196351e-03 3.84046951e+02] [-2.24848433e-01 9.74392088e-01 -1.80028719e-03 -6.88129311e+01] [-9.54651523e-03 -3.55415400e-04 9.99954368e-01 -5.09433994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.08, Y:-68.82, Z:-5.09 [[ 9.74127100e-01 2.25850143e-01 8.25262610e-03 3.84075262e+02] [-2.25844824e-01 9.74162004e-01 -1.58305082e-03 -6.88154248e+01] [-8.39692703e-03 -3.21720185e-04 9.99964693e-01 -5.09435741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.10, Y:-68.82, Z:-5.10 [[ 9.73939340e-01 2.26673760e-01 7.82096071e-03 3.84103299e+02] [-2.26669013e-01 9.73970692e-01 -1.49986595e-03 -6.88176060e+01] [-7.95736677e-03 -3.11990993e-04 9.99968291e-01 -5.09506289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.13, Y:-68.82, Z:-5.10 [[ 9.73799145e-01 2.27262361e-01 8.18804960e-03 3.84130820e+02] [-2.27257182e-01 9.73833512e-01 -1.56969535e-03 -6.88170701e+01] [-8.33052977e-03 -3.32225096e-04 9.99965245e-01 -5.09640038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.16, Y:-68.82, Z:-5.10 [[ 9.74062222e-01 2.26131676e-01 8.20081917e-03 3.84158635e+02] [-2.26126448e-01 9.74096689e-01 -1.57143505e-03 -6.88195734e+01] [-8.34374205e-03 -3.23746590e-04 9.99965138e-01 -5.09683694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.19, Y:-68.82, Z:-5.10 [[ 9.74459345e-01 2.24401389e-01 8.54404821e-03 3.84186567e+02] [-2.24395653e-01 9.74496748e-01 -1.63656822e-03 -6.88218774e+01] [-8.69339539e-03 -3.22478084e-04 9.99962160e-01 -5.09673704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.21, Y:-68.82, Z:-5.10 [[ 9.74996919e-01 2.22022681e-01 9.32399172e-03 3.84213201e+02] [-2.22015748e-01 9.75041445e-01 -1.78526164e-03 -6.88237667e+01] [-9.48764694e-03 -3.29448395e-04 9.99954937e-01 -5.09653919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.24, Y:-68.82, Z:-5.10 [[ 9.76266975e-01 2.16286811e-01 1.10818923e-02 3.84240931e+02] [-2.16276660e-01 9.76329816e-01 -2.12075742e-03 -6.88241152e+01] [-1.12782738e-02 -3.26329228e-04 9.99936345e-01 -5.09575988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.27, Y:-68.83, Z:-5.10 [[ 9.76937509e-01 2.13205048e-01 1.16923235e-02 3.84267679e+02] [-2.13193539e-01 9.77007427e-01 -2.23658712e-03 -6.88276795e+01] [-1.19003386e-02 -3.07721979e-04 9.99929141e-01 -5.09641881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.30, Y:-68.83, Z:-5.10 [[ 9.77613401e-01 2.10079570e-01 1.17733756e-02 3.84295134e+02] [-2.10067688e-01 9.77684254e-01 -2.25087904e-03 -6.88316336e+01] [-1.19835076e-02 -2.72716272e-04 9.99928158e-01 -5.09743277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.32, Y:-68.84, Z:-5.10 [[ 9.78253262e-01 2.07107493e-01 1.12712755e-02 3.84322766e+02] [-2.07096414e-01 9.78318167e-01 -2.15414343e-03 -6.88359880e+01] [-1.14730328e-02 -2.26942906e-04 9.99934157e-01 -5.09825743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.35, Y:-68.84, Z:-5.10 [[ 9.79145476e-01 2.02933572e-01 9.59701645e-03 3.84349312e+02] [-2.02925344e-01 9.79192495e-01 -1.83364996e-03 -6.88398646e+01] [-9.76943562e-03 -1.52067809e-04 9.99952266e-01 -5.09872783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.38, Y:-68.85, Z:-5.10 [[ 9.79324826e-01 2.02082246e-01 9.25478047e-03 3.84376315e+02] [-2.02074564e-01 9.79368545e-01 -1.76753557e-03 -6.88450485e+01] [-9.42102844e-03 -1.39164266e-04 9.99955611e-01 -5.09940583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.40, Y:-68.85, Z:-5.10 [[ 9.79355859e-01 2.01930066e-01 9.29247460e-03 3.84402419e+02] [-2.01922320e-01 9.79399933e-01 -1.77408101e-03 -6.88498308e+01] [-9.45928930e-03 -1.38901402e-04 9.99955250e-01 -5.09987705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.43, Y:-68.85, Z:-5.10 [[ 9.78959998e-01 2.03830088e-01 9.51936954e-03 3.84430033e+02] [-2.03822058e-01 9.79006266e-01 -1.81653232e-03 -6.88528058e+01] [-9.68978637e-03 -1.61945009e-04 9.99953040e-01 -5.09943771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.46, Y:-68.86, Z:-5.10 [[ 9.78519887e-01 2.05953393e-01 9.05711886e-03 3.84456865e+02] [-2.05946220e-01 9.78561786e-01 -1.72774489e-03 -6.88556634e+01] [-9.21878534e-03 -1.74646664e-04 9.99957491e-01 -5.09972138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.48, Y:-68.86, Z:-5.10 [[ 9.77909517e-01 2.08850351e-01 8.63178261e-03 3.84484997e+02] [-2.08843955e-01 9.77947592e-01 -1.64590184e-03 -6.88585644e+01] [-8.78517820e-03 -1.93152549e-04 9.99961391e-01 -5.09975751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.51, Y:-68.86, Z:-5.10 [[ 9.77164394e-01 2.12303561e-01 8.77183111e-03 3.84511850e+02] [-2.12297100e-01 9.77203738e-01 -1.67197800e-03 -6.88613211e+01] [-8.92683303e-03 -2.28436936e-04 9.99960129e-01 -5.10013076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.54, Y:-68.86, Z:-5.10 [[ 9.75687727e-01 2.18986699e-01 8.84788060e-03 3.84541046e+02] [-2.18980406e-01 9.75727800e-01 -1.68566862e-03 -6.88601798e+01] [-9.00226208e-03 -2.92826303e-04 9.99959436e-01 -5.09968628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.57, Y:-68.86, Z:-5.10 [[ 9.75064041e-01 2.21758869e-01 8.55104985e-03 3.84569549e+02] [-2.21753103e-01 9.75101487e-01 -1.62852086e-03 -6.88615222e+01] [-8.69928037e-03 -3.08309712e-04 9.99962113e-01 -5.10008519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.60, Y:-68.86, Z:-5.10 [[ 9.74711974e-01 2.23310869e-01 8.29599149e-03 3.84596924e+02] [-2.23305504e-01 9.74747228e-01 -1.57940511e-03 -6.88620963e+01] [-8.43919303e-03 -3.13075479e-04 9.99964340e-01 -5.10087627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.63, Y:-68.86, Z:-5.10 [[ 9.74682824e-01 2.23392312e-01 9.44813979e-03 3.84626046e+02] [-2.23385366e-01 9.74728550e-01 -1.79777126e-03 -6.88577609e+01] [-9.61097988e-03 -3.58319392e-04 9.99953749e-01 -5.10164873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.65, Y:-68.86, Z:-5.10 [[ 9.74942079e-01 2.22212996e-01 1.04559555e-02 3.84653721e+02] [-2.22204429e-01 9.74998070e-01 -1.98874229e-03 -6.88581617e+01] [-1.06364608e-02 -3.84451067e-04 9.99943357e-01 -5.10166360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.68, Y:-68.86, Z:-5.10 [[ 9.75310929e-01 2.20540960e-01 1.14139042e-02 3.84681586e+02] [-2.20530649e-01 9.75377632e-01 -2.16993427e-03 -6.88588194e+01] [-1.16114263e-02 -4.00755103e-04 9.99932505e-01 -5.10158505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.71, Y:-68.86, Z:-5.10 [[ 9.76142607e-01 2.16832168e-01 1.13763910e-02 3.84710719e+02] [-2.16821681e-01 9.76208832e-01 -2.16201647e-03 -6.88558524e+01] [-1.15745281e-02 -3.56211825e-04 9.99932949e-01 -5.10181673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.74, Y:-68.86, Z:-5.10 [[ 9.76699198e-01 2.14366682e-01 1.02762830e-02 3.84739353e+02] [-2.14357996e-01 9.76753213e-01 -1.95230179e-03 -6.88571738e+01] [-1.04559008e-02 -2.95991822e-04 9.99945292e-01 -5.10289772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.77, Y:-68.86, Z:-5.10 [[ 9.77270036e-01 2.11769166e-01 9.85380754e-03 3.84768175e+02] [-2.11761054e-01 9.77319678e-01 -1.87136539e-03 -6.88580704e+01] [-1.00266175e-02 -2.57823347e-04 9.99949699e-01 -5.10374006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.80, Y:-68.86, Z:-5.10 [[ 9.77803561e-01 2.09309910e-01 9.46350090e-03 3.84795414e+02] [-2.09302319e-01 9.77849330e-01 -1.79662208e-03 -6.88587941e+01] [-9.62992882e-03 -2.23989217e-04 9.99953606e-01 -5.10374541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.82, Y:-68.86, Z:-5.10 [[ 9.78177468e-01 2.07565349e-01 9.24477924e-03 3.84824102e+02] [-2.07558035e-01 9.78221133e-01 -1.75431272e-03 -6.88602558e+01] [-9.40757296e-03 -2.02799037e-04 9.99955727e-01 -5.10380479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.85, Y:-68.86, Z:-5.10 [[ 9.78741232e-01 2.04877740e-01 9.52429458e-03 3.84851863e+02] [-2.04869855e-01 9.78787555e-01 -1.80665759e-03 -6.88594587e+01] [-9.69240493e-03 -1.82990575e-04 9.99953011e-01 -5.10287070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.88, Y:-68.86, Z:-5.10 [[ 9.78776125e-01 2.04710974e-01 9.52437003e-03 3.84879881e+02] [-2.04703086e-01 9.78822448e-01 -1.80625981e-03 -6.88645585e+01] [-9.69242839e-03 -1.81743955e-04 9.99953011e-01 -5.10321752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.91, Y:-68.87, Z:-5.10 [[ 9.79047455e-01 2.03372809e-01 1.02752553e-02 3.84906926e+02] [-2.03363577e-01 9.79101357e-01 -1.94652226e-03 -6.88672171e+01] [-1.04563861e-02 -1.83875013e-04 9.99945314e-01 -5.10369954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.94, Y:-68.87, Z:-5.10 [[ 9.79314726e-01 2.02057933e-01 1.07358907e-02 3.84935106e+02] [-2.02047786e-01 9.79373555e-01 -2.03284678e-03 -6.88697783e+01] [-1.09252003e-02 -1.78366156e-04 9.99940302e-01 -5.10416982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.96, Y:-68.87, Z:-5.11 [[ 9.79805629e-01 1.99675547e-01 1.05169451e-02 3.84963908e+02] [-1.99665680e-01 9.79862058e-01 -1.99067149e-03 -6.88705518e+01] [-1.07026439e-02 -1.49401867e-04 9.99942714e-01 -5.10527885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.99, Y:-68.87, Z:-5.11 [[ 9.80097638e-01 1.98250014e-01 1.02738595e-02 3.84991333e+02] [-1.98240526e-01 9.80151475e-01 -1.94396220e-03 -6.88747620e+01] [-1.04553291e-02 -1.31422549e-04 9.99945333e-01 -5.10560392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.02, Y:-68.88, Z:-5.11 [[ 9.80428752e-01 1.96593251e-01 1.05146002e-02 3.85017489e+02] [-1.96583226e-01 9.80485125e-01 -1.98873806e-03 -6.88794505e+01] [-1.07003816e-02 -1.17178067e-04 9.99942742e-01 -5.10593584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.05, Y:-68.88, Z:-5.11 [[ 9.80800123e-01 1.94658358e-01 1.18001059e-02 3.85045478e+02] [-1.94645606e-01 9.80871099e-01 -2.23075273e-03 -6.88845409e+01] [-1.20086175e-02 -1.08916196e-04 9.99927888e-01 -5.10560636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.07, Y:-68.89, Z:-5.11 [[ 9.80773467e-01 1.94803092e-01 1.16259072e-02 3.85072806e+02] [-1.94790734e-01 9.80842364e-01 -2.19697263e-03 -6.88885964e+01] [-1.18311594e-02 -1.09886534e-04 9.99930003e-01 -5.10587574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.10, Y:-68.89, Z:-5.11 [[ 9.80640364e-01 1.95541508e-01 1.03920551e-02 3.85099957e+02] [-1.95531682e-01 9.80695420e-01 -1.96315879e-03 -6.88925870e+01] [-1.05753199e-02 -1.06823276e-04 9.99944074e-01 -5.10697128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.13, Y:-68.90, Z:-5.11 [[ 9.80415587e-01 1.96749943e-01 8.64500839e-03 3.85127530e+02] [-1.96743196e-01 9.80453696e-01 -1.63252065e-03 -6.88970790e+01] [-8.79722878e-03 -1.00297886e-04 9.99961299e-01 -5.10853288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.16, Y:-68.90, Z:-5.11 [[ 9.80322832e-01 1.97263824e-01 7.35721492e-03 3.85155494e+02] [-1.97258951e-01 9.80350435e-01 -1.38948806e-03 -6.89013432e+01] [-7.48674458e-03 -8.91296300e-05 9.99971970e-01 -5.10917992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.18, Y:-68.91, Z:-5.11 [[ 9.80569659e-01 1.95959976e-01 9.10115781e-03 3.85182306e+02] [-1.95952487e-01 9.80611889e-01 -1.71619963e-03 -6.89052812e+01] [-9.26101000e-03 -1.00541219e-04 9.99957111e-01 -5.10915896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.21, Y:-68.91, Z:-5.11 [[ 9.80981458e-01 1.93766177e-01 1.14038001e-02 3.85209386e+02] [-1.93754285e-01 9.81047735e-01 -2.14917323e-03 -6.89103019e+01] [-1.16041093e-02 -1.01236036e-04 9.99932665e-01 -5.10969222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.24, Y:-68.92, Z:-5.11 [[ 9.81454811e-01 1.91291867e-01 1.24046795e-02 3.85235978e+02] [-1.91277610e-01 9.81533196e-01 -2.33675969e-03 -6.89158800e+01] [-1.26226079e-02 -7.93134146e-05 9.99920329e-01 -5.10951366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.26, Y:-68.92, Z:-5.11 [[ 9.82407225e-01 1.86405494e-01 1.13593852e-02 3.85262404e+02] [-1.86393222e-01 9.82472896e-01 -2.13892583e-03 -6.89237236e+01] [-1.15589956e-02 -1.60162128e-05 9.99933192e-01 -5.11125745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.29, Y:-68.93, Z:-5.11 [[ 9.82847853e-01 1.84132958e-01 1.02543221e-02 3.85290124e+02] [-1.84122843e-01 9.82901345e-01 -1.93006336e-03 -6.89300092e+01] [-1.04343753e-02 8.90368846e-06 9.99945560e-01 -5.11197209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.32, Y:-68.94, Z:-5.11 [[ 9.83225262e-01 1.82149585e-01 9.46637574e-03 3.85317469e+02] [-1.82140878e-01 9.83270832e-01 -1.78115311e-03 -6.89358872e+01] [-9.63244744e-03 2.70607462e-05 9.99953607e-01 -5.11178688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.34, Y:-68.94, Z:-5.11 [[ 9.83646809e-01 1.79863595e-01 9.38309317e-03 3.85344096e+02] [-1.79854943e-01 9.83691560e-01 -1.76485544e-03 -6.89429627e+01] [-9.54750280e-03 4.83987350e-05 9.99954420e-01 -5.11175560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.37, Y:-68.95, Z:-5.11 [[ 9.83747375e-01 1.79306256e-01 9.50622384e-03 3.85371291e+02] [-1.79297357e-01 9.83793303e-01 -1.78720198e-03 -6.89501673e+01] [-9.67261585e-03 5.37144434e-05 9.99953218e-01 -5.11240103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.40, Y:-68.96, Z:-5.11 [[ 9.83764884e-01 1.79212868e-01 9.45522538e-03 3.85397214e+02] [-1.79204066e-01 9.83810320e-01 -1.77696158e-03 -6.89578187e+01] [-9.62060268e-03 5.36975695e-05 9.99953719e-01 -5.11287900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.42, Y:-68.97, Z:-5.11 [[ 9.83686025e-01 1.79634978e-01 9.64777163e-03 3.85423966e+02] [-1.79625843e-01 9.83733334e-01 -1.81228192e-03 -6.89655469e+01] [-9.81638377e-03 4.97272785e-05 9.99951817e-01 -5.11284910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.45, Y:-68.97, Z:-5.11 [[ 9.83497291e-01 1.80677464e-01 9.41977016e-03 3.85450044e+02] [-1.80668810e-01 9.83542400e-01 -1.76882140e-03 -6.89745372e+01] [-9.58432952e-03 3.77723967e-05 9.99954069e-01 -5.11240940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.48, Y:-68.98, Z:-5.11 [[ 9.83427513e-01 1.81086028e-01 8.84177158e-03 3.85476125e+02] [-1.81078426e-01 9.83467259e-01 -1.65959365e-03 -6.89815586e+01] [-8.99612208e-03 3.10359759e-05 9.99959534e-01 -5.11313353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.50, Y:-68.99, Z:-5.11 [[ 9.83288560e-01 1.81856741e-01 8.46958489e-03 3.85502723e+02] [-1.81849800e-01 9.83325035e-01 -1.58905538e-03 -6.89888703e+01] [-8.61733529e-03 2.23076554e-05 9.99962870e-01 -5.11416506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.53, Y:-69.00, Z:-5.11 [[ 9.82813567e-01 1.84413994e-01 8.30487730e-03 3.85529864e+02] [-1.84407416e-01 9.82848655e-01 -1.55758394e-03 -6.89977164e+01] [-8.44967776e-03 -6.66334067e-07 9.99964301e-01 -5.11408080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.56, Y:-69.00, Z:-5.11 [[ 9.82556779e-01 1.85715691e-01 9.58429970e-03 3.85556610e+02] [-1.85707000e-01 9.82603522e-01 -1.79676525e-03 -6.90038068e+01] [-9.75125414e-03 -1.44476638e-05 9.99952455e-01 -5.11436525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.58, Y:-69.01, Z:-5.11 [[ 9.82282038e-01 1.87113388e-01 1.05156078e-02 3.85583393e+02] [-1.87103016e-01 9.82338322e-01 -1.97040097e-03 -6.90094272e+01] [-1.06985729e-02 -3.20124413e-05 9.99942768e-01 -5.11371471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.61, Y:-69.02, Z:-5.12 [[ 9.81998743e-01 1.88622482e-01 1.00013675e-02 3.85610160e+02] [-1.88613185e-01 9.82049671e-01 -1.87328243e-03 -6.90169900e+01] [-1.01751829e-02 -4.68287927e-05 9.99948230e-01 -5.11562011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.64, Y:-69.02, Z:-5.12 [[ 9.82037784e-01 1.88467466e-01 9.04458650e-03 3.85637471e+02] [-1.88459861e-01 9.82079433e-01 -1.69352459e-03 -6.90230278e+01] [-9.20167667e-03 -4.14363831e-05 9.99957663e-01 -5.11640434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.67, Y:-69.03, Z:-5.12 [[ 9.82103525e-01 1.88136589e-01 8.79142619e-03 3.85665124e+02] [-1.88129397e-01 9.82142873e-01 -1.64553238e-03 -6.90278421e+01] [-8.94402142e-03 -3.78425514e-05 9.99960001e-01 -5.11701480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.69, Y:-69.03, Z:-5.12 [[ 9.82117421e-01 1.88030654e-01 9.47868225e-03 3.85692974e+02] [-1.88022295e-01 9.82163159e-01 -1.77344433e-03 -6.90318281e+01] [-9.64307441e-03 -4.04730158e-05 9.99953504e-01 -5.11717618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.95576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:385.72, Y:-69.03, Z:-5.12 [[ 9.81792803e-01 1.89638673e-01 1.09574303e-02 3.85721045e+02] [-1.89627612e-01 9.81853945e-01 -2.04922465e-03 -6.90348018e+01] [-1.11472084e-02 -6.59173323e-05 9.99937866e-01 -5.11647418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.75, Y:-69.04, Z:-5.12 [[ 9.81561069e-01 1.90821953e-01 1.11736698e-02 3.85749101e+02] [-1.90817544e-01 9.81624422e-01 -1.46930192e-03 -6.90394061e+01] [-1.12487223e-02 -6.89922665e-04 9.99936493e-01 -5.11674185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.78, Y:-69.04, Z:-5.12 [[ 9.81380588e-01 1.91773595e-01 1.07252375e-02 3.85776670e+02] [-1.91756417e-01 9.81439059e-01 -2.61727703e-03 -6.90422662e+01] [-1.10280917e-02 5.11911746e-04 9.99939058e-01 -5.11712080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.80, Y:-69.05, Z:-5.12 [[ 9.81092930e-01 1.93262655e-01 1.03057271e-02 3.85803104e+02] [-1.93253104e-01 9.81147051e-01 -1.92417570e-03 -6.90452973e+01] [-1.04833051e-02 -1.03818580e-04 9.99945043e-01 -5.11763505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.83, Y:-69.05, Z:-5.12 [[ 9.80597519e-01 1.95820430e-01 9.10306341e-03 3.85831745e+02] [-1.95813099e-01 9.80639763e-01 -1.69843816e-03 -6.90460431e+01] [-9.25941484e-03 -1.17014816e-04 9.99957124e-01 -5.11942279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.86, Y:-69.05, Z:-5.12 [[ 9.80494342e-01 1.96334886e-01 9.13552086e-03 3.85859851e+02] [-1.96327531e-01 9.80536892e-01 -1.70384075e-03 -6.90496262e+01] [-9.29223862e-03 -1.22948041e-04 9.99956819e-01 -5.12013766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.89, Y:-69.05, Z:-5.12 [[ 9.80560444e-01 1.95945859e-01 1.03167895e-02 3.85886728e+02] [-1.95936467e-01 9.80614706e-01 -1.92331660e-03 -6.90534599e+01] [-1.04936614e-02 -1.35507095e-04 9.99944931e-01 -5.12106839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.91, Y:-69.06, Z:-5.12 [[ 9.81177603e-01 1.92749389e-01 1.17551644e-02 3.85914912e+02] [-1.92736979e-01 9.81248011e-01 -2.19033861e-03 -6.90561015e+01] [-1.19569182e-02 -1.16543700e-04 9.99928507e-01 -5.12109647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.94, Y:-69.06, Z:-5.12 [[ 9.81584758e-01 1.90713928e-01 1.09343872e-02 3.85942482e+02] [-1.90703072e-01 9.81645654e-01 -2.03666696e-03 -6.90596629e+01] [-1.11221144e-02 -8.60599940e-05 9.99938144e-01 -5.12188232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.97, Y:-69.06, Z:-5.12 [[ 9.81917190e-01 1.89069747e-01 9.55321549e-03 3.85969623e+02] [-1.89061388e-01 9.81963659e-01 -1.77884059e-03 -6.90636038e+01] [-9.71723538e-03 -5.94700231e-05 9.99952785e-01 -5.12209367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.00, Y:-69.07, Z:-5.12 [[ 9.82074746e-01 1.88286782e-01 8.79091992e-03 3.85995833e+02] [-1.88279678e-01 9.82114090e-01 -1.63622304e-03 -6.90681368e+01] [-8.94176549e-03 -4.82582480e-05 9.99960020e-01 -5.12294325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.02, Y:-69.07, Z:-5.12 [[ 9.82230487e-01 1.87486896e-01 8.48146523e-03 3.86023771e+02] [-1.87480260e-01 9.82267103e-01 -1.57790224e-03 -6.90725973e+01] [-8.62690028e-03 -4.02436194e-05 9.99962787e-01 -5.12319949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.05, Y:-69.08, Z:-5.12 [[ 9.82275373e-01 1.87217269e-01 9.20798064e-03 3.86051009e+02] [-1.87209443e-01 9.82318529e-01 -1.71231157e-03 -6.90770592e+01] [-9.36574429e-03 -4.18594370e-05 9.99956140e-01 -5.12393509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.08, Y:-69.08, Z:-5.12 [[ 9.82361480e-01 1.86713641e-01 1.01950882e-02 3.86078374e+02] [-1.86704028e-01 9.82414380e-01 -1.89502558e-03 -6.90817511e+01] [-1.03696283e-02 -4.18638953e-05 9.99946233e-01 -5.12435831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.10, Y:-69.09, Z:-5.12 [[ 9.82504423e-01 1.85937584e-01 1.05959239e-02 3.86104884e+02] [-1.85927164e-01 9.82561557e-01 -1.96873271e-03 -6.90882555e+01] [-1.07772089e-02 -3.57814872e-05 9.99941924e-01 -5.12433014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.13, Y:-69.09, Z:-5.12 [[ 9.82686617e-01 1.85003224e-01 1.00409579e-02 3.86132212e+02] [-1.84993827e-01 9.82737914e-01 -1.86478045e-03 -6.90936668e+01] [-1.02126204e-02 -2.50204400e-05 9.99947850e-01 -5.12445646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.16, Y:-69.10, Z:-5.13 [[ 9.82950720e-01 1.83617110e-01 9.62490736e-03 3.86160114e+02] [-1.83608415e-01 9.82997842e-01 -1.78692747e-03 -6.90989800e+01] [-9.78937362e-03 -1.07523440e-05 9.99952083e-01 -5.12533777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.19, Y:-69.11, Z:-5.13 [[ 9.84194288e-01 1.76814817e-01 9.90575178e-03 3.86187182e+02] [-1.76805270e-01 9.84244135e-01 -1.83831551e-03 -6.91052106e+01] [-1.00747195e-02 5.78705106e-05 9.99949247e-01 -5.12612384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.21, Y:-69.11, Z:-5.13 [[ 9.85013922e-01 1.72167617e-01 1.02900332e-02 3.86214691e+02] [-1.72157069e-01 9.85067663e-01 -1.90884114e-03 -6.91123699e+01] [-1.04650196e-02 1.08733141e-04 9.99945234e-01 -5.12631878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.24, Y:-69.12, Z:-5.13 [[ 9.85746298e-01 1.67904655e-01 1.05953993e-02 3.86241749e+02] [-1.67893234e-01 9.85803227e-01 -1.96468604e-03 -6.91208047e+01] [-1.07748587e-02 1.57786144e-04 9.99941937e-01 -5.12661556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.27, Y:-69.13, Z:-5.13 [[ 9.86966385e-01 1.60495570e-01 1.17697185e-02 3.86267281e+02] [-1.60480961e-01 9.87036525e-01 -2.18148637e-03 -6.91330107e+01] [-1.19672610e-02 2.64237983e-04 9.99928355e-01 -5.12676723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.29, Y:-69.14, Z:-5.13 [[ 9.87464748e-01 1.57405742e-01 1.16963095e-02 3.86293929e+02] [-1.57391109e-01 9.87533971e-01 -2.16689343e-03 -6.91415584e+01] [-1.18915845e-02 2.98835738e-04 9.99929248e-01 -5.12653644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.32, Y:-69.15, Z:-5.13 [[ 9.87840178e-01 1.55081769e-01 1.10193998e-02 3.86321684e+02] [-1.55068644e-01 9.87901590e-01 -2.04085995e-03 -6.91512491e+01] [-1.12025827e-02 3.07280083e-04 9.99937202e-01 -5.12719002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.35, Y:-69.17, Z:-5.13 [[ 9.88286068e-01 1.52382030e-01 8.38832327e-03 3.86347065e+02] [-1.52374329e-01 9.88321633e-01 -1.55334567e-03 -6.91655871e+01] [-8.52706332e-03 2.56984750e-04 9.99963611e-01 -5.12851905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.37, Y:-69.18, Z:-5.13 [[ 9.88356011e-01 1.51933926e-01 8.27510023e-03 3.86374219e+02] [-1.51926420e-01 9.88390619e-01 -1.53185054e-03 -6.91762647e+01] [-8.41177151e-03 2.56807332e-04 9.99964587e-01 -5.12895748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.40, Y:-69.19, Z:-5.13 [[ 9.88358713e-01 1.51847605e-01 9.45304028e-03 3.86401175e+02] [-1.51837812e-01 9.88403874e-01 -1.74938103e-03 -6.91873943e+01] [-9.60906096e-03 2.93687034e-04 9.99953789e-01 -5.12926444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.43, Y:-69.20, Z:-5.13 [[ 9.88278454e-01 1.52265583e-01 1.09950279e-02 3.86427305e+02] [-1.52252366e-01 9.88339557e-01 -2.03413363e-03 -6.91986164e+01] [-1.11765495e-02 3.36271432e-04 9.99937484e-01 -5.12905325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.45, Y:-69.22, Z:-5.13 [[ 9.88031189e-01 1.53809056e-01 1.17108460e-02 3.86452695e+02] [-1.53794180e-01 9.88100531e-01 -2.16582091e-03 -6.92157597e+01] [-1.19046160e-02 3.38838657e-04 9.99929080e-01 -5.12773767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.48, Y:-69.23, Z:-5.13 [[ 9.87810418e-01 1.55273162e-01 1.09919475e-02 3.86479650e+02] [-1.55260154e-01 9.87871527e-01 -2.03223553e-03 -6.92266179e+01] [-1.11741836e-02 3.00851960e-04 9.99937522e-01 -5.12805759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.51, Y:-69.24, Z:-5.13 [[ 9.87465805e-01 1.57458988e-01 1.08605719e-02 3.86508181e+02] [-1.57446424e-01 9.87525490e-01 -2.00769718e-03 -6.92370751e+01] [-1.10412216e-02 2.72574109e-04 9.99939007e-01 -5.12789053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.54, Y:-69.25, Z:-5.13 [[ 9.86340073e-01 1.64267046e-01 1.22310170e-02 3.86535607e+02] [-1.64251638e-01 9.86415880e-01 -2.26071490e-03 -6.92503272e+01] [-1.24362303e-02 2.20869130e-04 9.99922643e-01 -5.12771802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.56, Y:-69.26, Z:-5.13 [[ 9.85584028e-01 1.68721668e-01 1.25348689e-02 3.86562911e+02] [-1.68705849e-01 9.85663721e-01 -2.31654854e-03 -6.92582787e+01] [-1.27460174e-02 1.68447552e-04 9.99918752e-01 -5.12784106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.59, Y:-69.26, Z:-5.13 [[ 9.85589670e-01 1.68688702e-01 1.25349528e-02 3.86591768e+02] [-1.68672885e-01 9.85669363e-01 -2.31609440e-03 -6.92635217e+01] [-1.27460179e-02 1.68412063e-04 9.99918752e-01 -5.12819821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.62, Y:-69.27, Z:-5.13 [[ 9.84780185e-01 1.73359162e-01 1.24333891e-02 3.86619169e+02] [-1.73343978e-01 9.84858665e-01 -2.29689613e-03 -6.92712218e+01] [-1.26433189e-02 1.06684682e-04 9.99920064e-01 -5.12866334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.65, Y:-69.28, Z:-5.13 [[ 9.84052801e-01 1.77472769e-01 1.19792126e-02 3.86646630e+02] [-1.77458985e-01 9.84125710e-01 -2.21245410e-03 -6.92784276e+01] [-1.21817015e-02 5.13527413e-05 9.99925799e-01 -5.12953116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.67, Y:-69.29, Z:-5.13 [[ 9.82875173e-01 1.83971437e-01 1.05311531e-02 3.86674643e+02] [-1.83961163e-01 9.82931589e-01 -1.94446428e-03 -6.92863630e+01] [-1.07091289e-02 -2.61574984e-05 9.99942655e-01 -5.13019867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.70, Y:-69.29, Z:-5.13 [[ 9.82564089e-01 1.85658048e-01 9.94485352e-03 3.86702922e+02] [-1.85648977e-01 9.82614414e-01 -1.83578492e-03 -6.92923669e+01] [-1.01127847e-02 -4.24755384e-05 9.99948864e-01 -5.13106733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.73, Y:-69.30, Z:-5.13 [[ 9.82353340e-01 1.86879351e-01 7.61733447e-03 3.86730539e+02] [-1.86874067e-01 9.82382872e-01 -1.40591869e-03 -6.92993242e+01] [-7.74587608e-03 -4.23733539e-05 9.99969999e-01 -5.13218979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.76, Y:-69.31, Z:-5.13 [[ 9.82319077e-01 1.87118103e-01 6.00388912e-03 3.86758881e+02] [-1.87114826e-01 9.82337424e-01 -1.10796302e-03 -6.93055082e+01] [-6.10516491e-03 -3.50434561e-05 9.99981363e-01 -5.13358994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.79, Y:-69.31, Z:-5.13 [[ 9.82182937e-01 1.87858363e-01 5.09050504e-03 3.86786902e+02] [-1.87856018e-01 9.82196128e-01 -9.39253488e-04 -6.93105391e+01] [-5.17632096e-03 -3.37632578e-05 9.99986602e-01 -5.13426477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.82, Y:-69.31, Z:-5.14 [[ 9.81932529e-01 1.89149254e-01 5.57392312e-03 3.86815236e+02] [-1.89085286e-01 9.81905945e-01 -1.03667867e-02 -6.93110002e+01] [-7.43393822e-03 9.12553827e-03 9.99930728e-01 -5.13933549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.84, Y:-69.32, Z:-5.13 [[ 9.81802591e-01 1.89626071e-01 1.02774652e-02 3.86842690e+02] [-1.89705855e-01 9.81812836e-01 7.43264056e-03 -6.93210450e+01] [-8.68112482e-03 -9.24708108e-03 9.99919562e-01 -5.13383781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.87, Y:-69.32, Z:-5.13 [[ 9.81427824e-01 1.91547267e-01 1.04436967e-02 3.86870460e+02] [-1.91537630e-01 9.81483383e-01 -1.92469349e-03 -6.93213771e+01] [-1.06189846e-02 -1.11413166e-04 9.99943611e-01 -5.13367521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.90, Y:-69.32, Z:-5.13 [[ 9.80642045e-01 1.95472895e-01 1.14684891e-02 3.86899362e+02] [-1.95461550e-01 9.80709090e-01 -2.11276325e-03 -6.93240911e+01] [-1.16602395e-02 -1.69784190e-04 9.99932003e-01 -5.13404287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.93, Y:-69.33, Z:-5.14 [[ 9.80419589e-01 1.96617581e-01 1.09067249e-02 3.86927810e+02] [-1.96607396e-01 9.80480238e-01 -2.00879415e-03 -6.93281191e+01] [-1.10887925e-02 -1.74881648e-04 9.99938502e-01 -5.13519534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.96, Y:-69.33, Z:-5.14 [[ 9.80398463e-01 1.96739630e-01 1.06005133e-02 3.86956054e+02] [-1.96730022e-01 9.80455755e-01 -1.95189592e-03 -6.93325673e+01] [-1.07773496e-02 -1.71803457e-04 9.99941908e-01 -5.13618557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.98, Y:-69.34, Z:-5.14 [[ 9.80941082e-01 1.93974300e-01 1.13386341e-02 3.86983346e+02] [-1.93963130e-01 9.81006599e-01 -2.08722001e-03 -6.93369542e+01] [-1.15281419e-02 -1.51837101e-04 9.99933537e-01 -5.13614496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.01, Y:-69.34, Z:-5.14 [[ 9.81435252e-01 1.91387400e-01 1.24783609e-02 3.87012297e+02] [-1.91373672e-01 9.81514567e-01 -2.29619473e-03 -6.93416538e+01] [-1.26871557e-02 -1.34463286e-04 9.99919506e-01 -5.13590995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.04, Y:-69.35, Z:-5.14 [[ 9.81921894e-01 1.88755006e-01 1.41753663e-02 3.87040556e+02] [-1.88737027e-01 9.82024203e-01 -2.60770384e-03 -6.93455860e+01] [-1.44127699e-02 -1.14855003e-04 9.99896124e-01 -5.13594668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.07, Y:-69.35, Z:-5.14 [[ 9.82230206e-01 1.87036999e-01 1.55236489e-02 3.87070230e+02] [-1.87015234e-01 9.82352865e-01 -2.85500921e-03 -6.93496289e+01] [-1.57836933e-02 -9.88825475e-05 9.99875425e-01 -5.13611762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.10, Y:-69.35, Z:-5.14 [[ 9.82510299e-01 1.85828691e-01 1.18832113e-02 3.87098368e+02] [-1.85720074e-01 9.82555014e-01 -9.67978480e-03 -6.93499194e+01] [-1.34746906e-02 7.30353736e-03 9.99882539e-01 -5.13571060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.12, Y:-69.36, Z:-5.14 [[ 9.82615780e-01 1.85054226e-01 1.48715065e-02 3.87124464e+02] [-1.85147232e-01 9.82697405e-01 5.12953579e-03 -6.93592361e+01] [-1.36649486e-02 -7.79378108e-03 9.99876255e-01 -5.13730469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.15, Y:-69.36, Z:-5.14 [[ 9.82645582e-01 1.85152310e-01 1.12375418e-02 3.87153703e+02] [-1.85140789e-01 9.82709835e-01 -2.06607009e-03 -6.93607298e+01] [-1.14257805e-02 -5.03127179e-05 9.99934722e-01 -5.13836817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.18, Y:-69.36, Z:-5.14 [[ 9.82568379e-01 1.85865671e-01 3.65149270e-03 3.87182325e+02] [-1.85790744e-01 9.82471381e-01 -1.52244901e-02 -6.93593103e+01] [-6.41719715e-03 1.42806890e-02 9.99877433e-01 -5.13752576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.21, Y:-69.37, Z:-5.14 [[ 9.82135154e-01 1.87783895e-01 1.21552086e-02 3.87208849e+02] [-1.87933299e-01 9.82100972e-01 1.25998502e-02 -6.93722452e+01] [-9.57159325e-03 -1.46591243e-02 9.99846736e-01 -5.13815584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.24, Y:-69.37, Z:-5.14 [[ 9.81875437e-01 1.89247127e-01 1.03029523e-02 3.87237341e+02] [-1.89237683e-01 9.81929487e-01 -1.89279279e-03 -6.93709711e+01] [-1.04749783e-02 -9.12200827e-05 9.99945132e-01 -5.13910747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.27, Y:-69.37, Z:-5.14 [[ 9.81621497e-01 1.90507811e-01 1.12254088e-02 3.87266029e+02] [-1.90496691e-01 9.81685673e-01 -2.06151661e-03 -6.93745987e+01] [-1.14125580e-02 -1.14774206e-04 9.99934868e-01 -5.13881311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:387.29, Y:-69.38, Z:-5.14 [[ 9.81178764e-01 1.92789927e-01 1.09671397e-02 3.87293971e+02] [-1.92779461e-01 9.81240045e-01 -2.01362309e-03 -6.93752332e+01] [-1.11496029e-02 -1.38515057e-04 9.99937832e-01 -5.13948108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.32, Y:-69.38, Z:-5.14 [[ 9.80950499e-01 1.93994908e-01 1.01042015e-02 3.87320610e+02] [-1.93986094e-01 9.81002526e-01 -1.85461396e-03 -6.93778433e+01] [-1.02720329e-02 -1.40790099e-04 9.99947231e-01 -5.14040522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.35, Y:-69.38, Z:-5.14 [[ 9.80788982e-01 1.94835755e-01 9.59175232e-03 3.87349637e+02] [-1.94827863e-01 9.80835872e-01 -1.75949994e-03 -6.93815035e+01] [-9.75074825e-03 -1.43042454e-04 9.99952450e-01 -5.14148979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.38, Y:-69.38, Z:-5.14 [[ 9.80530525e-01 1.96086826e-01 1.04807842e-02 3.87377485e+02] [-1.96077480e-01 9.80586522e-01 -1.92205319e-03 -6.93826876e+01] [-1.06542050e-02 -1.70413928e-04 9.99943228e-01 -5.14124348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.40, Y:-69.38, Z:-5.14 [[ 9.80418623e-01 1.96612303e-01 1.10872450e-02 3.87404922e+02] [-1.96601887e-01 9.80481294e-01 -2.03240784e-03 -6.93846939e+01] [-1.12704327e-02 -1.87162801e-04 9.99936469e-01 -5.14119574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.43, Y:-69.39, Z:-5.14 [[ 9.80347570e-01 1.96957280e-01 1.12459793e-02 3.87432663e+02] [-1.96946598e-01 9.80412052e-01 -2.06049981e-03 -6.93870776e+01] [-1.14315240e-02 -1.94851378e-04 9.99934639e-01 -5.14130510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.46, Y:-69.39, Z:-5.14 [[ 9.80382070e-01 1.96785631e-01 1.12433135e-02 3.87460352e+02] [-1.96774952e-01 9.80446520e-01 -2.05920080e-03 -6.93880530e+01] [-1.14286888e-02 -1.93598939e-04 9.99934672e-01 -5.14182724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.49, Y:-69.39, Z:-5.14 [[ 9.80504314e-01 1.96169413e-01 1.13512601e-02 3.87488137e+02] [-1.96158498e-01 9.80570000e-01 -2.07797476e-03 -6.93907289e+01] [-1.15383402e-02 -1.89182918e-04 9.99933413e-01 -5.14205316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.52, Y:-69.39, Z:-5.14 [[ 9.80610559e-01 1.95630637e-01 1.14710926e-02 3.87516641e+02] [-1.95619463e-01 9.80677633e-01 -2.09907324e-03 -6.93929647e+01] [-1.16600869e-02 -1.85595583e-04 9.99932002e-01 -5.14237172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.54, Y:-69.39, Z:-5.14 [[ 9.80509831e-01 1.96165927e-01 1.09270755e-02 3.87544597e+02] [-1.96155830e-01 9.80570699e-01 -1.99876908e-03 -6.93938170e+01] [-1.11068605e-02 -1.83596837e-04 9.99938300e-01 -5.14371122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.57, Y:-69.40, Z:-5.14 [[ 9.80555670e-01 1.95947003e-01 1.07401052e-02 3.87570858e+02] [-1.95937243e-01 9.80614471e-01 -1.96380647e-03 -6.93977305e+01] [-1.09167046e-02 -1.78765040e-04 9.99940395e-01 -5.14406212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.60, Y:-69.40, Z:-5.14 [[ 9.80733919e-01 1.95042031e-01 1.09355730e-02 3.87598778e+02] [-1.95031868e-01 9.80794870e-01 -1.99855916e-03 -6.94019467e+01] [-1.11153570e-02 -1.72730480e-04 9.99938208e-01 -5.14476326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.63, Y:-69.41, Z:-5.14 [[ 9.81284189e-01 1.92277484e-01 1.05218849e-02 3.87626895e+02] [-1.92267924e-01 9.81340588e-01 -1.92222399e-03 -6.94050317e+01] [-1.06951531e-02 -1.36772959e-04 9.99942796e-01 -5.14475483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.65, Y:-69.41, Z:-5.15 [[ 9.81614634e-01 1.90584175e-01 1.05063396e-02 3.87653137e+02] [-1.90574552e-01 9.81670850e-01 -1.91879892e-03 -6.94092015e+01] [-1.06794601e-02 -1.18719872e-04 9.99942966e-01 -5.14503972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.68, Y:-69.41, Z:-5.15 [[ 9.81908243e-01 1.89058804e-01 1.06287559e-02 3.87680420e+02] [-1.89048877e-01 9.81965762e-01 -1.94022346e-03 -6.94140081e+01] [-1.08038907e-02 -1.04232949e-04 9.99941631e-01 -5.14507630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.71, Y:-69.42, Z:-5.15 [[ 9.82090035e-01 1.88086295e-01 1.10774394e-02 3.87707800e+02] [-1.88075460e-01 9.82152501e-01 -2.02128338e-03 -6.94192297e+01] [-1.12599105e-02 -9.83122450e-05 9.99936600e-01 -5.14502180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.74, Y:-69.42, Z:-5.14 [[ 9.82133461e-01 1.87765963e-01 1.25621914e-02 3.87735086e+02] [-1.87752015e-01 9.82213791e-01 -2.29116229e-03 -6.94230536e+01] [-1.27689599e-02 -1.08349584e-04 9.99918468e-01 -5.14401976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.76, Y:-69.43, Z:-5.14 [[ 9.82038259e-01 1.88231476e-01 1.30295581e-02 3.87762329e+02] [-1.88216526e-01 9.82124685e-01 -2.37539529e-03 -6.94270864e+01] [-1.32437748e-02 -1.19649094e-04 9.99912290e-01 -5.14411296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.79, Y:-69.43, Z:-5.14 [[ 9.81855742e-01 1.89193137e-01 1.28553324e-02 3.87789291e+02] [-1.89178678e-01 9.81939886e-01 -2.34266671e-03 -6.94317380e+01] [-1.30663801e-02 -1.31794026e-04 9.99914623e-01 -5.14471467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.82, Y:-69.44, Z:-5.15 [[ 9.81410356e-01 1.91600674e-01 1.10858309e-02 3.87816600e+02] [-1.91590085e-01 9.81472955e-01 -2.01936194e-03 -6.94353043e+01] [-1.12673544e-02 -1.42112574e-04 9.99936511e-01 -5.14505260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.84, Y:-69.44, Z:-5.15 [[ 9.81235033e-01 1.92502454e-01 1.09824903e-02 3.87843833e+02] [-1.92492127e-01 9.81296480e-01 -1.99974689e-03 -6.94382818e+01] [-1.11620352e-02 -1.51821202e-04 9.99937691e-01 -5.14522521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.87, Y:-69.44, Z:-5.15 [[ 9.81123437e-01 1.93049850e-01 1.13382624e-02 3.87871645e+02] [-1.93038891e-01 9.81188936e-01 -2.06349836e-03 -6.94411364e+01] [-1.15233356e-02 -1.64178993e-04 9.99933591e-01 -5.14582489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.90, Y:-69.44, Z:-5.15 [[ 9.81072754e-01 1.93290368e-01 1.16226106e-02 3.87899283e+02] [-1.93278880e-01 9.81141582e-01 -2.11436540e-03 -6.94448646e+01] [-1.18121130e-02 -1.72058876e-04 9.99930220e-01 -5.14608556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.93, Y:-69.45, Z:-5.15 [[ 9.81155554e-01 1.92872662e-01 1.15721385e-02 3.87925924e+02] [-1.92861254e-01 9.81223781e-01 -2.10434906e-03 -6.94479599e+01] [-1.17607289e-02 -1.67123368e-04 9.99930826e-01 -5.14702328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.95, Y:-69.45, Z:-5.15 [[ 9.81198540e-01 1.92638416e-01 1.18265234e-02 3.87953249e+02] [-1.92626496e-01 9.81269796e-01 -2.14957317e-03 -6.94511085e+01] [-1.20191006e-02 -1.68943720e-04 9.99927754e-01 -5.14710540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.98, Y:-69.45, Z:-5.15 [[ 9.81140235e-01 1.92888312e-01 1.25673607e-02 3.87981006e+02] [-1.92874887e-01 9.81220702e-01 -2.28314016e-03 -6.94533803e+01] [-1.27717455e-02 -1.83847602e-04 9.99918421e-01 -5.14705658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.01, Y:-69.45, Z:-5.15 [[ 9.80891007e-01 1.94110097e-01 1.31947605e-02 3.88009397e+02] [-1.94095422e-01 9.80979727e-01 -2.39615754e-03 -6.94543186e+01] [-1.34089110e-02 -2.10673228e-04 9.99910074e-01 -5.14767705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.04, Y:-69.46, Z:-5.15 [[ 9.80896888e-01 1.94066745e-01 1.33938012e-02 3.88036899e+02] [-1.94051633e-01 9.80988304e-01 -2.43132332e-03 -6.94575467e+01] [-1.36110014e-02 -2.14211511e-04 9.99907343e-01 -5.14920462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.06, Y:-69.46, Z:-5.15 [[ 9.80993864e-01 1.93593894e-01 1.31317275e-02 3.88064157e+02] [-1.93579337e-01 9.81081731e-01 -2.38281465e-03 -6.94613115e+01] [-1.33445963e-02 -2.04504552e-04 9.99910936e-01 -5.14974055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.09, Y:-69.47, Z:-5.15 [[ 9.81222850e-01 1.92474930e-01 1.24547474e-02 3.88090571e+02] [-1.92461756e-01 9.81301875e-01 -2.25910495e-03 -6.94652080e+01] [-1.26566880e-02 -1.80377161e-04 9.99919885e-01 -5.15058193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.12, Y:-69.47, Z:-5.15 [[ 9.81902864e-01 1.89033835e-01 1.15314995e-02 3.88117461e+02] [-1.89022315e-01 9.81970566e-01 -2.09076776e-03 -6.94697150e+01] [-1.17188190e-02 -1.26779882e-04 9.99931324e-01 -5.15040274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.14, Y:-69.48, Z:-5.15 [[ 9.82385750e-01 1.86561984e-01 1.06237662e-02 3.88143729e+02] [-1.86552074e-01 9.82443188e-01 -1.92504849e-03 -6.94750896e+01] [-1.07963876e-02 -9.07454202e-05 9.99941713e-01 -5.15004484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.17, Y:-69.48, Z:-5.15 [[ 9.82939727e-01 1.83644281e-01 1.02113041e-02 3.88171214e+02] [-1.83634982e-01 9.82992764e-01 -1.84898505e-03 -6.94810449e+01] [-1.03771936e-02 -5.77117881e-05 9.99946154e-01 -5.15062666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.20, Y:-69.49, Z:-5.15 [[ 9.83952750e-01 1.78037260e-01 1.18202941e-02 3.88198255e+02] [-1.78024406e-01 9.84023747e-01 -2.13934301e-03 -6.94888626e+01] [-1.20123329e-02 7.11597430e-07 9.99927849e-01 -5.15028724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.23, Y:-69.49, Z:-5.15 [[ 9.84307842e-01 1.75949501e-01 1.34106526e-02 3.88226030e+02] [-1.75932777e-01 9.84399194e-01 -2.42606031e-03 -6.94946623e+01] [-1.36282997e-02 2.86168331e-05 9.99907130e-01 -5.15064858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.25, Y:-69.50, Z:-5.15 [[ 9.84603481e-01 1.74205610e-01 1.44357447e-02 3.88252689e+02] [-1.74186061e-01 9.84709298e-01 -2.61033238e-03 -6.94993561e+01] [-1.46697466e-02 5.56368408e-05 9.99892392e-01 -5.15058214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.28, Y:-69.50, Z:-5.15 [[ 9.84867221e-01 1.72718744e-01 1.43105419e-02 3.88279558e+02] [-1.72699393e-01 9.84971182e-01 -2.58646603e-03 -6.95045304e+01] [-1.45422026e-02 7.59037010e-05 9.99894254e-01 -5.15173000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.31, Y:-69.51, Z:-5.15 [[ 9.85492591e-01 1.69276861e-01 1.22351191e-02 3.88307267e+02] [-1.69262462e-01 9.85568533e-01 -2.21046731e-03 -6.95134260e+01] [-1.24327293e-02 1.07452770e-04 9.99922705e-01 -5.15346706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.34, Y:-69.52, Z:-5.15 [[ 9.85839501e-01 1.67315728e-01 1.12216498e-02 3.88335418e+02] [-1.67303494e-01 9.85903359e-01 -2.02687449e-03 -6.95215005e+01] [-1.14025902e-02 1.20751719e-04 9.99934981e-01 -5.15386113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.36, Y:-69.53, Z:-5.15 [[ 9.85849310e-01 1.67257914e-01 1.12217420e-02 3.88363480e+02] [-1.67245682e-01 9.85913168e-01 -2.02636383e-03 -6.95264358e+01] [-1.14025886e-02 1.20901489e-04 9.99934981e-01 -5.15422293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.86576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:388.39, Y:-69.53, Z:-5.15 [[ 9.86130587e-01 1.65679233e-01 9.84165298e-03 3.88390848e+02] [-1.65669751e-01 9.86179688e-01 -1.77665083e-03 -6.95340715e+01] [-9.99999241e-03 1.21545526e-04 9.99949991e-01 -5.15399097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.42, Y:-69.54, Z:-5.15 [[ 9.86227181e-01 1.65135097e-01 9.29234928e-03 3.88418054e+02] [-1.65126625e-01 9.86270949e-01 -1.67693396e-03 -6.95444968e+01] [-9.44169480e-03 1.19423575e-04 9.99955419e-01 -5.15436870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.45, Y:-69.55, Z:-5.15 [[ 9.86048044e-01 1.66140478e-01 1.03245986e-02 3.88445247e+02] [-1.66130081e-01 9.86102087e-01 -1.86267202e-03 -6.95526621e+01] [-1.04905735e-02 1.21457696e-04 9.99944965e-01 -5.15450629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.47, Y:-69.56, Z:-5.15 [[ 9.85811933e-01 1.67447284e-01 1.16722268e-02 3.88473276e+02] [-1.67434096e-01 9.85881024e-01 -2.10498404e-03 -6.95612231e+01] [-1.18599007e-02 1.20789641e-04 9.99929662e-01 -5.15486997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.50, Y:-69.57, Z:-5.16 [[ 9.85546801e-01 1.68952675e-01 1.23489467e-02 3.88499982e+02] [-1.68938040e-01 9.85624159e-01 -2.22638131e-03 -6.95688767e+01] [-1.25475732e-02 1.07996137e-04 9.99921270e-01 -5.15517732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.53, Y:-69.58, Z:-5.16 [[ 9.84734692e-01 1.73707006e-01 1.11113902e-02 3.88528152e+02] [-1.73695466e-01 9.84797377e-01 -2.00267928e-03 -6.95772514e+01] [-1.12903473e-02 4.21096667e-05 9.99936261e-01 -5.15539692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.56, Y:-69.58, Z:-5.16 [[ 9.84234575e-01 1.76619940e-01 9.36467954e-03 3.88555942e+02] [-1.76611881e-01 9.84279125e-01 -1.68719083e-03 -6.95831180e+01] [-9.51545013e-03 6.67787351e-06 9.99954727e-01 -5.15632594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.58, Y:-69.59, Z:-5.16 [[ 9.83741750e-01 1.79419839e-01 7.79043047e-03 3.88583368e+02] [-1.79414351e-01 9.83772596e-01 -1.40340834e-03 -6.95888409e+01] [-7.91581130e-03 -1.71236484e-05 9.99968669e-01 -5.15740027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.61, Y:-69.59, Z:-5.16 [[ 9.83263294e-01 1.82036887e-01 7.47437615e-03 3.88609570e+02] [-1.82031914e-01 9.83291702e-01 -1.34602267e-03 -6.95939870e+01] [-7.59451782e-03 -3.70803177e-05 9.99971161e-01 -5.15832836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.64, Y:-69.60, Z:-5.16 [[ 9.82393788e-01 1.86524552e-01 1.05373777e-02 3.88637068e+02] [-1.86514941e-01 9.82450294e-01 -1.89627992e-03 -6.95976552e+01] [-1.07061526e-02 -1.02484760e-04 9.99942682e-01 -5.15676306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.66, Y:-69.60, Z:-5.16 [[ 9.82076046e-01 1.88082178e-01 1.23180437e-02 3.88664562e+02] [-1.88069181e-01 9.82153285e-01 -2.21561977e-03 -6.96009092e+01] [-1.25149257e-02 -1.40737288e-04 9.99921675e-01 -5.15627326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.69, Y:-69.60, Z:-5.16 [[ 9.81886379e-01 1.88987040e-01 1.35291414e-02 3.88692005e+02] [-1.88971459e-01 9.81979567e-01 -2.43252592e-03 -6.96036237e+01] [-1.37450563e-02 -1.68157524e-04 9.99905518e-01 -5.15699632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.72, Y:-69.60, Z:-5.16 [[ 9.81976443e-01 1.88617118e-01 1.20767767e-02 3.88719474e+02] [-1.88604683e-01 9.82050692e-01 -2.17074166e-03 -6.96032068e+01] [-1.22694460e-02 -1.46119469e-04 9.99924717e-01 -5.15852035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.75, Y:-69.61, Z:-5.16 [[ 9.82200191e-01 1.87524437e-01 1.08337299e-02 3.88747775e+02] [-1.87514375e-01 9.82259931e-01 -1.94622242e-03 -6.96057681e+01] [-1.10065030e-02 -1.19900056e-04 9.99939419e-01 -5.15962561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.77, Y:-69.61, Z:-5.16 [[ 9.82476623e-01 1.86110411e-01 1.01291484e-02 3.88774866e+02] [-1.86101547e-01 9.82528832e-01 -1.81898938e-03 -6.96084832e+01] [-1.02907132e-02 -9.79356547e-05 9.99947044e-01 -5.16031754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.80, Y:-69.61, Z:-5.16 [[ 9.82990016e-01 1.83359977e-01 1.04760436e-02 3.88801758e+02] [-1.83350349e-01 9.83045835e-01 -1.88034052e-03 -6.96095487e+01] [-1.06432103e-02 -7.24303026e-05 9.99943357e-01 -5.16010129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.83, Y:-69.61, Z:-5.16 [[ 9.83261436e-01 1.81851691e-01 1.12655080e-02 3.88829103e+02] [-1.81840471e-01 9.83325968e-01 -2.02103764e-03 -6.96129069e+01] [-1.14451957e-02 -6.13169097e-05 9.99934500e-01 -5.15979768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.86, Y:-69.62, Z:-5.16 [[ 9.83493603e-01 1.80548430e-01 1.19414358e-02 3.88856146e+02] [-1.80535738e-01 9.83566094e-01 -2.14136845e-03 -6.96159404e+01] [-1.21318121e-02 -4.98337486e-05 9.99926406e-01 -5.15949782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.88, Y:-69.62, Z:-5.16 [[ 9.83623273e-01 1.79800496e-01 1.25315237e-02 3.88884913e+02] [-1.79786476e-01 9.83703095e-01 -2.24575229e-03 -6.96167022e+01] [-1.27310860e-02 -4.40242684e-05 9.99918955e-01 -5.15882230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.91, Y:-69.62, Z:-5.16 [[ 9.83608400e-01 1.79784655e-01 1.38561352e-02 3.88912844e+02] [-1.79767528e-01 9.83705990e-01 -2.48202118e-03 -6.96190570e+01] [-1.40765925e-02 -4.95462865e-05 9.99900919e-01 -5.15889069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.94, Y:-69.62, Z:-5.16 [[ 9.83591340e-01 1.79784643e-01 1.50186115e-02 3.88941101e+02] [-1.79764540e-01 9.83705992e-01 -2.68907528e-03 -6.96212333e+01] [-1.52573526e-02 -5.48626309e-05 9.99883598e-01 -5.15867236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.97, Y:-69.62, Z:-5.16 [[ 9.83576432e-01 1.79794591e-01 1.58526757e-02 3.88968042e+02] [-1.79772214e-01 9.83704174e-01 -2.83716266e-03 -6.96231216e+01] [-1.61044497e-02 -5.93042802e-05 9.99870313e-01 -5.15943416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.00, Y:-69.62, Z:-5.16 [[ 9.83676498e-01 1.79410405e-01 1.38727905e-02 3.88996136e+02] [-1.79393245e-01 9.83774316e-01 -2.48179010e-03 -6.96228991e+01] [-1.40929540e-02 -4.74063220e-05 9.99900688e-01 -5.16117616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.02, Y:-69.62, Z:-5.16 [[ 9.83911286e-01 1.78224076e-01 1.24402498e-02 3.89024371e+02] [-1.78210193e-01 9.83989928e-01 -2.22469956e-03 -6.96248132e+01] [-1.26375755e-02 -2.80722989e-05 9.99920142e-01 -5.16188940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.05, Y:-69.63, Z:-5.16 [[ 9.84364046e-01 1.75748997e-01 1.18201211e-02 3.89052774e+02] [-1.75736294e-01 9.84435011e-01 -2.11298744e-03 -6.96269639e+01] [-1.20074965e-02 2.72457647e-06 9.99927907e-01 -5.16188600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.08, Y:-69.63, Z:-5.16 [[ 9.84922720e-01 1.72624920e-01 1.13080900e-02 3.89080737e+02] [-1.72613098e-01 9.84987632e-01 -2.02067481e-03 -6.96300703e+01] [-1.14871476e-02 3.82840906e-05 9.99934020e-01 -5.16217359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.11, Y:-69.63, Z:-5.16 [[ 9.86215680e-01 1.65166769e-01 9.92829046e-03 3.89107259e+02] [-1.65157283e-01 9.86265647e-01 -1.77353844e-03 -6.96334930e+01] [-1.00848614e-02 1.09361947e-04 9.99949141e-01 -5.16309131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.14, Y:-69.64, Z:-5.16 [[ 9.86816135e-01 1.61577088e-01 9.31451346e-03 3.89135384e+02] [-1.61568586e-01 9.86860084e-01 -1.66314325e-03 -6.96374429e+01] [-9.46084738e-03 1.36283827e-04 9.99955236e-01 -5.16409035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.16, Y:-69.64, Z:-5.16 [[ 9.87385048e-01 1.58076123e-01 9.09434795e-03 3.89162800e+02] [-1.58067875e-01 9.87426915e-01 -1.62321220e-03 -6.96404389e+01] [-9.23659503e-03 1.65211199e-04 9.99957328e-01 -5.16468279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.19, Y:-69.64, Z:-5.16 [[ 9.87833264e-01 1.55223914e-01 9.53830674e-03 3.89189834e+02] [-1.55214715e-01 9.87879292e-01 -1.70175005e-03 -6.96432109e+01] [-9.68684802e-03 2.00559739e-04 9.99953061e-01 -5.16451689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.22, Y:-69.65, Z:-5.16 [[ 9.88481773e-01 1.50882925e-01 1.17527400e-02 3.89217129e+02] [-1.50868666e-01 9.88551594e-01 -2.09559744e-03 -6.96467283e+01] [-1.19343798e-02 2.98339657e-04 9.99928738e-01 -5.16402254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.24, Y:-69.65, Z:-5.16 [[ 9.88682371e-01 1.49517127e-01 1.23206715e-02 3.89244717e+02] [-1.49501364e-01 9.88759081e-01 -2.19582531e-03 -6.96523642e+01] [-1.25104893e-02 3.29016585e-04 9.99921687e-01 -5.16379428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.27, Y:-69.66, Z:-5.16 [[ 9.88819160e-01 1.48586535e-01 1.25980447e-02 3.89272590e+02] [-1.48569990e-01 9.88899348e-01 -2.24437130e-03 -6.96572647e+01] [-1.27916815e-02 3.47585973e-04 9.99918123e-01 -5.16460772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.30, Y:-69.66, Z:-5.17 [[ 9.88988209e-01 1.47709536e-01 9.17689507e-03 3.89300171e+02] [-1.47700723e-01 9.89030750e-01 -1.63459277e-03 -6.96610688e+01] [-9.31767636e-03 2.61158948e-04 9.99956555e-01 -5.16615528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.33, Y:-69.67, Z:-5.17 [[ 9.89019629e-01 1.47579742e-01 7.77135669e-03 3.89327001e+02] [-1.47573420e-01 9.89050136e-01 -1.38388882e-03 -6.96658427e+01] [-7.89049534e-03 2.21847517e-04 9.99968845e-01 -5.16682925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.35, Y:-69.67, Z:-5.17 [[ 9.89021229e-01 1.47564221e-01 7.86194688e-03 3.89354728e+02] [-1.47557756e-01 9.89052451e-01 -1.39934260e-03 -6.96711440e+01] [-7.98237073e-03 2.23888300e-04 9.99968115e-01 -5.16720486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.38, Y:-69.68, Z:-5.17 [[ 9.89027538e-01 1.47459908e-01 8.95011238e-03 3.89381671e+02] [-1.47451531e-01 9.89068001e-01 -1.59232042e-03 -6.96761302e+01] [-9.08707318e-03 2.55140964e-04 9.99958679e-01 -5.16678584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.41, Y:-69.68, Z:-5.17 [[ 9.89086563e-01 1.46976519e-01 1.02797601e-02 3.89409068e+02] [-1.46965453e-01 9.89139937e-01 -1.82787021e-03 -6.96803867e+01] [-1.04367752e-02 2.97152268e-04 9.99945491e-01 -5.16646037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.44, Y:-69.68, Z:-5.17 [[ 9.89308237e-01 1.45461233e-01 1.04996302e-02 3.89435956e+02] [-1.45449611e-01 9.89363901e-01 -1.86624539e-03 -6.96838693e+01] [-1.06594214e-02 3.19124814e-04 9.99943136e-01 -5.16637044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.46, Y:-69.69, Z:-5.17 [[ 9.89510583e-01 1.44157052e-01 9.35679285e-03 3.89463522e+02] [-1.44147771e-01 9.89554777e-01 -1.66242740e-03 -6.96885700e+01] [-9.49870969e-03 2.96228674e-04 9.99954842e-01 -5.16684448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.49, Y:-69.69, Z:-5.17 [[ 9.89711599e-01 1.42774517e-01 9.29450874e-03 3.89491043e+02] [-1.42765303e-01 9.89755194e-01 -1.65075357e-03 -6.96938384e+01] [-9.43497384e-03 3.06836600e-04 9.99955443e-01 -5.16730580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.52, Y:-69.70, Z:-5.17 [[ 9.89964042e-01 1.40953898e-01 1.01584806e-02 3.89518827e+02] [-1.40942803e-01 9.90016098e-01 -1.80345009e-03 -6.96989433e+01] [-1.03112626e-02 3.53586011e-04 9.99946775e-01 -5.16743719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.55, Y:-69.71, Z:-5.17 [[ 9.90356290e-01 1.38013999e-01 1.21060218e-02 3.89546447e+02] [-1.37998036e-01 9.90430173e-01 -2.14824191e-03 -6.97065697e+01] [-1.22866568e-02 4.56917652e-04 9.99924412e-01 -5.16807580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.57, Y:-69.71, Z:-5.17 [[ 9.90558540e-01 1.36586373e-01 1.17448206e-02 3.89573554e+02] [-1.36571254e-01 9.90628059e-01 -2.08360241e-03 -6.97134072e+01] [-1.19193406e-02 4.59925290e-04 9.99928856e-01 -5.16830265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.60, Y:-69.72, Z:-5.17 [[ 9.90721653e-01 1.35468800e-01 1.09000599e-02 3.89601080e+02] [-1.35455717e-01 9.90781516e-01 -1.93311711e-03 -6.97208679e+01] [-1.10614550e-02 4.38705537e-04 9.99938724e-01 -5.16811730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.63, Y:-69.73, Z:-5.17 [[ 9.90870807e-01 1.34366927e-01 1.09806094e-02 3.89627468e+02] [-1.34353588e-01 9.90931543e-01 -1.94688137e-03 -6.97290503e+01] [-1.11426287e-02 4.53823648e-04 9.99937816e-01 -5.16829613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.66, Y:-69.74, Z:-5.17 [[ 9.90828924e-01 1.34605725e-01 1.18043238e-02 3.89655150e+02] [-1.34590336e-01 9.90899119e-01 -2.09215154e-03 -6.97350369e+01] [-1.19785097e-02 4.84216349e-04 9.99928138e-01 -5.16849448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.68, Y:-69.74, Z:-5.17 [[ 9.90767319e-01 1.34983483e-01 1.26324425e-02 3.89683146e+02] [-1.34965900e-01 9.90847716e-01 -2.23812186e-03 -6.97412553e+01] [-1.28189363e-02 5.12509020e-04 9.99917703e-01 -5.16938390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.71, Y:-69.75, Z:-5.17 [[ 9.90725208e-01 1.35415894e-01 1.12293002e-02 3.89710965e+02] [-1.35402034e-01 9.90788743e-01 -1.98905597e-03 -6.97511339e+01] [-1.13952141e-02 4.50137802e-04 9.99934971e-01 -5.17036089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.74, Y:-69.76, Z:-5.17 [[ 9.90751530e-01 1.35305488e-01 1.01896885e-02 3.89739204e+02] [-1.35294074e-01 9.90803844e-01 -1.80447856e-03 -6.97591751e+01] [-1.03401384e-02 4.09185419e-04 9.99946456e-01 -5.17036019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.77, Y:-69.77, Z:-5.17 [[ 9.90781820e-01 1.35115395e-01 9.75786622e-03 3.89766380e+02] [-1.35104923e-01 9.90829791e-01 -1.72759813e-03 -6.97669843e+01] [-9.90180965e-03 3.93337059e-04 9.99950899e-01 -5.17059677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.79, Y:-69.78, Z:-5.17 [[ 9.90867093e-01 1.34470045e-01 1.00105881e-02 3.89794309e+02] [-1.34458996e-01 9.90917574e-01 -1.77169992e-03 -6.97774187e+01] [-1.01579082e-02 4.09505522e-04 9.99948323e-01 -5.17080110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.82, Y:-69.78, Z:-5.17 [[ 9.90882407e-01 1.34323133e-01 1.04571030e-02 3.89821179e+02] [-1.34311075e-01 9.90937491e-01 -1.85021514e-03 -6.97848771e+01] [-1.06108621e-02 4.28840895e-04 9.99943611e-01 -5.17119237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.85, Y:-69.79, Z:-5.17 [[ 9.90859124e-01 1.34470683e-01 1.07625346e-02 3.89849335e+02] [-1.34457926e-01 9.90917475e-01 -1.90355938e-03 -6.97932699e+01] [-1.09207566e-02 4.39051095e-04 9.99940270e-01 -5.17135705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.88, Y:-69.80, Z:-5.17 [[ 9.90858267e-01 1.34442365e-01 1.11868419e-02 3.89877503e+02] [-1.34428587e-01 9.90921310e-01 -1.97805680e-03 -6.98018589e+01] [-1.13512147e-02 4.56142587e-04 9.99935469e-01 -5.17220355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.90, Y:-69.81, Z:-5.17 [[ 9.90789426e-01 1.34955538e-01 1.11048057e-02 3.89904598e+02] [-1.34941999e-01 9.90851555e-01 -1.96300939e-03 -6.98144962e+01] [-1.12681330e-02 4.46424268e-04 9.99936413e-01 -5.17296561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.93, Y:-69.82, Z:-5.17 [[ 9.90718437e-01 1.35508806e-01 1.06931341e-02 3.89933016e+02] [-1.35496289e-01 9.90776052e-01 -1.88985098e-03 -6.98236544e+01] [-1.08505926e-02 4.23430223e-04 9.99941041e-01 -5.17334328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.96, Y:-69.83, Z:-5.17 [[ 9.90643956e-01 1.36121016e-01 9.77864657e-03 3.89961268e+02] [-1.36110580e-01 9.90692144e-01 -1.72802467e-03 -6.98333514e+01] [-9.92284880e-03 3.80879944e-04 9.99950695e-01 -5.17369001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.99, Y:-69.85, Z:-5.17 [[ 9.90222011e-01 1.39248238e-01 8.38432242e-03 3.89989443e+02] [-1.39240680e-01 9.90257461e-01 -1.48137417e-03 -6.98491656e+01] [-8.50891657e-03 2.99450551e-04 9.99963754e-01 -5.17316022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.02, Y:-69.86, Z:-5.17 [[ 9.89870880e-01 1.41733389e-01 8.20290323e-03 3.90016920e+02] [-1.41726239e-01 9.89904830e-01 -1.44942157e-03 -6.98580724e+01] [-8.32552496e-03 2.72173576e-04 9.99965305e-01 -5.17300372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.04, Y:-69.87, Z:-5.17 [[ 9.89353041e-01 1.45261736e-01 8.92119909e-03 3.90044384e+02] [-1.45253424e-01 9.89393227e-01 -1.57614747e-03 -6.98660743e+01] [-9.05552788e-03 2.63531581e-04 9.99958963e-01 -5.17368629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.07, Y:-69.87, Z:-5.17 [[ 9.88707562e-01 1.49512332e-01 1.01695087e-02 3.90073513e+02] [-1.49501760e-01 9.88759828e-01 -1.79624519e-03 -6.98727019e+01] [-1.03237625e-02 2.55601751e-04 9.99946676e-01 -5.17431837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.10, Y:-69.88, Z:-5.17 [[ 9.88709248e-01 1.49501179e-01 1.01695539e-02 3.90103224e+02] [-1.49490609e-01 9.88761514e-01 -1.79598918e-03 -6.98779088e+01] [-1.03237660e-02 2.55458297e-04 9.99946676e-01 -5.17470137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.13, Y:-69.88, Z:-5.17 [[ 9.87092891e-01 1.59738260e-01 1.14591626e-02 3.90130811e+02] [-1.59725529e-01 9.87159390e-01 -2.02362445e-03 -6.98842447e+01] [-1.16352702e-02 1.67184507e-04 9.99932294e-01 -5.17379925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.16, Y:-69.89, Z:-5.17 [[ 9.86331019e-01 1.64422832e-01 1.07820464e-02 3.90159088e+02] [-1.64411846e-01 9.86389944e-01 -1.90358362e-03 -6.98897136e+01] [-1.09482948e-02 1.04867415e-04 9.99940060e-01 -5.17385932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.19, Y:-69.89, Z:-5.17 [[ 9.85678382e-01 1.68352858e-01 9.76941640e-03 3.90186115e+02] [-1.68344035e-01 9.85726794e-01 -1.72443678e-03 -6.98941984e+01] [-9.92028936e-03 5.51170744e-05 9.99950791e-01 -5.17463017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.22, Y:-69.90, Z:-5.18 [[ 9.85164095e-01 1.71374708e-01 9.07833273e-03 3.90215021e+02] [-1.71367222e-01 9.85205922e-01 -1.60195011e-03 -6.98983848e+01] [-9.21856090e-03 2.24550715e-05 9.99957508e-01 -5.17615231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.24, Y:-69.90, Z:-5.18 [[ 9.84732085e-01 1.73849516e-01 8.89189403e-03 3.90242922e+02] [-1.73842439e-01 9.84772230e-01 -1.56869021e-03 -6.99016444e+01] [-9.02920635e-03 -1.04896486e-06 9.99959236e-01 -5.17717957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.27, Y:-69.90, Z:-5.18 [[ 9.84269348e-01 1.76344189e-01 1.07971070e-02 3.90271712e+02] [-1.76333914e-01 9.84328566e-01 -1.90388829e-03 -6.99028853e+01] [-1.09636405e-02 -2.99572511e-05 9.99939897e-01 -5.17633374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.30, Y:-69.91, Z:-5.18 [[ 9.84158800e-01 1.76883220e-01 1.19909885e-02 3.90299181e+02] [-1.76870595e-01 9.84231845e-01 -2.11375304e-03 -6.99052500e+01] [-1.21758002e-02 -4.05846042e-05 9.99925871e-01 -5.17594118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.33, Y:-69.91, Z:-5.18 [[ 9.84101474e-01 1.77160129e-01 1.25927879e-02 3.90327852e+02] [-1.77146238e-01 9.84182039e-01 -2.21896073e-03 -6.99071518e+01] [-1.27867071e-02 -4.70824836e-05 9.99918246e-01 -5.17593277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.36, Y:-69.91, Z:-5.18 [[ 9.84106800e-01 1.77114592e-01 1.28151025e-02 3.90355530e+02] [-1.77100211e-01 9.84190235e-01 -2.25749999e-03 -6.99088304e+01] [-1.30123350e-02 -4.79362738e-05 9.99915335e-01 -5.17652620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.38, Y:-69.91, Z:-5.18 [[ 9.84343815e-01 1.75775553e-01 1.30463934e-02 3.90384321e+02] [-1.75760541e-01 9.84430269e-01 -2.29745635e-03 -6.99087750e+01] [-1.32471012e-02 -3.15542176e-05 9.99912253e-01 -5.17783687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.41, Y:-69.91, Z:-5.18 [[ 9.84544702e-01 1.74646900e-01 1.30456832e-02 3.90413190e+02] [-1.74631798e-01 9.84631129e-01 -2.29674270e-03 -6.99120535e+01] [-1.32463047e-02 -1.69452568e-05 9.99912264e-01 -5.17839404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.44, Y:-69.92, Z:-5.18 [[ 9.84768228e-01 1.73389027e-01 1.29530768e-02 3.90442315e+02] [-1.73374038e-01 9.84853413e-01 -2.27981085e-03 -6.99153200e+01] [-1.31521761e-02 -6.41946097e-07 9.99913506e-01 -5.17856224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.47, Y:-69.92, Z:-5.18 [[ 9.85159021e-01 1.71165571e-01 1.28082285e-02 3.90471467e+02] [-1.71150735e-01 9.85242278e-01 -2.25369979e-03 -6.99173915e+01] [-1.30049641e-02 2.81149509e-05 9.99915431e-01 -5.17902819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.50, Y:-69.92, Z:-5.18 [[ 9.85303771e-01 1.70345579e-01 1.26040582e-02 3.90500248e+02] [-1.70331154e-01 9.85384383e-01 -2.21717140e-03 -6.99205781e+01] [-1.27975275e-02 3.77235627e-05 9.99918108e-01 -5.17888519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.53, Y:-69.92, Z:-5.18 [[ 9.85369247e-01 1.69981354e-01 1.24010808e-02 3.90528920e+02] [-1.69967368e-01 9.85447278e-01 -2.18087573e-03 -6.99237107e+01] [-1.25913195e-02 4.11888089e-05 9.99920725e-01 -5.17965217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.56, Y:-69.93, Z:-5.18 [[ 9.85392716e-01 1.69975448e-01 1.04662735e-02 3.90557291e+02] [-1.69965489e-01 9.85448297e-01 -1.84022880e-03 -6.99251228e+01] [-1.06267651e-02 3.44427610e-05 9.99943534e-01 -5.18135044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.59, Y:-69.93, Z:-5.18 [[ 9.85346891e-01 1.70283939e-01 9.74087890e-03 3.90585663e+02] [-1.70275334e-01 9.85395037e-01 -1.71211754e-03 -6.99284462e+01] [-9.89015985e-03 2.83982820e-05 9.99951091e-01 -5.18211343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.61, Y:-69.93, Z:-5.18 [[ 9.85261310e-01 1.70794300e-01 9.45824702e-03 3.90614799e+02] [-1.70786215e-01 9.85306707e-01 -1.66200064e-03 -6.99318979e+01] [-9.60313446e-03 2.21667209e-05 9.99953889e-01 -5.18196946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.64, Y:-69.94, Z:-5.18 [[ 9.85266255e-01 1.70739022e-01 9.92940727e-03 3.90642470e+02] [-1.70730112e-01 9.85316287e-01 -1.74434911e-03 -6.99350359e+01] [-1.00814352e-02 2.33994971e-05 9.99949181e-01 -5.18202987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.67, Y:-69.94, Z:-5.18 [[ 9.85589882e-01 1.68741918e-01 1.17792186e-02 3.90670620e+02] [-1.68729250e-01 9.85660267e-01 -2.06829325e-03 -6.99365828e+01] [-1.19593155e-02 5.09901903e-05 9.99928484e-01 -5.18199315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.70, Y:-69.94, Z:-5.18 [[ 9.85871836e-01 1.67050264e-01 1.22854339e-02 3.90699720e+02] [-1.67036362e-01 9.85948378e-01 -2.15641469e-03 -6.99401792e+01] [-1.24730332e-02 7.38343306e-05 9.99922206e-01 -5.18242068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.73, Y:-69.94, Z:-5.18 [[ 9.86172836e-01 1.65272276e-01 1.21742399e-02 3.90727533e+02] [-1.65258495e-01 9.86247974e-01 -2.13631079e-03 -6.99438298e+01] [-1.23598924e-02 9.48750988e-05 9.99923609e-01 -5.18265957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.75, Y:-69.95, Z:-5.18 [[ 9.86444998e-01 1.63672725e-01 1.17262864e-02 3.90754722e+02] [-1.63659835e-01 9.86514687e-01 -2.05702193e-03 -6.99474086e+01] [-1.19048321e-02 1.10016899e-04 9.99929129e-01 -5.18272705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.78, Y:-69.95, Z:-5.18 [[ 9.86984409e-01 1.60380751e-01 1.18233664e-02 3.90782536e+02] [-1.60367419e-01 9.87055212e-01 -2.07333100e-03 -6.99499540e+01] [-1.20028379e-02 1.50262611e-04 9.99927952e-01 -5.18273743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.81, Y:-69.95, Z:-5.18 [[ 9.87241735e-01 1.58726963e-01 1.26296092e-02 3.90810686e+02] [-1.58711626e-01 9.87322500e-01 -2.21392910e-03 -6.99540487e+01] [-1.28209076e-02 1.81217401e-04 9.99917792e-01 -5.18301016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.84, Y:-69.96, Z:-5.18 [[ 9.87428675e-01 1.57513526e-01 1.31947451e-02 3.90838175e+02] [-1.57496686e-01 9.87516809e-01 -2.31231262e-03 -6.99589055e+01] [-1.33942531e-02 2.05115155e-04 9.99910272e-01 -5.18312145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5357692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:390.87, Y:-69.96, Z:-5.18 [[ 9.87748726e-01 1.55479266e-01 1.33660535e-02 3.90865253e+02] [-1.55461811e-01 9.87839128e-01 -2.34150898e-03 -6.99640369e+01] [-1.35675668e-02 2.34911629e-04 9.99907929e-01 -5.18111688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.89, Y:-69.97, Z:-5.18 [[ 9.87807235e-01 1.55140922e-01 1.29676687e-02 3.90893967e+02] [-1.55124473e-01 9.87892322e-01 -2.27096363e-03 -6.99685034e+01] [-1.31629798e-02 2.31671522e-04 9.99913337e-01 -5.18441693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.92, Y:-69.97, Z:-5.18 [[ 9.87778485e-01 1.55412918e-01 1.18528299e-02 3.90921936e+02] [-1.55399202e-01 9.87849574e-01 -2.07519492e-03 -6.99724102e+01] [-1.20313251e-02 2.07912587e-04 9.99927599e-01 -5.18433200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.95, Y:-69.98, Z:-5.19 [[ 9.87595283e-01 1.56712332e-01 9.83882797e-03 3.90950826e+02] [-1.56702951e-01 9.87644278e-01 -1.72203677e-03 -6.99751271e+01] [-9.98712655e-03 1.58902023e-04 9.99950115e-01 -5.18526867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.98, Y:-69.98, Z:-5.19 [[ 9.87494624e-01 1.57381378e-01 9.24500309e-03 3.90978619e+02] [-1.57373127e-01 9.87537889e-01 -1.61786443e-03 -6.99794032e+01] [-9.38441257e-03 1.42717380e-04 9.99955955e-01 -5.18582413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:391.01, Y:-69.98, Z:-5.19 [[ 9.87451127e-01 1.57639996e-01 9.48172110e-03 3.91007246e+02] [-1.57631335e-01 9.87496639e-01 -1.65862998e-03 -6.99832234e+01] [-9.62463414e-03 1.43199688e-04 9.99953672e-01 -5.18618130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.03, Y:-69.99, Z:-5.19 [[ 9.87324573e-01 1.58413715e-01 9.76126172e-03 3.91034850e+02] [-1.58404578e-01 9.87372815e-01 -1.70706753e-03 -6.99851621e+01] [-9.90842737e-03 1.39201173e-04 9.99950901e-01 -5.18717408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.06, Y:-69.99, Z:-5.19 [[ 9.87315588e-01 1.58478852e-01 9.61166629e-03 3.91062913e+02] [-1.58470002e-01 9.87362363e-01 -1.68029830e-03 -6.99892220e+01] [-9.75648928e-03 1.35823933e-04 9.99952395e-01 -5.18852156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.09, Y:-69.99, Z:-5.19 [[ 9.87332433e-01 1.58389502e-01 9.35051988e-03 3.91091445e+02] [-1.58381126e-01 9.87376700e-01 -1.63421237e-03 -6.99937427e+01] [-9.49132754e-03 1.32565004e-04 9.99954948e-01 -5.18903267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.12, Y:-70.00, Z:-5.19 [[ 9.87396644e-01 1.57986908e-01 9.38111001e-03 3.91118747e+02] [-1.57978464e-01 9.87441197e-01 -1.63913452e-03 -6.99985438e+01] [-9.52225630e-03 1.36462576e-04 9.99954653e-01 -5.18889094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.15, Y:-70.00, Z:-5.19 [[ 9.87777000e-01 1.55499162e-01 1.07985233e-02 3.91145552e+02] [-1.55487832e-01 9.87836007e-01 -1.88602197e-03 -7.00047863e+01] [-1.09604450e-02 1.83930142e-04 9.99939916e-01 -5.18845586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.17, Y:-70.01, Z:-5.19 [[ 9.88102673e-01 1.53375632e-01 1.13588185e-02 3.91173685e+02] [-1.53362964e-01 9.88167935e-01 -1.98315131e-03 -7.00112437e+01] [-1.15285873e-02 2.17535040e-04 9.99933520e-01 -5.18827907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.20, Y:-70.02, Z:-5.19 [[ 9.88408741e-01 1.51373773e-01 1.15819246e-02 3.91202208e+02] [-1.51360473e-01 9.88476566e-01 -2.02153241e-03 -7.00184208e+01] [-1.17544681e-02 2.45054713e-04 9.99930884e-01 -5.18813921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.23, Y:-70.03, Z:-5.19 [[ 9.88728985e-01 1.49385126e-01 9.95380231e-03 3.91229845e+02] [-1.49375206e-01 9.88779061e-01 -1.73696220e-03 -7.00267973e+01] [-1.01015876e-02 2.30533604e-04 9.99948951e-01 -5.18899830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.26, Y:-70.03, Z:-5.19 [[ 9.88629784e-01 1.50109230e-01 8.85268060e-03 3.91257082e+02] [-1.50101415e-01 9.88669399e-01 -1.54449934e-03 -7.00329901e+01] [-8.98421801e-03 1.98138164e-04 9.99959621e-01 -5.18915572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.28, Y:-70.04, Z:-5.19 [[ 9.88355054e-01 1.51887209e-01 9.19585368e-03 3.91284700e+02] [-1.51878859e-01 9.88397815e-01 -1.60381007e-03 -7.00394804e+01] [-9.33275992e-03 1.88478030e-04 9.99956431e-01 -5.18897655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.31, Y:-70.05, Z:-5.19 [[ 9.88058012e-01 1.53735083e-01 1.03387149e-02 3.91313251e+02] [-1.53724636e-01 9.88112083e-01 -1.80233736e-03 -7.00454275e+01] [-1.04928916e-02 1.91498688e-04 9.99944930e-01 -5.18847270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.34, Y:-70.05, Z:-5.19 [[ 9.87255901e-01 1.58646978e-01 1.25268377e-02 3.91340250e+02] [-1.58632046e-01 9.87335357e-01 -2.18307673e-03 -7.00509669e+01] [-1.27145283e-02 1.68097481e-04 9.99919153e-01 -5.18678561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.37, Y:-70.06, Z:-5.19 [[ 9.86773843e-01 1.61600948e-01 1.27482068e-02 3.91367710e+02] [-1.61585741e-01 9.86856178e-01 -2.22083453e-03 -7.00561916e+01] [-1.29395356e-02 1.31532993e-04 9.99916272e-01 -5.18747871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.40, Y:-70.06, Z:-5.19 [[ 9.86335035e-01 1.64309978e-01 1.20594273e-02 3.91395440e+02] [-1.64296580e-01 9.86408751e-01 -2.10017152e-03 -7.00624190e+01] [-1.22406038e-02 9.01500835e-05 9.99925077e-01 -5.18880652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.42, Y:-70.07, Z:-5.19 [[ 9.85972425e-01 1.66517328e-01 1.14173546e-02 3.91423066e+02] [-1.66505471e-01 9.86038527e-01 -1.98799328e-03 -7.00693969e+01] [-1.15889868e-02 5.90545560e-05 9.99932844e-01 -5.18981850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.45, Y:-70.08, Z:-5.19 [[ 9.85615672e-01 1.68610812e-01 1.14952853e-02 3.91451506e+02] [-1.68598941e-01 9.85682704e-01 -2.00100082e-03 -7.00760953e+01] [-1.16680943e-02 3.41248328e-05 9.99931925e-01 -5.19003796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.48, Y:-70.08, Z:-5.19 [[ 9.84774686e-01 1.73324668e-01 1.33182903e-02 3.91478555e+02] [-1.73309174e-01 9.84864741e-01 -2.31758179e-03 -7.00818589e+01] [-1.35184086e-02 -2.58860088e-05 9.99908622e-01 -5.18900042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.51, Y:-70.09, Z:-5.19 [[ 9.84413675e-01 1.75329990e-01 1.37517908e-02 3.91507134e+02] [-1.75313679e-01 9.84509721e-01 -2.39217376e-03 -7.00867365e+01] [-1.39581915e-02 -5.59884728e-05 9.99902578e-01 -5.18876593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.53, Y:-70.09, Z:-5.19 [[ 9.84216420e-01 1.76447313e-01 1.35788154e-02 3.91534603e+02] [-1.76431525e-01 9.84310084e-01 -2.36141890e-03 -7.00907348e+01] [-1.37824310e-02 -7.15838547e-05 9.99905015e-01 -5.18854231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.56, Y:-70.10, Z:-5.19 [[ 9.84102801e-01 1.77135128e-01 1.28383333e-02 3.91563469e+02] [-1.77121083e-01 9.84186537e-01 -2.23191555e-03 -7.00952807e+01] [-1.30306655e-02 -7.75051535e-05 9.99915094e-01 -5.18950277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.59, Y:-70.10, Z:-5.19 [[ 9.83946778e-01 1.78118346e-01 1.10721883e-02 3.91591151e+02] [-1.78107966e-01 9.84009069e-01 -1.92445682e-03 -7.01001525e+01] [-1.12379147e-02 -7.84818499e-05 9.99936850e-01 -5.19181279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.62, Y:-70.11, Z:-5.19 [[ 9.83860133e-01 1.78621121e-01 1.06646462e-02 3.91618668e+02] [-1.78611529e-01 9.83917928e-01 -1.85288307e-03 -7.01051876e+01] [-1.08241006e-02 -8.18509780e-05 9.99941414e-01 -5.19262374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.65, Y:-70.11, Z:-5.19 [[ 9.83779265e-01 1.79058657e-01 1.07867766e-02 3.91646135e+02] [-1.79048879e-01 9.83838396e-01 -1.87331610e-03 -7.01094698e+01] [-1.09478784e-02 -8.84307175e-05 9.99940066e-01 -5.19250868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.67, Y:-70.11, Z:-5.19 [[ 9.83653830e-01 1.79757745e-01 1.05969707e-02 3.91673377e+02] [-1.79748357e-01 9.83710905e-01 -1.83962046e-03 -7.01117967e+01] [-1.07550417e-02 -9.52383621e-05 9.99942158e-01 -5.19296148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.70, Y:-70.12, Z:-5.19 [[ 9.83645227e-01 1.79840848e-01 9.96679330e-03 3.91701564e+02] [-1.79832556e-01 9.83695716e-01 -1.72941570e-03 -7.01158244e+01] [-1.01153115e-02 -9.12224147e-05 9.99948835e-01 -5.19359913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.73, Y:-70.12, Z:-5.19 [[ 9.83661475e-01 1.79795488e-01 9.14795137e-03 3.91727730e+02] [-1.79788505e-01 9.83704008e-01 -1.58677455e-03 -7.01204217e+01] [-9.28417133e-03 -8.38475067e-05 9.99956898e-01 -5.19453714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.75, Y:-70.13, Z:-5.20 [[ 9.83786742e-01 1.79163483e-01 8.00578435e-03 3.91754051e+02] [-1.79158118e-01 9.83819314e-01 -1.38817442e-03 -7.01251381e+01] [-8.12495543e-03 -6.86336710e-05 9.99966990e-01 -5.19537382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.78, Y:-70.13, Z:-5.20 [[ 9.84226303e-01 1.76799939e-01 6.35341288e-03 3.91781058e+02] [-1.76796514e-01 9.84246809e-01 -1.10110082e-03 -7.01306531e+01] [-6.44800091e-03 -3.95288594e-05 9.99979211e-01 -5.19641535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.81, Y:-70.14, Z:-5.20 [[ 9.84431834e-01 1.75652242e-01 6.34464510e-03 3.91808544e+02] [-1.75648806e-01 9.84452279e-01 -1.09912029e-03 -7.01357890e+01] [-6.43906327e-03 -3.24203263e-05 9.99979268e-01 -5.19641311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.83, Y:-70.14, Z:-5.20 [[ 9.84584702e-01 1.74786173e-01 6.53905303e-03 3.91834854e+02] [-1.74782507e-01 9.84606415e-01 -1.13236498e-03 -7.01406509e+01] [-6.63631531e-03 -2.80028455e-05 9.99977979e-01 -5.19636999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.86, Y:-70.15, Z:-5.20 [[ 9.84569072e-01 1.74854265e-01 7.05187398e-03 3.91862396e+02] [-1.74850009e-01 9.84594325e-01 -1.22043138e-03 -7.01454301e+01] [-7.15663273e-03 -3.14212337e-05 9.99974390e-01 -5.19631835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.89, Y:-70.15, Z:-5.20 [[ 9.84579526e-01 1.74795384e-01 7.05197238e-03 3.91890496e+02] [-1.74791130e-01 9.84604780e-01 -1.21986243e-03 -7.01501564e+01] [-7.15663204e-03 -3.15706472e-05 9.99974390e-01 -5.19668015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.92, Y:-70.15, Z:-5.20 [[ 9.84375960e-01 1.75931210e-01 7.22344919e-03 3.91917426e+02] [-1.75926779e-01 9.84402462e-01 -1.24918913e-03 -7.01536947e+01] [-7.33055253e-03 -4.11264042e-05 9.99973130e-01 -5.19686712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.94, Y:-70.16, Z:-5.20 [[ 9.84049574e-01 1.77751650e-01 7.12655830e-03 3.91944773e+02] [-1.77747390e-01 9.84075377e-01 -1.23175445e-03 -7.01570013e+01] [-7.23201694e-03 -5.46196979e-05 9.99973847e-01 -5.19713241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.97, Y:-70.16, Z:-5.20 [[ 9.83672352e-01 1.79818776e-01 7.34241971e-03 3.91972487e+02] [-1.79814317e-01 9.83699752e-01 -1.26851886e-03 -7.01606654e+01] [-7.45083996e-03 -7.24652528e-05 9.99972239e-01 -5.19722991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.00, Y:-70.16, Z:-5.20 [[ 9.82951407e-01 1.83667605e-01 8.52895656e-03 3.91999809e+02] [-1.83661737e-01 9.82988401e-01 -1.47295190e-03 -7.01629533e+01] [-8.65439892e-03 -1.18602838e-04 9.99962543e-01 -5.19673489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.03, Y:-70.17, Z:-5.20 [[ 9.82717516e-01 1.84846322e-01 9.90562851e-03 3.92028105e+02] [-1.84838482e-01 9.82767426e-01 -1.70917840e-03 -7.01664297e+01] [-1.00508644e-02 -1.51301788e-04 9.99949477e-01 -5.19665669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.06, Y:-70.17, Z:-5.20 [[ 9.82581634e-01 1.85517995e-01 1.07891746e-02 3.92056257e+02] [-1.85508743e-01 9.82640852e-01 -1.86084417e-03 -7.01694590e+01] [-1.09471038e-02 -1.73054914e-04 9.99940064e-01 -5.19647298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.08, Y:-70.17, Z:-5.20 [[ 9.82510888e-01 1.85881183e-01 1.09791449e-02 3.92083417e+02] [-1.85871633e-01 9.82572213e-01 -1.89285037e-03 -7.01694797e+01] [-1.11396480e-02 -1.80965502e-04 9.99937936e-01 -5.19737955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.11, Y:-70.17, Z:-5.20 [[ 9.82578812e-01 1.85549587e-01 1.04990404e-02 3.92111621e+02] [-1.85540844e-01 9.82634887e-01 -1.80925986e-03 -7.01711687e+01] [-1.06524308e-02 -1.70260406e-04 9.99943247e-01 -5.19773809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.14, Y:-70.17, Z:-5.20 [[ 9.82770279e-01 1.84513674e-01 1.08297304e-02 3.92139676e+02] [-1.84504318e-01 9.82829933e-01 -1.86543469e-03 -7.01725918e+01] [-1.09879814e-02 -1.64838244e-04 9.99939617e-01 -5.19717445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.17, Y:-70.17, Z:-5.20 [[ 9.83656188e-01 1.79698181e-01 1.13607558e-02 3.92167134e+02] [-1.79687573e-01 9.83721785e-01 -1.95605115e-03 -7.01712598e+01] [-1.15273218e-02 -1.17304812e-04 9.99933551e-01 -5.19704802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.19, Y:-70.17, Z:-5.20 [[ 9.84279271e-01 1.76288634e-01 1.07997608e-02 3.92194648e+02] [-1.76278852e-01 9.84338515e-01 -1.85858227e-03 -7.01744672e+01] [-1.09582674e-02 -7.44054298e-05 9.99939954e-01 -5.19849964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.22, Y:-70.18, Z:-5.20 [[ 9.84988189e-01 1.72335695e-01 9.93357132e-03 3.92221879e+02] [-1.72327224e-01 9.85038277e-01 -1.70892172e-03 -7.01782199e+01] [-1.00794562e-02 -2.85570622e-05 9.99949201e-01 -5.19942166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.25, Y:-70.18, Z:-5.20 [[ 9.85707932e-01 1.68162128e-01 1.00683317e-02 3.92249325e+02] [-1.68153217e-01 9.85759351e-01 -1.73124009e-03 -7.01819206e+01] [-1.02160811e-02 1.34747359e-05 9.99947814e-01 -5.20022013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.28, Y:-70.18, Z:-5.20 [[ 9.86746368e-01 1.61924851e-01 1.05805575e-02 3.92277148e+02] [-1.61914658e-01 9.86803089e-01 -1.81857655e-03 -7.01840234e+01] [-1.07353996e-02 8.13264527e-05 9.99942371e-01 -5.20016249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.31, Y:-70.19, Z:-5.20 [[ 9.86978846e-01 1.60518812e-01 1.03183863e-02 3.92305355e+02] [-1.60509050e-01 9.87032777e-01 -1.77280699e-03 -7.01877469e+01] [-1.04691544e-02 9.35286136e-05 9.99945193e-01 -5.19993232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.33, Y:-70.19, Z:-5.20 [[ 9.87072437e-01 1.59960919e-01 1.00253801e-02 3.92331606e+02] [-1.59951681e-01 9.87123343e-01 -1.72180282e-03 -7.01914644e+01] [-1.01717079e-02 9.59676968e-05 9.99948262e-01 -5.20055979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.36, Y:-70.20, Z:-5.20 [[ 9.87108832e-01 1.59786199e-01 9.19375751e-03 3.92359086e+02] [-1.59778429e-01 9.87151641e-01 -1.57825401e-03 -7.01958260e+01] [-9.32781602e-03 8.89443399e-05 9.99956491e-01 -5.20100397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.39, Y:-70.20, Z:-5.20 [[ 9.86972040e-01 1.60700566e-01 7.84355746e-03 3.92385427e+02] [-1.60694942e-01 9.87003203e-01 -1.34610778e-03 -7.02009881e+01] [-7.95793663e-03 6.81507317e-05 9.99968333e-01 -5.20128664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.41, Y:-70.21, Z:-5.20 [[ 9.86971810e-01 1.60708952e-01 7.69932731e-03 3.92412792e+02] [-1.60703539e-01 9.87001838e-01 -1.32069948e-03 -7.02066371e+01] [-7.81149844e-03 6.61840104e-05 9.99969488e-01 -5.20184094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.44, Y:-70.21, Z:-5.20 [[ 9.86965814e-01 1.60750947e-01 7.59045654e-03 3.92440618e+02] [-1.60745691e-01 9.86994999e-01 -1.30150597e-03 -7.02128365e+01] [-7.70096096e-03 6.44087195e-05 9.99970345e-01 -5.20187182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.47, Y:-70.22, Z:-5.20 [[ 9.87046592e-01 1.60245142e-01 7.77944178e-03 3.92467896e+02] [-1.60239610e-01 9.87077246e-01 -1.33334875e-03 -7.02191433e+01] [-7.89257262e-03 6.95026208e-05 9.99968851e-01 -5.20281651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.49, Y:-70.23, Z:-5.20 [[ 9.87162448e-01 1.59456169e-01 9.16682065e-03 3.92494404e+02] [-1.59448460e-01 9.87205005e-01 -1.57038732e-03 -7.02263452e+01] [-9.29993917e-03 8.85919543e-05 9.99956751e-01 -5.20291700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.52, Y:-70.23, Z:-5.20 [[ 9.87217820e-01 1.59104773e-01 9.30844919e-03 3.92521649e+02] [-1.59096816e-01 9.87261699e-01 -1.59385819e-03 -7.02317262e+01] [-9.44346581e-03 9.25405737e-05 9.99955405e-01 -5.20265992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.55, Y:-70.24, Z:-5.20 [[ 9.87223174e-01 1.59073864e-01 9.26877404e-03 3.92548299e+02] [-1.59065979e-01 9.87266680e-01 -1.58651110e-03 -7.02370684e+01] [-9.40312423e-03 9.18939097e-05 9.99955785e-01 -5.20296636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.57, Y:-70.24, Z:-5.20 [[ 9.86914054e-01 1.60998796e-01 8.94639004e-03 3.92574892e+02] [-1.60991538e-01 9.86954600e-01 -1.53027462e-03 -7.02449578e+01] [-9.07605317e-03 6.99564350e-05 9.99958809e-01 -5.20280864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.60, Y:-70.25, Z:-5.20 [[ 9.86614154e-01 1.62832476e-01 8.83718720e-03 3.92601728e+02] [-1.62825474e-01 9.86653730e-01 -1.51100035e-03 -7.02505834e+01] [-8.96528364e-03 5.18551377e-05 9.99959810e-01 -5.20302055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.63, Y:-70.26, Z:-5.20 [[ 9.86298267e-01 1.64721197e-01 9.09148672e-03 3.92629679e+02] [-1.64713874e-01 9.86340167e-01 -1.55363783e-03 -7.02555761e+01] [-9.22321562e-03 3.48562996e-05 9.99957465e-01 -5.20345179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.66, Y:-70.26, Z:-5.20 [[ 9.85916574e-01 1.66985660e-01 9.18140995e-03 3.92656431e+02] [-1.66978295e-01 9.85959324e-01 -1.56835927e-03 -7.02599990e+01] [-9.31439025e-03 1.31752139e-05 9.99956620e-01 -5.20364951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.68, Y:-70.26, Z:-5.20 [[ 9.85223248e-01 1.71048094e-01 8.81486338e-03 3.92684565e+02] [-1.71041475e-01 9.85262680e-01 -1.50498455e-03 -7.02639913e+01] [-8.94238065e-03 -2.49614674e-05 9.99960016e-01 -5.20372600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.71, Y:-70.27, Z:-5.20 [[ 9.84880545e-01 1.73027083e-01 8.48172890e-03 3.92712118e+02] [-1.73021033e-01 9.84917066e-01 -1.44752569e-03 -7.02681015e+01] [-8.60426069e-03 -4.18776063e-05 9.99962982e-01 -5.20334016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.74, Y:-70.27, Z:-5.20 [[ 9.84655257e-01 1.74284150e-01 8.89160785e-03 3.92739989e+02] [-1.74277559e-01 9.84695401e-01 -1.51678794e-03 -7.02718693e+01] [-9.01987746e-03 -5.60944921e-05 9.99959319e-01 -5.20321154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.77, Y:-70.28, Z:-5.20 [[ 9.84527288e-01 1.74952324e-01 9.88449102e-03 3.92767334e+02] [-1.74944221e-01 9.84576904e-01 -1.68532576e-03 -7.02754902e+01] [-1.00268932e-02 -6.99853782e-05 9.99949727e-01 -5.20331350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.80, Y:-70.28, Z:-5.20 [[ 9.84479692e-01 1.75092434e-01 1.19321085e-02 3.92795432e+02] [-1.75080649e-01 9.84551996e-01 -2.03335056e-03 -7.02788035e+01] [-1.21038056e-02 -8.72889637e-05 9.99926742e-01 -5.20309464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.82, Y:-70.28, Z:-5.20 [[ 9.84514696e-01 1.74876931e-01 1.22013026e-02 3.92822241e+02] [-1.74864603e-01 9.84590296e-01 -2.07828422e-03 -7.02828412e+01] [-1.23767281e-02 -8.74745827e-05 9.99923402e-01 -5.20394157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.85, Y:-70.28, Z:-5.20 [[ 9.84532550e-01 1.74777344e-01 1.21876127e-02 3.92850190e+02] [-1.74765049e-01 9.84607979e-01 -2.07488128e-03 -7.02844130e+01] [-1.23626630e-02 -8.71805779e-05 9.99923576e-01 -5.20459717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.88, Y:-70.29, Z:-5.20 [[ 9.84437295e-01 1.75335507e-01 1.18605059e-02 3.92878685e+02] [-1.75323914e-01 9.84508736e-01 -2.01833739e-03 -7.02865174e+01] [-1.20306578e-02 -9.25037085e-05 9.99927625e-01 -5.20455898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.91, Y:-70.29, Z:-5.21 [[ 9.84374185e-01 1.75696823e-01 1.17511497e-02 3.92906681e+02] [-1.75685479e-01 9.84444319e-01 -1.99886534e-03 -7.02884691e+01] [-1.19195469e-02 -9.68749201e-05 9.99928955e-01 -5.20540195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.93, Y:-70.29, Z:-5.21 [[ 9.84373593e-01 1.75722333e-01 1.14144730e-02 3.92934300e+02] [-1.75711641e-01 9.84439766e-01 -1.94078753e-03 -7.02910433e+01] [-1.15779008e-02 -9.51957761e-05 9.99932969e-01 -5.20613139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.96, Y:-70.29, Z:-5.21 [[ 9.84533906e-01 1.74903042e-01 1.00952874e-02 3.92962509e+02] [-1.74894642e-01 9.84585659e-01 -1.71582995e-03 -7.02927369e+01] [-1.02397790e-02 -7.63189038e-05 9.99947569e-01 -5.20667920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.99, Y:-70.30, Z:-5.21 [[ 9.84717208e-01 1.73916153e-01 9.22996600e-03 3.92989299e+02] [-1.73909094e-01 9.84760462e-01 -1.56817399e-03 -7.02961348e+01] [-9.36203638e-03 -6.09671062e-05 9.99956173e-01 -5.20742507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.02, Y:-70.30, Z:-5.21 [[ 9.84911537e-01 1.72836844e-01 8.75726312e-03 3.93016091e+02] [-1.72830452e-01 9.84950467e-01 -1.48727666e-03 -7.03002094e+01] [-8.88252660e-03 -4.86858007e-05 9.99960548e-01 -5.20877274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.04, Y:-70.31, Z:-5.21 [[ 9.85157590e-01 1.71445135e-01 8.43136112e-03 3.93043897e+02] [-1.71439169e-01 9.85193668e-01 -1.43075363e-03 -7.03050466e+01] [-8.55181934e-03 -3.59477480e-05 9.99963432e-01 -5.20950952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.07, Y:-70.31, Z:-5.21 [[ 9.85544127e-01 1.69228206e-01 8.03661230e-03 3.93070722e+02] [-1.69222716e-01 9.85576894e-01 -1.36326317e-03 -7.03088965e+01] [-8.15140197e-03 -1.64213427e-05 9.99966777e-01 -5.20907520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.10, Y:-70.31, Z:-5.21 [[ 9.85690362e-01 1.68365677e-01 8.21643134e-03 3.93098921e+02] [-1.68359915e-01 9.85724606e-01 -1.39297297e-03 -7.03126537e+01] [-8.33366738e-03 -1.02776528e-05 9.99965274e-01 -5.20865996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.13, Y:-70.32, Z:-5.21 [[ 9.85820533e-01 1.67557623e-01 9.07302367e-03 3.93125864e+02] [-1.67550569e-01 9.85862284e-01 -1.53746717e-03 -7.03164890e+01] [-9.20236619e-03 -4.52357482e-06 9.99957657e-01 -5.20851989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.15, Y:-70.32, Z:-5.21 [[ 9.85896947e-01 1.66996076e-01 1.09325423e-02 3.93153504e+02] [-1.66985813e-01 9.85957560e-01 -1.85139408e-03 -7.03220766e+01] [-1.10881983e-02 -2.95702357e-07 9.99938524e-01 -5.20851026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.18, Y:-70.33, Z:-5.21 [[ 9.85853008e-01 1.67239451e-01 1.11719531e-02 3.93180059e+02] [-1.67228759e-01 9.85916308e-01 -1.89110580e-03 -7.03275861e+01] [-1.13308782e-02 -3.91949365e-06 9.99935804e-01 -5.20889740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.21, Y:-70.33, Z:-5.21 [[ 9.85867246e-01 1.67167501e-01 1.09908637e-02 3.93206924e+02] [-1.67157158e-01 9.85928510e-01 -1.85952638e-03 -7.03330547e+01] [-1.11470583e-02 -3.95540326e-06 9.99937870e-01 -5.20943163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.23, Y:-70.34, Z:-5.21 [[ 9.86123373e-01 1.65619383e-01 1.14417348e-02 3.93233971e+02] [-1.65608082e-01 9.86189748e-01 -1.93477309e-03 -7.03395360e+01] [-1.16041575e-02 1.30812143e-05 9.99932669e-01 -5.21009638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.26, Y:-70.35, Z:-5.21 [[ 9.86342945e-01 1.64264047e-01 1.20381824e-02 3.93261007e+02] [-1.64251447e-01 9.86416404e-01 -2.03470585e-03 -7.03455196e+01] [-1.22088896e-02 2.96288676e-05 9.99925468e-01 -5.21024454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.29, Y:-70.35, Z:-5.21 [[ 9.86592761e-01 1.62753232e-01 1.20875904e-02 3.93287177e+02] [-1.62740426e-01 9.86666805e-01 -2.04217871e-03 -7.03514870e+01] [-1.22587953e-02 4.76591318e-05 9.99924857e-01 -5.21035272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.31, Y:-70.36, Z:-5.21 [[ 9.86823651e-01 1.61362530e-01 1.18834528e-02 3.93314077e+02] [-1.61350065e-01 9.86895197e-01 -2.00669593e-03 -7.03574723e+01] [-1.20515280e-02 6.28591297e-05 9.99927376e-01 -5.21028270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.34, Y:-70.36, Z:-5.21 [[ 9.87053692e-01 1.59979377e-01 1.14720441e-02 3.93342249e+02] [-1.59967676e-01 9.87120354e-01 -1.93640673e-03 -7.03645670e+01] [-1.16340733e-02 7.61811790e-05 9.99932319e-01 -5.21108618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.37, Y:-70.37, Z:-5.21 [[ 9.87134974e-01 1.59514432e-01 1.09402514e-02 3.93370986e+02] [-1.59503767e-01 9.87195594e-01 -1.84614779e-03 -7.03701027e+01] [-1.10946552e-02 7.73857401e-05 9.99938449e-01 -5.21110978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.40, Y:-70.38, Z:-5.21 [[ 9.87199139e-01 1.59145589e-01 1.05138438e-02 3.93398730e+02] [-1.59135724e-01 9.87255122e-01 -1.77372795e-03 -7.03757207e+01] [-1.06621271e-02 7.78945639e-05 9.99943155e-01 -5.21204778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.43, Y:-70.38, Z:-5.21 [[ 9.87321797e-01 1.58369857e-01 1.07078207e-02 3.93426100e+02] [-1.58359585e-01 9.87379856e-01 -1.80578942e-03 -7.03811354e+01] [-1.08586691e-02 8.72092075e-05 9.99941039e-01 -5.21275211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.35576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:393.45, Y:-70.39, Z:-5.21 [[ 9.87419419e-01 1.57696867e-01 1.16012796e-02 3.93454747e+02] [-1.57684772e-01 9.87487563e-01 -1.95570188e-03 -7.03859358e+01] [-1.17645274e-02 1.01752878e-04 9.99930790e-01 -5.21036288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.48, Y:-70.39, Z:-5.21 [[ 9.87492774e-01 1.57146520e-01 1.27668330e-02 3.93482036e+02] [-1.57131836e-01 9.87575292e-01 -2.15149406e-03 -7.03905207e+01] [-1.29463086e-02 1.18508927e-04 9.99916186e-01 -5.21320586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.51, Y:-70.40, Z:-5.21 [[ 9.87607018e-01 1.56333127e-01 1.38683678e-02 3.93510595e+02] [-1.56315732e-01 9.87704376e-01 -2.33622937e-03 -7.03961078e+01] [-1.40630776e-02 1.39432447e-04 9.99901100e-01 -5.21329529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.54, Y:-70.40, Z:-5.21 [[ 9.87677990e-01 1.55853362e-01 1.42097529e-02 3.93538017e+02] [-1.55835061e-01 9.87780192e-01 -2.39301846e-03 -7.04034660e+01] [-1.44090724e-02 1.49153957e-04 9.99896173e-01 -5.21243300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.57, Y:-70.41, Z:-5.21 [[ 9.87693584e-01 1.55802857e-01 1.36694389e-02 3.93566284e+02] [-1.55785927e-01 9.87788160e-01 -2.30124926e-03 -7.04100018e+01] [-1.38610511e-02 1.43422921e-04 9.99903921e-01 -5.21293100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.59, Y:-70.42, Z:-5.21 [[ 9.87714553e-01 1.55757145e-01 1.26362380e-02 3.93593202e+02] [-1.55742681e-01 9.87795371e-01 -2.12673538e-03 -7.04164589e+01] [-1.28132717e-02 1.32605893e-04 9.99917898e-01 -5.21289712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.62, Y:-70.42, Z:-5.21 [[ 9.87719959e-01 1.55722848e-01 1.26363638e-02 3.93622138e+02] [-1.55708391e-01 9.87800778e-01 -2.12598778e-03 -7.04212412e+01] [-1.28132749e-02 1.32292686e-04 9.99917898e-01 -5.21326952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.65, Y:-70.43, Z:-5.21 [[ 9.87642194e-01 1.56251742e-01 1.21774687e-02 3.93650340e+02] [-1.56238361e-01 9.87717256e-01 -2.04836743e-03 -7.04288143e+01] [-1.23479570e-02 1.20466342e-04 9.99923754e-01 -5.21447324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.68, Y:-70.43, Z:-5.22 [[ 9.87477838e-01 1.57296636e-01 1.20535494e-02 3.93677984e+02] [-1.57283612e-01 9.87551395e-01 -2.02695274e-03 -7.04348468e+01] [-1.22223323e-02 1.05745127e-04 9.99925299e-01 -5.21539405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.71, Y:-70.44, Z:-5.22 [[ 9.87287564e-01 1.58532000e-01 1.14398994e-02 3.93705740e+02] [-1.58520358e-01 9.87353836e-01 -1.92309744e-03 -7.04407551e+01] [-1.16001011e-02 8.51932346e-05 9.99932713e-01 -5.21518385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.73, Y:-70.45, Z:-5.22 [[ 9.87078490e-01 1.59862048e-01 1.09626533e-02 3.93732834e+02] [-1.59851445e-01 9.87139363e-01 -1.84238095e-03 -7.04465172e+01] [-1.11161934e-02 6.61786377e-05 9.99938211e-01 -5.21527212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.76, Y:-70.45, Z:-5.22 [[ 9.86779536e-01 1.61771312e-01 9.80759572e-03 3.93761381e+02] [-1.61762926e-01 9.86828273e-01 -1.64771769e-03 -7.04529243e+01] [-9.94496620e-03 3.94287200e-05 9.99950547e-01 -5.21625353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.79, Y:-70.46, Z:-5.22 [[ 9.86759250e-01 1.61944808e-01 8.94770737e-03 3.93789836e+02] [-1.61937838e-01 9.86799817e-01 -1.50286072e-03 -7.04583788e+01] [-9.07297648e-03 3.39893289e-05 9.99958839e-01 -5.21721845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.82, Y:-70.46, Z:-5.22 [[ 9.86778014e-01 1.61866166e-01 8.27617845e-03 3.93817237e+02] [-1.61860203e-01 9.86812720e-01 -1.38975769e-03 -7.04637366e+01] [-8.39199291e-03 3.17984076e-05 9.99964786e-01 -5.21797362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.85, Y:-70.47, Z:-5.22 [[ 9.87025075e-01 1.60348523e-01 8.35781152e-03 3.93845400e+02] [-1.60342392e-01 9.87060459e-01 -1.40289008e-03 -7.04703776e+01] [-8.47461662e-03 4.45761915e-05 9.99964089e-01 -5.21784335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.87, Y:-70.48, Z:-5.22 [[ 9.87198194e-01 1.59260168e-01 8.71350763e-03 3.93872567e+02] [-1.59253465e-01 9.87236646e-01 -1.46219021e-03 -7.04762286e+01] [-8.83516270e-03 5.58152521e-05 9.99960968e-01 -5.21761002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.90, Y:-70.48, Z:-5.22 [[ 9.87449731e-01 1.57618147e-01 9.97736570e-03 3.93900287e+02] [-1.57609283e-01 9.87500133e-01 -1.67355606e-03 -7.04818521e+01] [-1.01164328e-02 8.00270265e-05 9.99948824e-01 -5.21796130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.93, Y:-70.49, Z:-5.22 [[ 9.87647500e-01 1.56268836e-01 1.15094051e-02 3.93928243e+02] [-1.56256958e-01 9.87714554e-01 -1.92972197e-03 -7.04869388e+01] [-1.16695624e-02 1.07460444e-04 9.99931903e-01 -5.21850934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.96, Y:-70.49, Z:-5.22 [[ 9.87678422e-01 1.55925008e-01 1.33688798e-02 3.93955173e+02] [-1.55908960e-01 9.87768888e-01 -2.24073945e-03 -7.04917575e+01] [-1.35547508e-02 1.28801858e-04 9.99908122e-01 -5.21840437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.98, Y:-70.50, Z:-5.22 [[ 9.87590570e-01 1.56513213e-01 1.29799943e-02 3.93982914e+02] [-1.56498145e-01 9.87675858e-01 -2.17480486e-03 -7.04967929e+01] [-1.31604127e-02 1.16471733e-04 9.99913391e-01 -5.21894231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.01, Y:-70.50, Z:-5.22 [[ 9.87571884e-01 1.56700196e-01 1.21170074e-02 3.94011025e+02] [-1.56687088e-01 9.87646211e-01 -2.02953827e-03 -7.05018892e+01] [-1.22853455e-02 1.05736322e-04 9.99924527e-01 -5.21879726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.04, Y:-70.51, Z:-5.22 [[ 9.87660828e-01 1.56230791e-01 1.08640922e-02 3.94039263e+02] [-1.56220231e-01 9.87720573e-01 -1.81922800e-03 -7.05077072e+01] [-1.10149068e-02 9.95892483e-05 9.99939329e-01 -5.21920690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.01576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:394.07, Y:-70.51, Z:-5.22 [[ 9.87854850e-01 1.54982162e-01 1.11052124e-02 3.94066773e+02] [-1.54971054e-01 9.87917262e-01 -1.85906363e-03 -7.05131361e+01] [-1.12591527e-02 1.15498558e-04 9.99936607e-01 -5.21961279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.04576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:394.09, Y:-70.52, Z:-5.22 [[ 9.88118030e-01 1.53213305e-01 1.21836780e-02 3.94094726e+02] [-1.53199811e-01 9.88193130e-01 -2.03878122e-03 -7.05192526e+01] [-1.23521953e-02 1.48019313e-04 9.99923698e-01 -5.22027213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.07576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:394.12, Y:-70.53, Z:-5.22 [[ 9.88467019e-01 1.50809766e-01 1.37610962e-02 3.94123209e+02] [-1.50792328e-01 9.88562782e-01 -2.30203170e-03 -7.05288150e+01] [-1.39508764e-02 2.00414681e-04 9.99902662e-01 -5.22055491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.10576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:394.15, Y:-70.53, Z:-5.22 [[ 9.88523884e-01 1.50501544e-01 1.30313604e-02 3.94151459e+02] [-1.50485884e-01 9.88609755e-01 -2.17965815e-03 -7.05343263e+01] [-1.32109719e-02 1.93608354e-04 9.99912713e-01 -5.22108771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.13576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:394.18, Y:-70.54, Z:-5.22 [[ 9.88441696e-01 1.51152646e-01 1.16572062e-02 3.94179658e+02] [-1.51140163e-01 9.88510420e-01 -1.94956843e-03 -7.05397656e+01] [-1.18179522e-02 1.65162693e-04 9.99930152e-01 -5.22149077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.16576923100007 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:394.21, Y:-70.55, Z:-5.22 [[ 9.88350388e-01 1.51813554e-01 1.07775093e-02 3.94207652e+02] [-1.51802927e-01 9.88409138e-01 -1.80211905e-03 -7.05474153e+01] [-1.09261747e-02 1.45067611e-04 9.99940297e-01 -5.22270253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.19576923100004 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:394.24, Y:-70.55, Z:-5.22 [[ 9.88417340e-01 1.51343030e-01 1.12449416e-02 3.94236389e+02] [-1.51331438e-01 9.88481291e-01 -1.87967166e-03 -7.05549500e+01] [-1.13998896e-02 1.56186886e-04 9.99935007e-01 -5.22321441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2257692310001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:394.26, Y:-70.56, Z:-5.22 [[ 9.88554920e-01 1.50379079e-01 1.20541752e-02 3.94264805e+02] [-1.50365690e-01 9.88628394e-01 -2.01462403e-03 -7.05622834e+01] [-1.22200571e-02 1.79032129e-04 9.99925316e-01 -5.22351819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.25576923100004 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:394.29, Y:-70.57, Z:-5.22 [[ 9.88674417e-01 1.49536358e-01 1.27190378e-02 3.94293582e+02] [-1.49521386e-01 9.88756207e-01 -2.12540737e-03 -7.05696807e+01] [-1.28938532e-02 1.99567734e-04 9.99916851e-01 -5.22391914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2857692310001 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:394.32, Y:-70.58, Z:-5.22 [[ 9.88856053e-01 1.48179175e-01 1.43749175e-02 3.94321124e+02] [-1.48159910e-01 9.88960501e-01 -2.40191206e-03 -7.05808080e+01] [-1.45721390e-02 2.45358789e-04 9.99893791e-01 -5.22427654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.31576923100005 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:394.35, Y:-70.59, Z:-5.22 [[ 9.88910181e-01 1.47843256e-01 1.41076398e-02 3.94351059e+02] [-1.47824669e-01 9.89010774e-01 -2.35710541e-03 -7.05892601e+01] [-1.43010899e-02 2.45508355e-04 9.99897704e-01 -5.22445898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3457692310001 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:394.38, Y:-70.60, Z:-5.22 [[ 9.88936316e-01 1.47820550e-01 1.24116257e-02 3.94380666e+02] [-1.47806161e-01 9.89014175e-01 -2.07373526e-03 -7.05972194e+01] [-1.25818144e-02 2.16277361e-04 9.99920822e-01 -5.22498669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.37576923100005 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:394.41, Y:-70.61, Z:-5.23 [[ 9.88731075e-01 1.49342099e-01 1.03826209e-02 3.94410291e+02] [-1.49332114e-01 9.88785574e-01 -1.73472900e-03 -7.06067035e+01] [-1.05252538e-02 1.64721742e-04 9.99944594e-01 -5.22635635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4057692310001 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:394.44, Y:-70.61, Z:-5.23 [[ 9.88476121e-01 1.51029785e-01 1.02451446e-02 3.94438737e+02] [-1.51020154e-01 9.88529202e-01 -1.71178723e-03 -7.06137130e+01] [-1.03861555e-02 1.44837487e-04 9.99946052e-01 -5.22679674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.43576923100005 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:394.47, Y:-70.62, Z:-5.23 [[ 9.88164531e-01 1.53034315e-01 1.05526656e-02 3.94468311e+02] [-1.53024212e-01 9.88220867e-01 -1.76301143e-03 -7.06206815e+01] [-1.06981656e-02 1.27332027e-04 9.99942765e-01 -5.22743257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4657692310001 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:394.50, Y:-70.63, Z:-5.23 [[ 9.87394646e-01 1.57842477e-01 1.17288041e-02 3.94498271e+02] [-1.57830335e-01 9.87464301e-01 -1.95950640e-03 -7.06292103e+01] [-1.18910687e-02 8.36450412e-05 9.99929295e-01 -5.22713909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.49576923100005 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:394.53, Y:-70.64, Z:-5.23 [[ 9.86968083e-01 1.60445975e-01 1.22919588e-02 3.94526686e+02] [-1.60432841e-01 9.87044622e-01 -2.05359425e-03 -7.06353935e+01] [-1.24622028e-02 5.47981040e-05 9.99922342e-01 -5.22740954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5257692310001 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:394.56, Y:-70.64, Z:-5.23 [[ 9.86674512e-01 1.62232212e-01 1.24143895e-02 3.94557016e+02] [-1.62218959e-01 9.86752608e-01 -2.07389575e-03 -7.06418996e+01] [-1.25863839e-02 3.24107500e-05 9.99920788e-01 -5.22803614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.55576923100006 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:394.59, Y:-70.65, Z:-5.23 [[ 9.86475702e-01 1.63432887e-01 1.24652114e-02 3.94586531e+02] [-1.63419621e-01 9.86554454e-01 -2.08238586e-03 -7.06482490e+01] [-1.26379402e-02 1.71629180e-05 9.99920138e-01 -5.22887164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5857692310001 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:394.62, Y:-70.65, Z:-5.23 [[ 9.86088860e-01 1.65821103e-01 1.14944578e-02 3.94616532e+02] [-1.65809985e-01 9.86155851e-01 -1.92021583e-03 -7.06548015e+01] [-1.16537391e-02 -1.23924332e-05 9.99932093e-01 -5.22923111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.61576923100006 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:394.65, Y:-70.66, Z:-5.23 [[ 9.85745530e-01 1.67847008e-01 1.15382896e-02 3.94646446e+02] [-1.67835944e-01 9.85813056e-01 -1.92753820e-03 -7.06596319e+01] [-1.16981281e-02 -3.64775693e-05 9.99931574e-01 -5.22996370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.64576923100003 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:394.68, Y:-70.66, Z:-5.23 [[ 9.85314781e-01 1.70372041e-01 1.13203327e-02 3.94675392e+02] [-1.70361557e-01 9.85379807e-01 -1.89114164e-03 -7.06634799e+01] [-1.14770249e-02 -6.51796964e-05 9.99934135e-01 -5.23014767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.67576923100006 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:394.70, Y:-70.67, Z:-5.23 [[ 9.84438352e-01 1.75386169e-01 1.09919618e-02 3.94704757e+02] [-1.75376598e-01 9.84499709e-01 -1.83617537e-03 -7.06661650e+01] [-1.11436230e-02 -1.20131416e-04 9.99937901e-01 -5.23031471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.70576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:394.73, Y:-70.67, Z:-5.23 [[ 9.84206532e-01 1.76669343e-01 1.12002655e-02 3.94733935e+02] [-1.76659492e-01 9.84270250e-01 -1.87070299e-03 -7.06702466e+01] [-1.13545840e-02 -1.37475108e-04 9.99935525e-01 -5.23153742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.73576923100006 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:394.76, Y:-70.67, Z:-5.23 [[ 9.84114367e-01 1.77185362e-01 1.11472030e-02 3.94762350e+02] [-1.77175641e-01 9.84177487e-01 -1.86158917e-03 -7.06747295e+01] [-1.13006726e-02 -1.42996185e-04 9.99936135e-01 -5.23261158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:394.79, Y:-70.68, Z:-5.23 [[ 9.84227038e-01 1.76607848e-01 1.03346728e-02 3.94791788e+02] [-1.76599464e-01 9.84281287e-01 -1.72553040e-03 -7.06780390e+01] [-1.04769672e-02 -1.26784000e-04 9.99945107e-01 -5.23316672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.79576923100007 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:394.82, Y:-70.68, Z:-5.23 [[ 9.84381311e-01 1.75799939e-01 9.37097977e-03 3.94820021e+02] [-1.75793011e-01 9.84425909e-01 -1.56446437e-03 -7.06811243e+01] [-9.50006802e-03 -1.07323260e-04 9.99954868e-01 -5.23381346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82576923100004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:394.85, Y:-70.68, Z:-5.23 [[ 9.84561239e-01 1.74801002e-01 9.15297993e-03 3.94849193e+02] [-1.74794351e-01 9.84603778e-01 -1.52778017e-03 -7.06841485e+01] [-9.27911612e-03 -9.56960568e-05 9.99956943e-01 -5.23421151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.85576923100007 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:394.88, Y:-70.69, Z:-5.23 [[ 9.84752482e-01 1.73705986e-01 9.42233523e-03 3.94876730e+02] [-1.73698892e-01 9.84797554e-01 -1.57231569e-03 -7.06871182e+01] [-9.55221334e-03 -8.83074199e-05 9.99954373e-01 -5.23444206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.88576923100004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:394.91, Y:-70.69, Z:-5.23 [[ 9.85051200e-01 1.71835349e-01 1.21139288e-02 3.94905827e+02] [-1.71823493e-01 9.85125680e-01 -2.02052894e-03 -7.06903138e+01] [-1.22809406e-02 -9.11331067e-05 9.99924582e-01 -5.23395128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.91576923100007 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:394.93, Y:-70.69, Z:-5.23 [[ 9.85193108e-01 1.70961510e-01 1.29112975e-02 3.94934196e+02] [-1.70947972e-01 9.85277704e-01 -2.15318767e-03 -7.06944408e+01] [-1.30893258e-02 -8.58544687e-05 9.99914327e-01 -5.23426909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.94576923100004 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:394.96, Y:-70.70, Z:-5.23 [[ 9.85330391e-01 1.70210055e-01 1.23514182e-02 3.94963560e+02] [-1.70197612e-01 9.85407800e-01 -2.05938820e-03 -7.06987843e+01] [-1.25217124e-02 -7.30041019e-05 9.99921598e-01 -5.23466321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.9757692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:394.99, Y:-70.70, Z:-5.24 [[ 9.85597572e-01 1.68778948e-01 1.05401042e-02 3.94992764e+02] [-1.68769807e-01 9.85653927e-01 -1.75715074e-03 -7.07024781e+01] [-1.06854651e-02 -4.70078481e-05 9.99942908e-01 -5.23693558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.00576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:395.02, Y:-70.71, Z:-5.24 [[ 9.85688454e-01 1.68264091e-01 1.02696891e-02 3.95021876e+02] [-1.68255387e-01 9.85741951e-01 -1.71197573e-03 -7.07074893e+01] [-1.04113274e-02 -4.04558034e-05 9.99945800e-01 -5.23759983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0357692310001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:395.05, Y:-70.71, Z:-5.24 [[ 9.85850363e-01 1.67302769e-01 1.04328792e-02 3.95050871e+02] [-1.67293735e-01 9.85905565e-01 -1.73891958e-03 -7.07127099e+01] [-1.05767597e-02 -3.10408218e-05 9.99944064e-01 -5.23700561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.06576923100005 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:395.08, Y:-70.72, Z:-5.24 [[ 9.86240454e-01 1.64847641e-01 1.24508024e-02 3.95078842e+02] [-1.64834583e-01 9.86319043e-01 -2.07489681e-03 -7.07173543e+01] [-1.26225053e-02 -5.97564852e-06 9.99920333e-01 -5.23671027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0957692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:395.11, Y:-70.72, Z:-5.24 [[ 9.86364823e-01 1.64054184e-01 1.30636926e-02 3.95108573e+02] [-1.64039743e-01 9.86451329e-01 -2.17669818e-03 -7.07216606e+01] [-1.32437934e-02 4.05374405e-06 9.99912297e-01 -5.23681641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.12576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:395.14, Y:-70.73, Z:-5.24 [[ 9.86488497e-01 1.63333034e-01 1.27579820e-02 3.95138529e+02] [-1.63319205e-01 9.86570991e-01 -2.12546262e-03 -7.07261479e+01] [-1.29338132e-02 1.31209599e-05 9.99916355e-01 -5.23769667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1557692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:395.17, Y:-70.73, Z:-5.24 [[ 9.86792701e-01 1.61609716e-01 1.10663415e-02 3.95167548e+02] [-1.61599203e-01 9.86854751e-01 -1.84365527e-03 -7.07320528e+01] [-1.12188243e-02 3.09936066e-05 9.99937067e-01 -5.23840809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.18576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:395.20, Y:-70.74, Z:-5.24 [[ 9.86870367e-01 1.61145467e-01 1.09094856e-02 3.95196550e+02] [-1.61135222e-01 9.86930665e-01 -1.81741206e-03 -7.07380546e+01] [-1.10597736e-02 3.56477182e-05 9.99938838e-01 -5.23813201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2157692310001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:395.23, Y:-70.74, Z:-5.24 [[ 9.86900698e-01 1.60944658e-01 1.11279003e-02 3.95225483e+02] [-1.60933989e-01 9.86963432e-01 -1.85350832e-03 -7.07438572e+01] [-1.12811429e-02 3.83712625e-05 9.99936365e-01 -5.23820839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.24576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:395.25, Y:-70.75, Z:-5.24 [[ 9.86859362e-01 1.61166768e-01 1.15703764e-02 3.95254949e+02] [-1.61155251e-01 9.86927187e-01 -1.92707603e-03 -7.07494578e+01] [-1.17296996e-02 3.71261111e-05 9.99931204e-01 -5.23839131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2757692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:395.28, Y:-70.76, Z:-5.24 [[ 9.86753456e-01 1.61838169e-01 1.12260216e-02 3.95283755e+02] [-1.61827374e-01 9.86817312e-01 -1.86944930e-03 -7.07557943e+01] [-1.13805807e-02 2.80079641e-05 9.99935239e-01 -5.23955075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.30576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:395.31, Y:-70.76, Z:-5.24 [[ 9.86669450e-01 1.62417588e-01 1.01942796e-02 3.95312945e+02] [-1.62408717e-01 9.86722112e-01 -1.69755542e-03 -7.07618416e+01] [-1.03346340e-02 1.92861944e-05 9.99946596e-01 -5.24058793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3357692310001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:395.34, Y:-70.77, Z:-5.24 [[ 9.86458108e-01 1.63745271e-01 9.37479180e-03 3.95341739e+02] [-1.63737831e-01 9.86502654e-01 -1.56090165e-03 -7.07675765e+01] [-9.50384725e-03 4.75601872e-06 9.99954837e-01 -5.24080609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.36576923100006 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:395.37, Y:-70.77, Z:-5.24 [[ 9.85862054e-01 1.67341437e-01 8.53549186e-03 3.95369767e+02] [-1.67335406e-01 9.85899002e-01 -1.42102412e-03 -7.07716641e+01] [-8.65292913e-03 -2.73562350e-05 9.99962562e-01 -5.24103545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.39576923100003 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:395.40, Y:-70.78, Z:-5.24 [[ 9.85455471e-01 1.69721019e-01 8.50240050e-03 3.95398241e+02] [-1.69715126e-01 9.85492148e-01 -1.41520167e-03 -7.07750476e+01] [-8.61923840e-03 -4.83677457e-05 9.99962853e-01 -5.24098319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.42576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:395.43, Y:-70.78, Z:-5.24 [[ 9.84400100e-01 1.75714679e-01 8.98858186e-03 3.95427044e+02] [-1.75708344e-01 9.84441131e-01 -1.49582172e-03 -7.07758960e+01] [-9.11156753e-03 -1.06881782e-04 9.99958483e-01 -5.24144261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.45576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:395.46, Y:-70.78, Z:-5.24 [[ 9.84406338e-01 1.75679727e-01 8.98865984e-03 3.95455990e+02] [-1.75673396e-01 9.84447369e-01 -1.49535294e-03 -7.07806256e+01] [-9.11156573e-03 -1.07033490e-04 9.99958483e-01 -5.24181500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.48576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:395.49, Y:-70.78, Z:-5.24 [[ 9.83913921e-01 1.78407951e-01 9.16515051e-03 3.95485384e+02] [-1.78401489e-01 9.83956597e-01 -1.52441124e-03 -7.07826758e+01] [-9.29007739e-03 -1.35187058e-04 9.99956837e-01 -5.24188937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.51576923100004 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:395.51, Y:-70.78, Z:-5.24 [[ 9.83449285e-01 1.80929541e-01 9.59196151e-03 3.95513445e+02] [-1.80922588e-01 9.83496046e-01 -1.59494122e-03 -7.07839027e+01] [-9.72222821e-03 -1.66858696e-04 9.99952724e-01 -5.24187337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.54576923100007 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:395.54, Y:-70.78, Z:-5.24 [[ 9.82473220e-01 1.86080553e-01 1.09726895e-02 3.95540920e+02] [-1.86071783e-01 9.82534460e-01 -1.82378474e-03 -7.07811707e+01] [-1.11204164e-02 -2.49888230e-04 9.99938135e-01 -5.24178006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.57576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:395.57, Y:-70.78, Z:-5.24 [[ 9.82063847e-01 1.88216960e-01 1.11792434e-02 3.95569297e+02] [-1.88208006e-01 9.82127434e-01 -1.85721062e-03 -7.07816994e+01] [-1.13290002e-02 -2.80123704e-04 9.99935786e-01 -5.24208478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.60576923100007 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:395.60, Y:-70.78, Z:-5.24 [[ 9.81664747e-01 1.90288894e-01 1.11562042e-02 3.95598248e+02] [-1.90280119e-01 9.81728091e-01 -1.85262061e-03 -7.07826484e+01] [-1.13048922e-02 -3.04151528e-04 9.99936051e-01 -5.24216345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.63576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:395.63, Y:-70.78, Z:-5.24 [[ 9.81548966e-01 1.90909550e-01 1.07317951e-02 3.95626343e+02] [-1.90901471e-01 9.81607587e-01 -1.78169027e-03 -7.07827760e+01] [-1.08745532e-02 -2.99899235e-04 9.99940825e-01 -5.24261480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.66576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:395.65, Y:-70.78, Z:-5.24 [[ 9.82033721e-01 1.88429886e-01 1.01955254e-02 3.95653810e+02] [-1.88422467e-01 9.82086611e-01 -1.69203720e-03 -7.07797741e+01] [-1.03317194e-02 -2.59428457e-04 9.99946593e-01 -5.24381024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.69576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:395.68, Y:-70.78, Z:-5.24 [[ 9.82399065e-01 1.86503864e-01 1.04108636e-02 3.95682351e+02] [-1.86496033e-01 9.82454197e-01 -1.72659556e-03 -7.07815187e+01] [-1.05502134e-02 -2.45378895e-04 9.99944315e-01 -5.24404397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7257692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:395.71, Y:-70.78, Z:-5.24 [[ 9.82694713e-01 1.84901839e-01 1.10639569e-02 3.95710769e+02] [-1.84892902e-01 9.82756964e-01 -1.83405049e-03 -7.07830072e+01] [-1.12123000e-02 -2.43335387e-04 9.99937111e-01 -5.24403360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.75576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:395.74, Y:-70.78, Z:-5.24 [[ 9.82921903e-01 1.83614254e-01 1.22612474e-02 3.95738830e+02] [-1.83603191e-01 9.82998342e-01 -2.03154703e-03 -7.07808730e+01] [-1.24258068e-02 -2.54352071e-04 9.99922764e-01 -5.24213734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7857692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:395.77, Y:-70.78, Z:-5.24 [[ 9.82857628e-01 1.83929123e-01 1.26870349e-02 3.95766860e+02] [-1.83917319e-01 9.82939472e-01 -2.10099999e-03 -7.07818916e+01] [-1.28570224e-02 -2.68381573e-04 9.99917309e-01 -5.24204740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.81576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:395.79, Y:-70.78, Z:-5.24 [[ 9.82872569e-01 1.83858171e-01 1.25573096e-02 3.95793903e+02] [-1.83846613e-01 9.82952747e-01 -2.07862906e-03 -7.07832070e+01] [-1.27254149e-02 -2.65591347e-04 9.99918993e-01 -5.24281788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8457692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:395.82, Y:-70.79, Z:-5.24 [[ 9.82936995e-01 1.83536498e-01 1.22154714e-02 3.95821856e+02] [-1.83525548e-01 9.83012863e-01 -2.02105662e-03 -7.07852525e+01] [-1.23789032e-02 -2.55279757e-04 9.99923346e-01 -5.24393275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.87576923100005 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:395.85, Y:-70.79, Z:-5.25 [[ 9.83159906e-01 1.82440054e-01 1.05936621e-02 3.95849121e+02] [-1.82431762e-01 9.83216956e-01 -1.75211801e-03 -7.07850347e+01] [-1.07355247e-02 -2.10008270e-04 9.99942351e-01 -5.24503836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9057692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:395.88, Y:-70.79, Z:-5.24 [[ 9.83326876e-01 1.81531517e-01 1.07034482e-02 3.95877047e+02] [-1.81523007e-01 9.83385106e-01 -1.76936340e-03 -7.07878097e+01] [-1.08468067e-02 -2.03059511e-04 9.99941151e-01 -5.24482047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.93576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:395.90, Y:-70.79, Z:-5.24 [[ 9.83519227e-01 1.80451834e-01 1.12723575e-02 3.95904281e+02] [-1.80442334e-01 9.83583802e-01 -1.86258612e-03 -7.07907295e+01] [-1.14234154e-02 -2.02121252e-04 9.99934730e-01 -5.24443629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9657692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:395.93, Y:-70.79, Z:-5.24 [[ 9.83690872e-01 1.79456069e-01 1.21568313e-02 3.95931618e+02] [-1.79444957e-01 9.83765966e-01 -2.00765908e-03 -7.07945353e+01] [-1.23197635e-02 -2.06566158e-04 9.99924087e-01 -5.24396612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.99576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:395.96, Y:-70.80, Z:-5.24 [[ 9.84396746e-01 1.75482015e-01 1.30041590e-02 3.95958883e+02] [-1.75468966e-01 9.84482623e-01 -2.14660602e-03 -7.07977797e+01] [-1.31790593e-02 -1.68714345e-04 9.99913138e-01 -5.24428473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0257692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:395.99, Y:-70.80, Z:-5.25 [[ 9.84910363e-01 1.72586253e-01 1.28670600e-02 3.95985269e+02] [-1.72573248e-01 9.84994400e-01 -2.12266030e-03 -7.08016197e+01] [-1.30403241e-02 -1.29880216e-04 9.99914963e-01 -5.24560226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.05576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:396.01, Y:-70.81, Z:-5.25 [[ 9.85937224e-01 1.66640517e-01 1.25987291e-02 3.96011988e+02] [-1.66627576e-01 9.86017716e-01 -2.07739945e-03 -7.08052331e+01] [-1.27687490e-02 -5.11102500e-05 9.99918475e-01 -5.24618880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0857692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:396.04, Y:-70.81, Z:-5.25 [[ 9.86376458e-01 1.63973967e-01 1.31917372e-02 3.96038335e+02] [-1.63959555e-01 9.86464666e-01 -2.17408143e-03 -7.08094972e+01] [-1.33696754e-02 -1.84486184e-05 9.99910622e-01 -5.24603415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.11576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:396.07, Y:-70.81, Z:-5.25 [[ 9.86800128e-01 1.61351214e-01 1.38308516e-02 3.96066111e+02] [-1.61335129e-01 9.86897049e-01 -2.27827708e-03 -7.08144155e+01] [-1.40172294e-02 1.68018805e-05 9.99901754e-01 -5.24604424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.14576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:396.09, Y:-70.82, Z:-5.25 [[ 9.87209910e-01 1.58802747e-01 1.40812565e-02 3.96094542e+02] [-1.58785829e-01 9.87310329e-01 -2.31853834e-03 -7.08196835e+01] [-1.42707603e-02 5.29800302e-05 9.99898166e-01 -5.24658001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.12, Y:-70.83, Z:-5.25 [[ 9.87820796e-01 1.55015160e-01 1.34304054e-02 3.96121290e+02] [-1.54999428e-01 9.87912086e-01 -2.21073340e-03 -7.08256971e+01] [-1.36107570e-02 1.02103273e-04 9.99907364e-01 -5.24702096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.15, Y:-70.83, Z:-5.25 [[ 9.88116462e-01 1.53188603e-01 1.26139025e-02 3.96149434e+02] [-1.53174586e-01 9.88196963e-01 -2.07561461e-03 -7.08310844e+01] [-1.27829807e-02 1.18819665e-04 9.99918287e-01 -5.24722170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:396.18, Y:-70.84, Z:-5.25 [[ 9.88393560e-01 1.51430762e-01 1.21200010e-02 3.96177641e+02] [-1.51417696e-01 9.88467858e-01 -1.99383042e-03 -7.08367728e+01] [-1.22821587e-02 1.35506519e-04 9.99924562e-01 -5.24729794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:396.21, Y:-70.84, Z:-5.25 [[ 9.88654730e-01 1.49729212e-01 1.19577320e-02 3.96205092e+02] [-1.49716376e-01 9.88727030e-01 -1.96656986e-03 -7.08429216e+01] [-1.21173858e-02 1.53990289e-04 9.99926570e-01 -5.24809923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.29576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:396.23, Y:-70.85, Z:-5.25 [[ 9.89045930e-01 1.47075566e-01 1.25270322e-02 3.96233159e+02] [-1.47061277e-01 9.89125240e-01 -2.05933718e-03 -7.08527179e+01] [-1.26936819e-02 1.94537703e-04 9.99919413e-01 -5.24871621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:396.26, Y:-70.86, Z:-5.25 [[ 9.89145047e-01 1.46373140e-01 1.29220391e-02 3.96260915e+02] [-1.46357883e-01 9.89229428e-01 -2.12363039e-03 -7.08601441e+01] [-1.30937038e-02 2.09336199e-04 9.99914252e-01 -5.24910582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.29, Y:-70.87, Z:-5.25 [[ 9.89199448e-01 1.46019459e-01 1.27581343e-02 3.96287473e+02] [-1.46004566e-01 9.89281696e-01 -2.09608581e-03 -7.08672108e+01] [-1.29274580e-02 2.10701073e-04 9.99916415e-01 -5.24958362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.31, Y:-70.87, Z:-5.25 [[ 9.89250953e-01 1.45788633e-01 1.13236863e-02 3.96314319e+02] [-1.45776892e-01 9.89315743e-01 -1.85981834e-03 -7.08742417e+01] [-1.14738415e-02 1.89095269e-04 9.99934155e-01 -5.25053748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.34, Y:-70.88, Z:-5.25 [[ 9.89207716e-01 1.46263547e-01 8.66430299e-03 3.96340996e+02] [-1.46256695e-01 9.89245650e-01 -1.42269568e-03 -7.08846188e+01] [-8.77921256e-03 1.40129224e-04 9.99961452e-01 -5.25205315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.44576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:396.37, Y:-70.89, Z:-5.25 [[ 9.89134763e-01 1.46756634e-01 8.65508487e-03 3.96367796e+02] [-1.46749820e-01 9.89172620e-01 -1.42069013e-03 -7.08924190e+01] [-8.76986868e-03 1.35121855e-04 9.99961535e-01 -5.25231056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.4757692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:396.40, Y:-70.90, Z:-5.25 [[ 9.88854262e-01 1.48571682e-01 9.68004080e-03 3.96395172e+02] [-1.48563252e-01 9.88901632e-01 -1.58817992e-03 -7.09027261e+01] [-9.80856671e-03 1.32380146e-04 9.99951886e-01 -5.25206493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:396.42, Y:-70.91, Z:-5.25 [[ 9.88734259e-01 1.49370781e-01 9.64032553e-03 3.96422997e+02] [-1.49362463e-01 9.88781247e-01 -1.58122018e-03 -7.09101066e+01] [-9.76836119e-03 1.23503800e-04 9.99952281e-01 -5.25245272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5357692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:396.45, Y:-70.92, Z:-5.25 [[ 9.88662566e-01 1.49851227e-01 9.53631534e-03 3.96450705e+02] [-1.49843114e-01 9.88708550e-01 -1.56366653e-03 -7.09174472e+01] [-9.66295386e-03 1.16987371e-04 9.99953306e-01 -5.25296560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.48, Y:-70.93, Z:-5.25 [[ 9.88475496e-01 1.51006525e-01 1.06406613e-02 3.96476617e+02] [-1.50996496e-01 9.88532759e-01 -1.74432404e-03 -7.09289028e+01] [-1.07820466e-02 1.17519001e-04 9.99941865e-01 -5.25340400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.51, Y:-70.94, Z:-5.25 [[ 9.88322209e-01 1.51928550e-01 1.17015433e-02 3.96505399e+02] [-1.51916493e-01 9.88391472e-01 -1.91761936e-03 -7.09371928e+01] [-1.18570468e-02 1.17568375e-04 9.99929696e-01 -5.25395752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.53, Y:-70.94, Z:-5.25 [[ 9.88111209e-01 1.53257429e-01 1.21819356e-02 3.96532764e+02] [-1.53244467e-01 9.88186293e-01 -1.99604147e-03 -7.09447608e+01] [-1.23439300e-02 1.05496717e-04 9.99923805e-01 -5.25366143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6557692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:396.56, Y:-70.95, Z:-5.25 [[ 9.87649065e-01 1.56201642e-01 1.22626060e-02 3.96561092e+02] [-1.56188739e-01 9.87725186e-01 -2.00881186e-03 -7.09543544e+01] [-1.24258645e-02 6.87201903e-05 9.99922794e-01 -5.25461605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.68576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:396.59, Y:-70.96, Z:-5.26 [[ 9.87478535e-01 1.57300396e-01 1.19468681e-02 3.96589956e+02] [-1.57288234e-01 9.87550800e-01 -1.95678864e-03 -7.09617969e+01] [-1.21059428e-02 5.31849979e-05 9.99926719e-01 -5.25510273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7157692310001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:396.62, Y:-70.97, Z:-5.26 [[ 9.87366008e-01 1.58014111e-01 1.18282351e-02 3.96618580e+02] [-1.58002238e-01 9.87436853e-01 -1.93752095e-03 -7.09694248e+01] [-1.19857909e-02 4.41547028e-05 9.99928167e-01 -5.25553087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.74576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:396.65, Y:-70.98, Z:-5.26 [[ 9.87204696e-01 1.59035485e-01 1.16018001e-02 3.96647987e+02] [-1.59024137e-01 9.87272867e-01 -1.90013599e-03 -7.09804394e+01] [-1.17563315e-02 3.08569279e-05 9.99930891e-01 -5.25567299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7757692310001 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:396.68, Y:-70.99, Z:-5.26 [[ 9.87111057e-01 1.59649562e-01 1.11255669e-02 3.96676986e+02] [-1.59639165e-01 9.87173752e-01 -1.82215551e-03 -7.09878562e+01] [-1.12737739e-02 2.25936428e-05 9.99936449e-01 -5.25563157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.80576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:396.71, Y:-71.00, Z:-5.26 [[ 9.86962059e-01 1.60628895e-01 1.02104058e-02 3.96706609e+02] [-1.60620192e-01 9.87014872e-01 -1.67213273e-03 -7.09957541e+01] [-1.03464152e-02 1.03342276e-05 9.99946474e-01 -5.25642303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8357692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:396.74, Y:-71.00, Z:-5.26 [[ 9.86777789e-01 1.61786293e-01 9.73608699e-03 3.96735283e+02] [-1.61778436e-01 9.86825818e-01 -1.59442212e-03 -7.10031901e+01] [-9.86577765e-03 -1.74859671e-06 9.99951332e-01 -5.25717390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.86576923100006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:396.76, Y:-71.01, Z:-5.26 [[ 9.86217349e-01 1.65140941e-01 1.01886944e-02 3.96764633e+02] [-1.65132514e-01 9.86269977e-01 -1.66869601e-03 -7.10123112e+01] [-1.03243734e-02 -3.67877633e-05 9.99946702e-01 -5.25696650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.89576923100003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:396.79, Y:-71.02, Z:-5.26 [[ 9.85922794e-01 1.66837044e-01 1.10293047e-02 3.96794770e+02] [-1.66827275e-01 9.85984481e-01 -1.80637048e-03 -7.10183457e+01] [-1.11760928e-02 -5.90470191e-05 9.99937544e-01 -5.25646460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.92576923100006 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:396.82, Y:-71.02, Z:-5.26 [[ 9.85638100e-01 1.68407760e-01 1.25044688e-02 3.96823721e+02] [-1.68395329e-01 9.85717413e-01 -2.04797194e-03 -7.10243862e+01] [-1.26707670e-02 -8.71349731e-05 9.99919719e-01 -5.25612385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.95576923100003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:396.85, Y:-71.03, Z:-5.26 [[ 9.85290253e-01 1.70206298e-01 1.52621422e-02 3.96854051e+02] [-1.70187997e-01 9.85408442e-01 -2.49951255e-03 -7.10319768e+01] [-1.54648766e-02 -1.34688066e-04 9.99880403e-01 -5.25625273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.98576923100006 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:396.88, Y:-71.04, Z:-5.26 [[ 9.85189010e-01 1.70778459e-01 1.54055939e-02 3.96884514e+02] [-1.70759871e-01 9.85309442e-01 -2.52377870e-03 -7.10387560e+01] [-1.56102842e-02 -1.44258181e-04 9.99878142e-01 -5.25788704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.01576923100004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:396.92, Y:-71.05, Z:-5.26 [[ 9.85144372e-01 1.71117190e-01 1.44732054e-02 3.96915281e+02] [-1.71100792e-01 9.85250673e-01 -2.37295981e-03 -7.10458711e+01] [-1.46657895e-02 -1.38668897e-04 9.99892442e-01 -5.25919354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.04576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:396.94, Y:-71.05, Z:-5.26 [[ 9.85067983e-01 1.71704653e-01 1.25928911e-02 3.96944501e+02] [-1.71692284e-01 9.85148464e-01 -2.06492325e-03 -7.10525028e+01] [-1.27604242e-02 -1.28012451e-04 9.99918574e-01 -5.26039163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.07576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:396.97, Y:-71.06, Z:-5.26 [[ 9.84767363e-01 1.73657723e-01 8.73138589e-03 3.96973920e+02] [-1.73651852e-01 9.84806064e-01 -1.43183102e-03 -7.10593484e+01] [-8.84737029e-03 -1.06200880e-04 9.99960856e-01 -5.26086290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.10576923100007 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:397.00, Y:-71.06, Z:-5.26 [[ 9.84600042e-01 1.74614220e-01 8.52245582e-03 3.97004782e+02] [-1.74608663e-01 9.84636919e-01 -1.39747163e-03 -7.10639977e+01] [-8.63554305e-03 -1.12143991e-04 9.99962707e-01 -5.26120787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.13576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:397.03, Y:-71.07, Z:-5.26 [[ 9.84396954e-01 1.75717325e-01 9.27676800e-03 3.97033761e+02] [-1.75710787e-01 9.84440655e-01 -1.52153197e-03 -7.10683225e+01] [-9.39978710e-03 -1.32236769e-04 9.99955812e-01 -5.26134777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.16576923100007 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:397.06, Y:-71.07, Z:-5.26 [[ 9.84245837e-01 1.76475683e-01 1.07919209e-02 3.97064254e+02] [-1.76466883e-01 9.84304987e-01 -1.76986317e-03 -7.10732688e+01] [-1.09348794e-02 -1.62436195e-04 9.99940199e-01 -5.26162544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.19576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:397.10, Y:-71.08, Z:-5.26 [[ 9.84085171e-01 1.77157936e-01 1.38362189e-02 3.97095275e+02] [-1.77143538e-01 9.84182411e-01 -2.26915626e-03 -7.10788188e+01] [-1.40193624e-02 -2.17953739e-04 9.99901700e-01 -5.26174665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2257692310001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:397.13, Y:-71.08, Z:-5.26 [[ 9.84028827e-01 1.77410957e-01 1.45814972e-02 3.97126111e+02] [-1.77394983e-01 9.84136829e-01 -2.39202213e-03 -7.10835328e+01] [-1.47745594e-02 -2.32865717e-04 9.99890823e-01 -5.26151770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.25576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:397.16, Y:-71.09, Z:-5.26 [[ 9.83982300e-01 1.77678343e-01 1.44650900e-02 3.97157431e+02] [-1.77662623e-01 9.84088590e-01 -2.37491234e-03 -7.10874175e+01] [-1.46569005e-02 -2.33034138e-04 9.99892555e-01 -5.26173861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2857692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:397.19, Y:-71.09, Z:-5.26 [[ 9.83788669e-01 1.78944440e-01 1.17788399e-02 3.97188143e+02] [-1.78934105e-01 9.83859159e-01 -1.93412039e-03 -7.10879764e+01] [-1.19348197e-02 -2.04870455e-04 9.99928757e-01 -5.26251915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.31576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:397.22, Y:-71.09, Z:-5.26 [[ 9.83786433e-01 1.79040780e-01 1.04236556e-02 3.97219128e+02] [-1.79032692e-01 9.83841637e-01 -1.71159511e-03 -7.10895392e+01] [-1.05616717e-02 -1.82331072e-04 9.99944207e-01 -5.26367035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3457692310001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:397.25, Y:-71.09, Z:-5.26 [[ 9.83784329e-01 1.79052342e-01 1.04236597e-02 3.97249715e+02] [-1.79044254e-01 9.83839532e-01 -1.71157037e-03 -7.10945676e+01] [-1.05616692e-02 -1.82480269e-04 9.99944207e-01 -5.26406395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.37576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:397.28, Y:-71.10, Z:-5.27 [[ 9.83885288e-01 1.78539703e-01 9.65994185e-03 3.97279090e+02] [-1.78532731e-01 9.83932695e-01 -1.58634212e-03 -7.10958941e+01] [-9.78795766e-03 -1.63837126e-04 9.99952083e-01 -5.26560995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4057692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:397.31, Y:-71.10, Z:-5.27 [[ 9.84303828e-01 1.76206005e-01 9.87000748e-03 3.97309548e+02] [-1.76198610e-01 9.84353302e-01 -1.62074859e-03 -7.10954354e+01] [-1.00011601e-02 -1.43772552e-04 9.99949977e-01 -5.26621311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.43576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:397.34, Y:-71.10, Z:-5.27 [[ 9.84579312e-01 1.74611351e-01 1.06983119e-02 3.97339529e+02] [-1.74602572e-01 9.84637424e-01 -1.75648293e-03 -7.10978845e+01] [-1.08406601e-02 -1.38556003e-04 9.99941229e-01 -5.26599376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4657692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:397.37, Y:-71.10, Z:-5.27 [[ 9.85345663e-01 1.70145297e-01 1.20209020e-02 3.97370677e+02] [-1.70133884e-01 9.85418981e-01 -1.97329429e-03 -7.10978122e+01] [-1.21813717e-02 -1.00785772e-04 9.99925799e-01 -5.26595836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.49576923100005 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:397.40, Y:-71.10, Z:-5.27 [[ 9.85899731e-01 1.66913081e-01 1.19056311e-02 3.97400132e+02] [-1.66901650e-01 9.85971612e-01 -1.95437951e-03 -7.11002455e+01] [-1.20648258e-02 -6.02472485e-05 9.99927216e-01 -5.26691209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5257692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:397.43, Y:-71.10, Z:-5.27 [[ 9.86529317e-01 1.63193869e-01 1.12990283e-02 3.97430791e+02] [-1.63183330e-01 9.86594020e-01 -1.85465839e-03 -7.11038282e+01] [-1.14502227e-02 -1.41381926e-05 9.99934444e-01 -5.26748083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.55576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:397.46, Y:-71.11, Z:-5.27 [[ 9.87810895e-01 1.55263966e-01 1.10786808e-02 3.97460577e+02] [-1.55253335e-01 9.87873016e-01 -1.81847199e-03 -7.11090367e+01] [-1.12266730e-02 7.63042958e-05 9.99936976e-01 -5.26882169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5857692310001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:397.49, Y:-71.12, Z:-5.27 [[ 9.88398337e-01 1.51473537e-01 1.11577443e-02 3.97490130e+02] [-1.51462510e-01 9.88461306e-01 -1.83160499e-03 -7.11157207e+01] [-1.13064382e-02 1.20375371e-04 9.99936073e-01 -5.26951258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.61576923100006 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:397.52, Y:-71.12, Z:-5.27 [[ 9.88938524e-01 1.47903411e-01 1.11882682e-02 3.97520146e+02] [-1.47892096e-01 9.89001797e-01 -1.83660001e-03 -7.11231774e+01] [-1.13368567e-02 1.61628072e-04 9.99935723e-01 -5.27004898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.64576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:397.55, Y:-71.13, Z:-5.27 [[ 9.89422354e-01 1.44630947e-01 1.11935325e-02 3.97550788e+02] [-1.44619411e-01 9.89485649e-01 -1.83757802e-03 -7.11316123e+01] [-1.13416104e-02 1.99338706e-04 9.99935662e-01 -5.27072946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.67576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:397.58, Y:-71.14, Z:-5.27 [[ 9.90104608e-01 1.39842691e-01 1.16998326e-02 3.97581656e+02] [-1.39829751e-01 9.90173697e-01 -1.92084949e-03 -7.11446578e+01] [-1.18534833e-02 2.65857247e-04 9.99929710e-01 -5.27070771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.70576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:397.61, Y:-71.15, Z:-5.27 [[ 9.90202618e-01 1.39109834e-01 1.21337777e-02 3.97613784e+02] [-1.39095831e-01 9.90276917e-01 -1.99456258e-03 -7.11541763e+01] [-1.22932633e-02 2.87263189e-04 9.99924394e-01 -5.27033305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.73576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:397.65, Y:-71.16, Z:-5.27 [[ 9.90141486e-01 1.39506233e-01 1.25637566e-02 3.97645378e+02] [-1.39491219e-01 9.90221149e-01 -2.06778721e-03 -7.11629104e+01] [-1.27293667e-02 2.94868182e-04 9.99918935e-01 -5.27026424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76576923100004 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:397.68, Y:-71.17, Z:-5.27 [[ 9.89928989e-01 1.40937859e-01 1.33085269e-02 3.97676816e+02] [-1.40921104e-01 9.90018400e-01 -2.19313292e-03 -7.11720398e+01] [-1.34847820e-02 2.95593542e-04 9.99909033e-01 -5.27027967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.79576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:397.71, Y:-71.19, Z:-5.27 [[ 9.89298059e-01 1.45277850e-01 1.35534583e-02 3.97707390e+02] [-1.45260845e-01 9.89390867e-01 -2.23603410e-03 -7.11859697e+01] [-1.37345141e-02 2.43317381e-04 9.99905648e-01 -5.26989691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:397.74, Y:-71.20, Z:-5.27 [[ 9.88853484e-01 1.48345493e-01 1.27437036e-02 3.97738989e+02] [-1.48330685e-01 9.88935578e-01 -2.10470595e-03 -7.11959144e+01] [-1.29149255e-02 1.90963536e-04 9.99916581e-01 -5.27033602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.85576923100007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:397.77, Y:-71.21, Z:-5.27 [[ 9.88379764e-01 1.51580118e-01 1.13538332e-02 3.97771210e+02] [-1.51568554e-01 9.88444966e-01 -1.87709777e-03 -7.12051380e+01] [-1.15071700e-02 1.34401361e-04 9.99933781e-01 -5.27135777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.88576923100004 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:397.80, Y:-71.22, Z:-5.27 [[ 9.87609070e-01 1.56639935e-01 9.60500880e-03 3.97801342e+02] [-1.56631883e-01 9.87655773e-01 -1.58953442e-03 -7.12174185e+01] [-9.73542696e-03 6.53879968e-05 9.99952607e-01 -5.27302942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.91576923100007 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:397.83, Y:-71.23, Z:-5.27 [[ 9.87368582e-01 1.58155240e-01 9.49750142e-03 3.97833681e+02] [-1.58147421e-01 9.87414258e-01 -1.57344543e-03 -7.12263320e+01] [-9.62681696e-03 5.15652318e-05 9.99953660e-01 -5.27381620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.94576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:397.86, Y:-71.24, Z:-5.27 [[ 9.87163137e-01 1.59446907e-01 9.25340731e-03 3.97864828e+02] [-1.59439523e-01 9.87206504e-01 -1.53501333e-03 -7.12351529e+01] [-9.37977702e-03 3.99497325e-05 9.99956008e-01 -5.27417525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.9757692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:397.90, Y:-71.25, Z:-5.27 [[ 9.86818488e-01 1.61647534e-01 7.70368785e-03 3.97895921e+02] [-1.61642481e-01 9.86848557e-01 -1.27825106e-03 -7.12466095e+01] [-7.80899937e-03 1.61585577e-05 9.99969509e-01 -5.27450711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.00576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:397.93, Y:-71.25, Z:-5.28 [[ 9.86594521e-01 1.63030174e-01 7.23976486e-03 3.97926915e+02] [-1.63025738e-01 9.86621083e-01 -1.20264648e-03 -7.12545215e+01] [-7.33897231e-03 6.25641432e-06 9.99973069e-01 -5.27513824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0357692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:397.96, Y:-71.26, Z:-5.28 [[ 9.86237017e-01 1.65177081e-01 7.28545602e-03 3.97959311e+02] [-1.65172638e-01 9.86263926e-01 -1.21159272e-03 -7.12622353e+01] [-7.38550980e-03 -8.44039598e-06 9.99972727e-01 -5.27518209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.06576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:397.99, Y:-71.27, Z:-5.28 [[ 9.85309166e-01 1.70572605e-01 8.41624034e-03 3.97990804e+02] [-1.70566853e-01 9.85345109e-01 -1.40191043e-03 -7.12694539e+01] [-8.53202877e-03 -5.42164309e-05 9.99963600e-01 -5.27530480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:398.02, Y:-71.28, Z:-5.28 [[ 9.84732574e-01 1.73859444e-01 8.64008435e-03 3.98023704e+02] [-1.73853501e-01 9.84770474e-01 -1.43997518e-03 -7.12750899e+01] [-8.75885325e-03 -8.41184488e-05 9.99961637e-01 -5.27605665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.12576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:398.06, Y:-71.28, Z:-5.28 [[ 9.84135151e-01 1.77215358e-01 8.52771186e-03 3.98055081e+02] [-1.77209680e-01 9.84172091e-01 -1.42289792e-03 -7.12795875e+01] [-8.64489538e-03 -1.10869238e-04 9.99962626e-01 -5.27655274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1557692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:398.09, Y:-71.28, Z:-5.28 [[ 9.83043212e-01 1.83148904e-01 9.08417667e-03 3.98087819e+02] [-1.83142699e-01 9.83085169e-01 -1.51747610e-03 -7.12814801e+01] [-9.20844345e-03 -1.71956051e-04 9.99957587e-01 -5.27612017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.18576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:398.12, Y:-71.28, Z:-5.28 [[ 9.82642229e-01 1.85244155e-01 9.94252000e-03 3.98121151e+02] [-1.85236807e-01 9.82692505e-01 -1.66297194e-03 -7.12848174e+01] [-1.00784957e-02 -2.07614207e-04 9.99949189e-01 -5.27590263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.15, Y:-71.29, Z:-5.28 [[ 9.82364277e-01 1.86652088e-01 1.10193222e-02 3.98152977e+02] [-1.86643123e-01 9.82426047e-01 -1.84550484e-03 -7.12878373e+01] [-1.11701365e-02 -2.43722688e-04 9.99937582e-01 -5.27602594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.24576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:398.19, Y:-71.29, Z:-5.28 [[ 9.82210758e-01 1.87435901e-01 1.13934312e-02 3.98185993e+02] [-1.87426346e-01 9.82276802e-01 -1.91028781e-03 -7.12896737e+01] [-1.15495596e-02 -2.59123931e-04 9.99933268e-01 -5.27589866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2757692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:398.22, Y:-71.29, Z:-5.28 [[ 9.82278913e-01 1.87123720e-01 1.06231139e-02 3.98217895e+02] [-1.87115374e-01 9.82336326e-01 -1.78304794e-03 -7.12939301e+01] [-1.07691212e-02 -2.36297535e-04 9.99941983e-01 -5.27677880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.25, Y:-71.30, Z:-5.28 [[ 9.82364035e-01 1.86745003e-01 9.33845440e-03 3.98250459e+02] [-1.86722190e-01 9.82407329e-01 -3.26564920e-03 -7.12977597e+01] [-9.78400971e-03 1.46435967e-03 9.99951063e-01 -5.27758694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:398.28, Y:-71.30, Z:-5.28 [[ 9.82414853e-01 1.86426749e-01 1.03016554e-02 3.98283416e+02] [-1.86435839e-01 9.82467135e-01 -7.92791789e-05 -7.13034835e+01] [-1.01358176e-02 -1.84271271e-03 9.99946933e-01 -5.27803411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.31, Y:-71.30, Z:-5.28 [[ 9.82269648e-01 1.87137810e-01 1.12150874e-02 3.98314656e+02] [-1.87128433e-01 9.82333640e-01 -1.88906368e-03 -7.13047060e+01] [-1.13704729e-02 -2.43091811e-04 9.99935325e-01 -5.27834034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.35, Y:-71.31, Z:-5.28 [[ 9.82066395e-01 1.88209304e-01 1.10839769e-02 3.98346229e+02] [-1.88200193e-01 9.82128910e-01 -1.86871310e-03 -7.13084893e+01] [-1.12376034e-02 -2.50806268e-04 9.99936825e-01 -5.27911830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.38, Y:-71.31, Z:-5.28 [[ 9.81896672e-01 1.89132349e-01 1.03865725e-02 3.98377364e+02] [-1.89124384e-01 9.81951575e-01 -1.75276486e-03 -7.13126651e+01] [-1.05306157e-02 -2.43320139e-04 9.99944522e-01 -5.27936749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.41, Y:-71.32, Z:-5.28 [[ 9.81880493e-01 1.89245742e-01 9.83601338e-03 3.98408187e+02] [-1.89238587e-01 9.81929731e-01 -1.66161316e-03 -7.13169759e+01] [-9.97272719e-03 -2.29847724e-04 9.99950245e-01 -5.27993700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.44, Y:-71.32, Z:-5.28 [[ 9.82289661e-01 1.87159358e-01 8.85419178e-03 3.98439313e+02] [-1.87153478e-01 9.82329547e-01 -1.49546192e-03 -7.13217096e+01] [-8.97762390e-03 -1.88116008e-04 9.99959683e-01 -5.28087791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.51576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:398.47, Y:-71.33, Z:-5.28 [[ 9.82689923e-01 1.85060732e-01 8.54642142e-03 3.98469664e+02] [-1.85055159e-01 9.82727073e-01 -1.44524739e-03 -7.13278671e+01] [-8.66625825e-03 -1.61329326e-04 9.99962434e-01 -5.28262482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.54576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:398.50, Y:-71.34, Z:-5.28 [[ 9.83890517e-01 1.78538160e-01 9.14198982e-03 3.98500343e+02] [-1.78531504e-01 9.83932982e-01 -1.54568762e-03 -7.13377933e+01] [-9.27106953e-03 -1.11345794e-04 9.99957017e-01 -5.28377790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.53, Y:-71.35, Z:-5.28 [[ 9.84626825e-01 1.74397981e-01 9.76520084e-03 3.98531469e+02] [-1.74390164e-01 9.84675245e-01 -1.65294157e-03 -7.13456930e+01] [-9.90382120e-03 -7.54243558e-05 9.99950953e-01 -5.28316725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.60576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:398.56, Y:-71.35, Z:-5.28 [[ 9.85282219e-01 1.70630715e-01 1.02032915e-02 3.98563588e+02] [-1.70621959e-01 9.85335048e-01 -1.72897394e-03 -7.13540692e+01] [-1.03486768e-02 -3.73783073e-05 9.99946450e-01 -5.28287366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:398.59, Y:-71.37, Z:-5.28 [[ 9.86226980e-01 1.65171796e-01 8.63843644e-03 3.98594816e+02] [-1.65165300e-01 9.86264811e-01 -1.46505238e-03 -7.13656363e+01] [-8.76177122e-03 1.81042376e-05 9.99961615e-01 -5.28249274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.63, Y:-71.37, Z:-5.28 [[ 9.86463591e-01 1.63823547e-01 7.17144989e-03 3.98626661e+02] [-1.63819027e-01 9.86489658e-01 -1.21719856e-03 -7.13744243e+01] [-7.27396694e-03 2.59021159e-05 9.99973544e-01 -5.28325102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.66, Y:-71.38, Z:-5.28 [[ 9.86487169e-01 1.63732987e-01 5.87994679e-03 3.98657541e+02] [-1.63729940e-01 9.86504693e-01 -9.99186238e-04 -7.13836966e+01] [-5.96419485e-03 2.29610696e-05 9.99982214e-01 -5.28391242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.69, Y:-71.39, Z:-5.28 [[ 9.86229916e-01 1.65259003e-01 6.32576769e-03 3.98689284e+02] [-1.65255504e-01 9.86250202e-01 -1.07542703e-03 -7.13910128e+01] [-6.41651366e-03 1.52503804e-05 9.99979414e-01 -5.28386038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.72, Y:-71.40, Z:-5.28 [[ 9.85890455e-01 1.67231754e-01 7.31781943e-03 3.98721711e+02] [-1.67227114e-01 9.85917613e-01 -1.24582934e-03 -7.13988314e+01] [-7.42310929e-03 4.51343123e-06 9.99972448e-01 -5.28319003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.75, Y:-71.41, Z:-5.28 [[ 9.85496274e-01 1.69492561e-01 8.32864213e-03 3.98752467e+02] [-1.69486612e-01 9.85531467e-01 -1.42011430e-03 -7.14068922e+01] [-8.44883771e-03 -1.20759879e-05 9.99964308e-01 -5.28295870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.78, Y:-71.42, Z:-5.28 [[ 9.84837633e-01 1.73243539e-01 9.02847187e-03 3.98783953e+02] [-1.73236698e-01 9.84879015e-01 -1.54034859e-03 -7.14161472e+01] [-9.15880793e-03 -4.70693953e-05 9.99958056e-01 -5.28375400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.81, Y:-71.42, Z:-5.28 [[ 9.84473678e-01 1.75287785e-01 9.26121120e-03 3.98814951e+02] [-1.75280657e-01 9.84517236e-01 -1.58218237e-03 -7.14227875e+01] [-9.39515930e-03 -6.56942815e-05 9.99955862e-01 -5.28402786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.85, Y:-71.43, Z:-5.28 [[ 9.84115268e-01 1.77278221e-01 9.46422611e-03 3.98847566e+02] [-1.77270859e-01 9.84160772e-01 -1.61786642e-03 -7.14300130e+01] [-9.60113255e-03 -8.55644428e-05 9.99953904e-01 -5.28492205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.88, Y:-71.44, Z:-5.28 [[ 9.83758013e-01 1.79254094e-01 9.38838477e-03 3.98880127e+02] [-1.79246924e-01 9.83802805e-01 -1.60658951e-03 -7.14380503e+01] [-9.52430702e-03 -1.02343789e-04 9.99954638e-01 -5.28479038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.91, Y:-71.45, Z:-5.28 [[ 9.83063630e-01 1.83055110e-01 8.75933680e-03 3.98911068e+02] [-1.83049004e-01 9.83102645e-01 -1.50057316e-03 -7.14471667e+01] [-8.88601476e-03 -1.28228979e-04 9.99960510e-01 -5.28480547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.94, Y:-71.45, Z:-5.29 [[ 9.82728787e-01 1.84829656e-01 9.06248889e-03 3.98943557e+02] [-1.84823180e-01 9.82770561e-01 -1.55423663e-03 -7.14537202e+01] [-9.19361632e-03 -1.47564938e-04 9.99957727e-01 -5.28543066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.98, Y:-71.46, Z:-5.29 [[ 9.82436670e-01 1.86374023e-01 9.10561078e-03 3.98975217e+02] [-1.86367535e-01 9.82478853e-01 -1.56344520e-03 -7.14597191e+01] [-9.23745562e-03 -1.61004337e-04 9.99957321e-01 -5.28554513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.01, Y:-71.47, Z:-5.29 [[ 9.81914465e-01 1.89150191e-01 8.13564167e-03 3.99007517e+02] [-1.89145097e-01 9.81948154e-01 -1.39807333e-03 -7.14653651e+01] [-8.25322416e-03 -1.66028300e-04 9.99965928e-01 -5.28552936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.04, Y:-71.47, Z:-5.29 [[ 9.81647704e-01 1.90550015e-01 7.64707350e-03 3.99039499e+02] [-1.90545543e-01 9.81677475e-01 -1.31579731e-03 -7.14706420e+01] [-7.75768500e-03 -1.65466371e-04 9.99969895e-01 -5.28614332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.07, Y:-71.48, Z:-5.29 [[ 9.81414020e-01 1.91748484e-01 7.68379035e-03 3.99072192e+02] [-1.91744002e-01 9.81444083e-01 -1.32269368e-03 -7.14756497e+01] [-7.79483508e-03 -1.75210595e-04 9.99969604e-01 -5.28623793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.10, Y:-71.48, Z:-5.29 [[ 9.80967000e-01 1.93959420e-01 9.13717304e-03 3.99104203e+02] [-1.93953157e-01 9.81009527e-01 -1.57514532e-03 -7.14783855e+01] [-9.26916807e-03 -2.27017973e-04 9.99957015e-01 -5.28637457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.14, Y:-71.48, Z:-5.29 [[ 9.80663143e-01 1.95461589e-01 9.72458101e-03 3.99136463e+02] [-1.95454550e-01 9.80711325e-01 -1.67827514e-03 -7.14825909e+01] [-9.86504505e-03 -2.54891026e-04 9.99951307e-01 -5.28635400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.17, Y:-71.49, Z:-5.29 [[ 9.80327028e-01 1.97155850e-01 9.40689244e-03 3.99168755e+02] [-1.97149325e-01 9.80372125e-01 -1.62516202e-03 -7.14868425e+01] [-9.54266532e-03 -2.61372237e-04 9.99954434e-01 -5.28692437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.20, Y:-71.49, Z:-5.29 [[ 9.79655487e-01 2.00594490e-01 6.08083920e-03 3.99201603e+02] [-2.00591828e-01 9.79674341e-01 -1.05083125e-03 -7.14887083e+01] [-6.16803309e-03 -1.90314050e-04 9.99980959e-01 -5.28899750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.23, Y:-71.49, Z:-5.29 [[ 9.79234801e-01 2.02673015e-01 4.78047348e-03 3.99232998e+02] [-2.02671392e-01 9.79246457e-01 -8.26626419e-04 -7.14919406e+01] [-4.84879659e-03 -1.59403857e-04 9.99988232e-01 -5.29005034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.26, Y:-71.50, Z:-5.29 [[ 9.79226541e-01 2.02712931e-01 4.78014880e-03 3.99264350e+02] [-2.02711299e-01 9.79238195e-01 -8.28499046e-04 -7.14974309e+01] [-4.84885175e-03 -1.57701918e-04 9.99988232e-01 -5.29045313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.30, Y:-71.50, Z:-5.29 [[ 9.78432362e-01 2.06497862e-01 5.36157500e-03 3.99296805e+02] [-2.06495869e-01 9.78447032e-01 -9.28665648e-04 -7.14990908e+01] [-5.43778462e-03 -1.98506568e-04 9.99985195e-01 -5.29043558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.33, Y:-71.50, Z:-5.29 [[ 9.78029478e-01 2.08367049e-01 6.44311471e-03 3.99326591e+02] [-2.08364196e-01 9.78050669e-01 -1.11844146e-03 -7.15024523e+01] [-6.53473900e-03 -2.48645698e-04 9.99978617e-01 -5.28993719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.36, Y:-71.51, Z:-5.29 [[ 9.77740756e-01 2.09673252e-01 7.75505578e-03 3.99356606e+02] [-2.09669158e-01 9.77771462e-01 -1.34630286e-03 -7.15056211e+01] [-7.86495592e-03 -3.09660846e-04 9.99969023e-01 -5.29004379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.39, Y:-71.51, Z:-5.29 [[ 9.77543767e-01 2.10516583e-01 9.53690915e-03 3.99387829e+02] [-2.10510431e-01 9.77590209e-01 -1.65574558e-03 -7.15089213e+01] [-9.67175091e-03 -3.89055083e-04 9.99953152e-01 -5.29013342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.42, Y:-71.51, Z:-5.29 [[ 9.77523825e-01 2.10528640e-01 1.11742294e-02 3.99418404e+02] [-2.10520191e-01 9.77587584e-01 -1.94033726e-03 -7.15098653e+01] [-1.13322844e-02 -4.55675005e-04 9.99935684e-01 -5.28957930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.45, Y:-71.51, Z:-5.29 [[ 9.77528577e-01 2.10515811e-01 1.09988172e-02 3.99448645e+02] [-2.10507623e-01 9.77590350e-01 -1.91000561e-03 -7.15128755e+01] [-1.11544240e-02 -4.48249807e-04 9.99937687e-01 -5.28960240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.48, Y:-71.52, Z:-5.29 [[ 9.77561949e-01 2.10368076e-01 1.08585640e-02 3.99478818e+02] [-2.10360086e-01 9.77622155e-01 -1.88570704e-03 -7.15159079e+01] [-1.10122653e-02 -4.40813009e-04 9.99939266e-01 -5.29036864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.51, Y:-71.52, Z:-5.29 [[ 9.77650344e-01 2.09951032e-01 1.09712895e-02 3.99508997e+02] [-2.09942842e-01 9.77711803e-01 -1.90596284e-03 -7.15193236e+01] [-1.11269181e-02 -4.39978461e-04 9.99937997e-01 -5.29088728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.54, Y:-71.52, Z:-5.29 [[ 9.77699696e-01 2.09687886e-01 1.15885431e-02 3.99538484e+02] [-2.09678729e-01 9.77768264e-01 -2.01318257e-03 -7.15194524e+01] [-1.17530497e-02 -4.61583001e-04 9.99930824e-01 -5.29125331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.57, Y:-71.52, Z:-5.29 [[ 9.77572195e-01 2.10302574e-01 1.11995761e-02 3.99567393e+02] [-2.10294060e-01 9.77636242e-01 -1.94581004e-03 -7.15217459e+01] [-1.13583204e-02 -4.53034539e-04 9.99935390e-01 -5.29186591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.60, Y:-71.52, Z:-5.29 [[ 9.77531210e-01 2.10518977e-01 1.07001842e-02 3.99596657e+02] [-2.10511222e-01 9.77589674e-01 -1.85867620e-03 -7.15240827e+01] [-1.08516762e-02 -4.35594859e-04 9.99941024e-01 -5.29273323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.63, Y:-71.52, Z:-5.29 [[ 9.77652146e-01 2.09969887e-01 1.04368813e-02 3.99626353e+02] [-2.09962480e-01 9.77707764e-01 -1.81270776e-03 -7.15239508e+01] [-1.05848339e-02 -4.19155853e-04 9.99943891e-01 -5.29334726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.65, Y:-71.53, Z:-5.29 [[ 9.77862061e-01 2.08987230e-01 1.04941079e-02 3.99654681e+02] [-2.08979688e-01 9.77918283e-01 -1.82247364e-03 -7.15253751e+01] [-1.06432537e-02 -4.10927565e-04 9.99943275e-01 -5.29377974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.68, Y:-71.52, Z:-5.29 [[ 9.78257825e-01 2.07087432e-01 1.12437899e-02 3.99683913e+02] [-2.07078656e-01 9.78322350e-01 -1.95196740e-03 -7.15226960e+01] [-1.14042788e-02 -4.18821515e-04 9.99934881e-01 -5.29457142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.71, Y:-71.52, Z:-5.29 [[ 9.78455935e-01 2.06114778e-01 1.18609221e-02 3.99713412e+02] [-2.06104948e-01 9.78527727e-01 -2.05853918e-03 -7.15240305e+01] [-1.20305365e-02 -4.30404858e-04 9.99927538e-01 -5.29479879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.74, Y:-71.53, Z:-5.29 [[ 9.78658606e-01 2.05164214e-01 1.16180096e-02 3.99741393e+02] [-2.05154721e-01 9.78727478e-01 -2.01584263e-03 -7.15257887e+01] [-1.17844440e-02 -4.10667790e-04 9.99930477e-01 -5.29482451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.77, Y:-71.52, Z:-5.30 [[ 9.79350466e-01 2.01939338e-01 9.65240702e-03 3.99770066e+02] [-2.01932634e-01 9.79397982e-01 -1.67432683e-03 -7.15246316e+01] [-9.79166041e-03 -3.09383215e-04 9.99952013e-01 -5.29571828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.80, Y:-71.53, Z:-5.30 [[ 9.79875054e-01 1.99418928e-01 8.77321595e-03 3.99798568e+02] [-1.99413293e-01 9.79914294e-01 -1.52136805e-03 -7.15262863e+01] [-8.90038930e-03 -2.58745278e-04 9.99960357e-01 -5.29648190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.83, Y:-71.53, Z:-5.30 [[ 9.80443006e-01 1.96627848e-01 8.30673979e-03 3.99826949e+02] [-1.96622698e-01 9.80478169e-01 -1.44018000e-03 -7.15283667e+01] [-8.42775652e-03 -2.21279177e-04 9.99964461e-01 -5.29675520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.86, Y:-71.53, Z:-5.30 [[ 9.81012563e-01 1.93764818e-01 8.33945168e-03 3.99855414e+02] [-1.93759529e-01 9.81047989e-01 -1.44524727e-03 -7.15313443e+01] [-8.46144037e-03 -1.98042507e-04 9.99964182e-01 -5.29718022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.88, Y:-71.53, Z:-5.30 [[ 9.82075119e-01 1.88262108e-01 9.26498826e-03 3.99882918e+02] [-1.88255340e-01 9.82118807e-01 -1.60517866e-03 -7.15340431e+01] [-9.40151353e-03 -1.67777488e-04 9.99955791e-01 -5.29777048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.91, Y:-71.54, Z:-5.30 [[ 9.82565698e-01 1.85670685e-01 9.54183384e-03 3.99911225e+02] [-1.85663389e-01 9.82612017e-01 -1.65252334e-03 -7.15386383e+01] [-9.68274573e-03 -1.47856468e-04 9.99953110e-01 -5.29825325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.94, Y:-71.54, Z:-5.30 [[ 9.82950545e-01 1.83601957e-01 9.92714978e-03 3.99939749e+02] [-1.83593960e-01 9.83000663e-01 -1.71877111e-03 -7.15440683e+01] [-1.00739646e-02 -1.33097744e-04 9.99949247e-01 -5.29900734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.97, Y:-71.55, Z:-5.30 [[ 9.83494977e-01 1.80647644e-01 1.02009257e-02 3.99967188e+02] [-1.80639046e-01 9.83547872e-01 -1.76568386e-03 -7.15522315e+01] [-1.03520654e-02 -1.06144282e-04 9.99946410e-01 -5.29916142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.99, Y:-71.56, Z:-5.30 [[ 9.83650873e-01 1.79818462e-01 9.81228866e-03 3.99994886e+02] [-1.79810469e-01 9.83699808e-01 -1.69797921e-03 -7.15585321e+01] [-9.95767448e-03 -9.41334931e-05 9.99950417e-01 -5.29931245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.04576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.02, Y:-71.56, Z:-5.30 [[ 9.83685658e-01 1.79649313e-01 9.41549639e-03 4.00022408e+02] [-1.79641950e-01 9.83730713e-01 -1.62893557e-03 -7.15639115e+01] [-9.55495014e-03 -8.90575765e-05 9.99954346e-01 -5.29985187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.05, Y:-71.57, Z:-5.30 [[ 9.83540037e-01 1.80435121e-01 9.60008859e-03 4.00049488e+02] [-1.80427509e-01 9.83586883e-01 -1.66031324e-03 -7.15691904e+01] [-9.74210004e-03 -9.91355277e-05 9.99952540e-01 -5.30041928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.08, Y:-71.57, Z:-5.30 [[ 9.83344461e-01 1.81480491e-01 9.92486905e-03 4.00078376e+02] [-1.81472416e-01 9.83394539e-01 -1.71575038e-03 -7.15746120e+01] [-1.00714372e-02 -1.13916332e-04 9.99949275e-01 -5.30130991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.11, Y:-71.58, Z:-5.30 [[ 9.83120729e-01 1.82662517e-01 1.03940874e-02 4.00106954e+02] [-1.82653729e-01 9.83175665e-01 -1.79662099e-03 -7.15792597e+01] [-1.05473891e-02 -1.32223483e-04 9.99944366e-01 -5.30146801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.14, Y:-71.58, Z:-5.30 [[ 9.82673945e-01 1.84987192e-01 1.14741592e-02 4.00135445e+02] [-1.84976647e-01 9.82740916e-01 -1.98283103e-03 -7.15828971e+01] [-1.16429241e-02 -1.73975115e-04 9.99932204e-01 -5.30096082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.16, Y:-71.59, Z:-5.30 [[ 9.82440986e-01 1.86245861e-01 1.10538952e-02 4.00164354e+02] [-1.86236156e-01 9.82503153e-01 -1.90994698e-03 -7.15871792e+01] [-1.12162066e-02 -1.82224751e-04 9.99937080e-01 -5.30089749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.19, Y:-71.59, Z:-5.30 [[ 9.81880205e-01 1.89289630e-01 8.98329966e-03 4.00192738e+02] [-1.89283350e-01 9.81921282e-01 -1.55205839e-03 -7.15896467e+01] [-9.11468168e-03 -1.76453644e-04 9.99958445e-01 -5.30254403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.22, Y:-71.59, Z:-5.30 [[ 9.81692693e-01 1.90279548e-01 8.55284527e-03 4.00220496e+02] [-1.90273894e-01 9.81729934e-01 -1.47748969e-03 -7.15928961e+01] [-8.67772029e-03 -1.76942343e-04 9.99962332e-01 -5.30313903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.25, Y:-71.60, Z:-5.30 [[ 9.81583657e-01 1.90824944e-01 8.90873912e-03 4.00249133e+02] [-1.90818838e-01 9.81624065e-01 -1.53835968e-03 -7.15964153e+01] [-9.03859011e-03 -1.89926524e-04 9.99959133e-01 -5.30346927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.31576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.28, Y:-71.60, Z:-5.30 [[ 9.81523501e-01 1.91112092e-01 9.36943106e-03 4.00276411e+02] [-1.91105355e-01 9.81568198e-01 -1.61746464e-03 -7.15998512e+01] [-9.50585261e-03 -2.02968885e-04 9.99954798e-01 -5.30343013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3457692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:400.31, Y:-71.60, Z:-5.30 [[ 9.81261986e-01 1.92471715e-01 8.91930085e-03 4.00305166e+02] [-1.92465670e-01 9.81302500e-01 -1.53921231e-03 -7.16018755e+01] [-9.04878705e-03 -2.06288694e-04 9.99959038e-01 -5.30367531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.37576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.33, Y:-71.61, Z:-5.30 [[ 9.81047656e-01 1.93601016e-01 8.00889118e-03 4.00334136e+02] [-1.93596183e-01 9.81080327e-01 -1.38178027e-03 -7.16055530e+01] [-8.12487964e-03 -1.94898467e-04 9.99966974e-01 -5.30492128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.36, Y:-71.61, Z:-5.31 [[ 9.80964495e-01 1.94061348e-01 6.98944311e-03 4.00362615e+02] [-1.94057681e-01 9.80989380e-01 -1.20564173e-03 -7.16091998e+01] [-7.09053792e-03 -1.73663389e-04 9.99974847e-01 -5.30588533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.43576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.39, Y:-71.61, Z:-5.31 [[ 9.81019706e-01 1.93811801e-01 6.10923640e-03 4.00390072e+02] [-1.93808996e-01 9.81038716e-01 -1.05366627e-03 -7.16132442e+01] [-6.19761040e-03 -1.50357592e-04 9.99980783e-01 -5.30680482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4657692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.42, Y:-71.62, Z:-5.31 [[ 9.81373718e-01 1.91946827e-01 7.87666389e-03 4.00418662e+02] [-1.91942109e-01 9.81405310e-01 -1.35775116e-03 -7.16166143e+01] [-7.99081580e-03 -1.79402174e-04 9.99968057e-01 -5.30644151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.49576923100005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:400.45, Y:-71.62, Z:-5.31 [[ 9.81438173e-01 1.91535611e-01 9.65519612e-03 4.00446282e+02] [-1.91528507e-01 9.81485641e-01 -1.66377977e-03 -7.16203012e+01] [-9.79510942e-03 -2.16348312e-04 9.99952003e-01 -5.30600577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5257692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:400.47, Y:-71.62, Z:-5.31 [[ 9.81376453e-01 1.91809169e-01 1.04641936e-02 4.00474198e+02] [-1.91800847e-01 9.81432212e-01 -1.80251586e-03 -7.16241698e+01] [-1.06156357e-02 -2.38094574e-04 9.99943624e-01 -5.30566166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.50, Y:-71.63, Z:-5.31 [[ 9.80907138e-01 1.94288657e-01 8.55008592e-03 4.00502934e+02] [-1.94283199e-01 9.80944377e-01 -1.47239213e-03 -7.16263575e+01] [-8.67322779e-03 -2.16858097e-04 9.99962363e-01 -5.30688019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.53, Y:-71.63, Z:-5.31 [[ 9.80670021e-01 1.95505581e-01 7.99236121e-03 4.00531805e+02] [-1.95500855e-01 9.80702566e-01 -1.37603620e-03 -7.16282797e+01] [-8.10715190e-03 -2.13076002e-04 9.99967114e-01 -5.30786059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.61576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:400.56, Y:-71.63, Z:-5.31 [[ 9.80478648e-01 1.96451833e-01 8.26424356e-03 4.00559333e+02] [-1.96446816e-01 9.80513450e-01 -1.42246430e-03 -7.16297199e+01] [-8.38264768e-03 -2.28788461e-04 9.99964839e-01 -5.30808305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.64576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:400.59, Y:-71.63, Z:-5.31 [[ 9.80385209e-01 1.96839455e-01 9.95347651e-03 4.00587638e+02] [-1.96832206e-01 9.80435694e-01 -1.71246981e-03 -7.16299188e+01] [-1.00958253e-02 -2.80284663e-04 9.99948997e-01 -5.30824004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.67576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:400.61, Y:-71.63, Z:-5.31 [[ 9.80638781e-01 1.95562202e-01 1.01491667e-02 4.00614115e+02] [-1.95554604e-01 9.80691262e-01 -1.74541474e-03 -7.16331488e+01] [-1.02945363e-02 -2.73094890e-04 9.99946973e-01 -5.30792388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.64, Y:-71.64, Z:-5.31 [[ 9.81420046e-01 1.91666109e-01 8.87673557e-03 4.00641706e+02] [-1.91660143e-01 9.81460168e-01 -1.52587160e-03 -7.16358517e+01] [-9.00462026e-03 -2.03795442e-04 9.99959437e-01 -5.30869240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.67, Y:-71.64, Z:-5.31 [[ 9.81845365e-01 1.89504695e-01 8.22491304e-03 4.00669120e+02] [-1.89499501e-01 9.81879800e-01 -1.41346339e-03 -7.16390505e+01] [-8.34373392e-03 -1.70814439e-04 9.99965176e-01 -5.30922421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.70, Y:-71.64, Z:-5.31 [[ 9.82137880e-01 1.87977260e-01 8.35076282e-03 4.00696652e+02] [-1.87971855e-01 9.82173367e-01 -1.43452134e-03 -7.16421690e+01] [-8.47155423e-03 -1.60810636e-04 9.99964103e-01 -5.30927164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.79576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:400.72, Y:-71.64, Z:-5.31 [[ 9.82059971e-01 1.88250641e-01 1.09503075e-02 4.00723699e+02] [-1.88241375e-01 9.82120996e-01 -1.88010896e-03 -7.16413972e+01] [-1.11084586e-02 -2.14921180e-04 9.99938276e-01 -5.30786067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.75, Y:-71.64, Z:-5.31 [[ 9.81678659e-01 1.90221991e-01 1.10727304e-02 4.00751259e+02] [-1.90212651e-01 9.81741074e-01 -1.90030036e-03 -7.16428078e+01] [-1.12320332e-02 -2.40689101e-04 9.99936890e-01 -5.30796542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.85576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:400.78, Y:-71.64, Z:-5.31 [[ 9.81142527e-01 1.92999970e-01 1.05049032e-02 4.00779308e+02] [-1.92991735e-01 9.81198728e-01 -1.80171922e-03 -7.16439463e+01] [-1.06551294e-02 -2.59616153e-04 9.99943199e-01 -5.30831268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.88576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:400.81, Y:-71.64, Z:-5.31 [[ 9.80706954e-01 1.95258360e-01 9.38317190e-03 4.00807214e+02] [-1.95251898e-01 9.80751808e-01 -1.60881091e-03 -7.16445898e+01] [-9.51669658e-03 -2.54310074e-04 9.99954683e-01 -5.30912178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.91576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:400.84, Y:-71.64, Z:-5.31 [[ 9.80294422e-01 1.97350585e-01 8.69441385e-03 4.00835677e+02] [-1.97345123e-01 9.80332944e-01 -1.49018293e-03 -7.16420848e+01] [-8.81750880e-03 -2.54982162e-04 9.99961093e-01 -5.30967310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.94576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:400.86, Y:-71.64, Z:-5.31 [[ 9.80310989e-01 1.97207837e-01 9.97170140e-03 4.00864148e+02] [-1.97200654e-01 9.80361660e-01 -1.70828764e-03 -7.16437909e+01] [-1.01127614e-02 -2.91772893e-04 9.99948822e-01 -5.30956537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.89, Y:-71.64, Z:-5.31 [[ 9.80749233e-01 1.94877705e-01 1.23944527e-02 4.00891053e+02] [-1.94866435e-01 9.80827492e-01 -2.12223358e-03 -7.16441781e+01] [-1.25703959e-02 -3.33883849e-04 9.99920934e-01 -5.30864929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.00576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.92, Y:-71.65, Z:-5.31 [[ 9.81114521e-01 1.93060724e-01 1.19102448e-02 4.00918653e+02] [-1.93050195e-01 9.81186765e-01 -2.03836302e-03 -7.16478565e+01] [-1.20797024e-02 -2.99407521e-04 9.99926993e-01 -5.30859348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0357692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.95, Y:-71.65, Z:-5.31 [[ 9.81469268e-01 1.91320915e-01 1.06950558e-02 4.00946533e+02] [-1.91312328e-01 9.81527506e-01 -1.82978988e-03 -7.16517513e+01] [-1.08475685e-02 -2.50213489e-04 9.99941132e-01 -5.30978250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.97, Y:-71.66, Z:-5.31 [[ 9.82074620e-01 1.88272859e-01 9.09785893e-03 4.00974090e+02] [-1.88266520e-01 9.82116743e-01 -1.55596831e-03 -7.16557023e+01] [-9.22810618e-03 -1.84745254e-04 9.99957403e-01 -5.31008823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0957692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.00, Y:-71.66, Z:-5.31 [[ 9.82209508e-01 1.87515589e-01 1.01185689e-02 4.01001015e+02] [-1.87507714e-01 9.82261607e-01 -1.72987327e-03 -7.16604095e+01] [-1.02634600e-02 -1.98211763e-04 9.99947310e-01 -5.30985604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.03, Y:-71.67, Z:-5.31 [[ 9.82339865e-01 1.86706496e-01 1.22095726e-02 4.01028562e+02] [-1.86694984e-01 9.82415712e-01 -2.08605058e-03 -7.16658108e+01] [-1.23843552e-02 -2.30255331e-04 9.99923284e-01 -5.30966121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.06, Y:-71.67, Z:-5.31 [[ 9.82350841e-01 1.86648728e-01 1.22097208e-02 4.01056671e+02] [-1.86637222e-01 9.82426689e-01 -2.08518314e-03 -7.16704789e+01] [-1.23843523e-02 -2.30406964e-04 9.99923284e-01 -5.31002152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.18576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:401.08, Y:-71.68, Z:-5.31 [[ 9.82581931e-01 1.85300079e-01 1.40224664e-02 4.01083884e+02] [-1.85284780e-01 9.82681953e-01 -2.39378460e-03 -7.16785423e+01] [-1.42231932e-02 -2.46060110e-04 9.99898815e-01 -5.30933682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2157692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.11, Y:-71.69, Z:-5.31 [[ 9.82694509e-01 1.84760327e-01 1.32334404e-02 4.01111544e+02] [-1.84746664e-01 9.82783583e-01 -2.25817159e-03 -7.16852559e+01] [-1.34228285e-02 -2.25741156e-04 9.99909884e-01 -5.31016060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.24576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.14, Y:-71.69, Z:-5.31 [[ 9.82861711e-01 1.83971416e-01 1.17207111e-02 4.01137712e+02] [-1.83960652e-01 9.82931575e-01 -1.99928374e-03 -7.16921031e+01] [-1.18884681e-02 -1.91130210e-04 9.99929311e-01 -5.31098486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2757692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.16, Y:-71.70, Z:-5.31 [[ 9.83081401e-01 1.82862257e-01 1.05997532e-02 4.01164023e+02] [-1.82853397e-01 9.83138530e-01 -1.80730354e-03 -7.16994952e+01] [-1.07515134e-02 -1.61474387e-04 9.99942188e-01 -5.31213384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.30576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.19, Y:-71.71, Z:-5.31 [[ 9.83664358e-01 1.79731846e-01 1.00446118e-02 4.01190941e+02] [-1.79723738e-01 9.83715634e-01 -1.71151617e-03 -7.17116016e+01] [-1.01886556e-02 -1.21697730e-04 9.99948087e-01 -5.31290343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.22, Y:-71.72, Z:-5.31 [[ 9.83982216e-01 1.77994308e-01 9.85011320e-03 4.01218583e+02] [-1.77986428e-01 9.84031512e-01 -1.67791153e-03 -7.17191527e+01] [-9.99148048e-03 -1.02151361e-04 9.99950079e-01 -5.31315942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.25, Y:-71.73, Z:-5.31 [[ 9.84250999e-01 1.76546332e-01 9.02023397e-03 4.01245576e+02] [-1.76539666e-01 9.84292328e-01 -1.53619575e-03 -7.17260563e+01] [-9.14975681e-03 -8.04268937e-05 9.99958137e-01 -5.31343935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.27, Y:-71.73, Z:-5.31 [[ 9.84497847e-01 1.75219968e-01 7.87097175e-03 4.01272968e+02] [-1.75214854e-01 9.84529309e-01 -1.34003814e-03 -7.17343118e+01] [-7.98400381e-03 -5.98465020e-05 9.99968126e-01 -5.31431249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.42576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.30, Y:-71.74, Z:-5.31 [[ 9.84522719e-01 1.75055614e-01 8.39922453e-03 4.01300072e+02] [-1.75049788e-01 9.84558545e-01 -1.42955636e-03 -7.17415149e+01] [-8.51978015e-03 -6.28517645e-05 9.99963704e-01 -5.31420487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.33, Y:-71.75, Z:-5.31 [[ 9.84719043e-01 1.73787621e-01 1.12369671e-02 4.01327499e+02] [-1.73777122e-01 9.84783153e-01 -1.91155126e-03 -7.17501612e+01] [-1.13981798e-02 -7.03868727e-05 9.99935036e-01 -5.31334502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.36, Y:-71.76, Z:-5.31 [[ 9.84873584e-01 1.72866076e-01 1.18887821e-02 4.01355391e+02] [-1.72854264e-01 9.84945336e-01 -2.02182232e-03 -7.17564638e+01] [-1.20593050e-02 -6.37872828e-05 9.99927282e-01 -5.31325854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.38, Y:-71.76, Z:-5.31 [[ 9.85060099e-01 1.71807038e-01 1.17873994e-02 4.01383316e+02] [-1.71795358e-01 9.85130620e-01 -2.00401624e-03 -7.17631737e+01] [-1.19564322e-02 -5.09440619e-05 9.99928518e-01 -5.31450155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.41, Y:-71.77, Z:-5.32 [[ 9.85613356e-01 1.68732777e-01 9.77559872e-03 4.01410656e+02] [-1.68724597e-01 9.85661833e-01 -1.66152810e-03 -7.17727959e+01] [-9.91578881e-03 -1.17596700e-05 9.99950837e-01 -5.31611723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.44, Y:-71.78, Z:-5.32 [[ 9.85977021e-01 1.66653525e-01 8.71298447e-03 4.01439399e+02] [-1.66646947e-01 9.86015518e-01 -1.48073039e-03 -7.17797636e+01] [-8.83790684e-03 7.97387824e-06 9.99960945e-01 -5.31637246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.60576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.47, Y:-71.79, Z:-5.32 [[ 9.86341975e-01 1.64517129e-01 7.97639333e-03 4.01467248e+02] [-1.64511547e-01 9.86374226e-01 -1.35543405e-03 -7.17866474e+01] [-8.09070091e-03 2.47126932e-05 9.99967269e-01 -5.31691425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.63576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:401.50, Y:-71.79, Z:-5.32 [[ 9.86670256e-01 1.62544096e-01 7.82453664e-03 4.01496376e+02] [-1.62538666e-01 9.86701280e-01 -1.32928792e-03 -7.17937466e+01] [-7.93654822e-03 3.97791068e-05 9.99968504e-01 -5.31739978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.53, Y:-71.80, Z:-5.32 [[ 9.87210300e-01 1.59172598e-01 8.93908343e-03 4.01525149e+02] [-1.59165375e-01 9.87250768e-01 -1.51829570e-03 -7.18036291e+01] [-9.06678805e-03 7.60845862e-05 9.99958893e-01 -5.31771195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.69576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.55, Y:-71.81, Z:-5.32 [[ 9.87385241e-01 1.58045889e-01 9.58555649e-03 4.01554084e+02] [-1.58037530e-01 9.87431764e-01 -1.62806345e-03 -7.18116411e+01] [-9.72239169e-03 9.26481488e-05 9.99952732e-01 -5.31758286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.58, Y:-71.82, Z:-5.32 [[ 9.87497316e-01 1.57329566e-01 9.82137261e-03 4.01583751e+02] [-1.57320754e-01 9.87546149e-01 -1.66827159e-03 -7.18194314e+01] [-9.96152715e-03 1.02307976e-04 9.99950378e-01 -5.31784495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.61, Y:-71.83, Z:-5.32 [[ 9.87488793e-01 1.57394142e-01 9.64193193e-03 4.01612645e+02] [-1.57385652e-01 9.87535860e-01 -1.63782553e-03 -7.18282034e+01] [-9.77953768e-03 9.98326150e-05 9.99952174e-01 -5.31775502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.64, Y:-71.83, Z:-5.32 [[ 9.87442116e-01 1.57709813e-01 9.25651148e-03 4.01642555e+02] [-1.57702003e-01 9.87485497e-01 -1.57221215e-03 -7.18348859e+01] [-9.38862412e-03 9.26980889e-05 9.99955922e-01 -5.31843204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.67, Y:-71.84, Z:-5.32 [[ 9.87398379e-01 1.57958173e-01 9.67766597e-03 4.01672797e+02] [-1.57949649e-01 9.87445799e-01 -1.64367459e-03 -7.18434792e+01] [-9.81580244e-03 9.43776808e-05 9.99951819e-01 -5.31862693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.70, Y:-71.85, Z:-5.32 [[ 9.87311981e-01 1.58461263e-01 1.02508539e-02 4.01702142e+02] [-1.58451723e-01 9.87365190e-01 -1.74133139e-03 -7.18490480e+01] [-1.03972699e-02 9.49718801e-05 9.99945942e-01 -5.31847344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.73, Y:-71.85, Z:-5.32 [[ 9.87196897e-01 1.59144807e-01 1.07339116e-02 4.01731951e+02] [-1.59134386e-01 9.87255247e-01 -1.82353235e-03 -7.18539048e+01] [-1.08873162e-02 9.20510520e-05 9.99940727e-01 -5.31860208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.76, Y:-71.86, Z:-5.32 [[ 9.86908690e-01 1.60955241e-01 1.02297308e-02 4.01761675e+02] [-1.60945872e-01 9.86961704e-01 -1.73802320e-03 -7.18590096e+01] [-1.03760965e-02 6.88372656e-05 9.99946164e-01 -5.31913344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.79, Y:-71.86, Z:-5.32 [[ 9.86859607e-01 1.61256694e-01 1.02173687e-02 4.01791792e+02] [-1.61247364e-01 9.86912496e-01 -1.73592289e-03 -7.18647389e+01] [-1.03635780e-02 6.55884210e-05 9.99946295e-01 -5.31993498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.82, Y:-71.87, Z:-5.32 [[ 9.86909233e-01 1.60978565e-01 9.80134976e-03 4.01822389e+02] [-1.60969966e-01 9.86957900e-01 -1.66517536e-03 -7.18708032e+01] [-9.94157712e-03 6.56540009e-05 9.99950579e-01 -5.32043332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.85, Y:-71.88, Z:-5.32 [[ 9.86969004e-01 1.60623083e-01 9.61302868e-03 4.01851727e+02] [-1.60614792e-01 9.87015816e-01 -1.63344979e-03 -7.18764125e+01] [-9.75058109e-03 6.81697143e-05 9.99952460e-01 -5.32215797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.88, Y:-71.88, Z:-5.32 [[ 9.87234070e-01 1.59020618e-01 9.01859263e-03 4.01881952e+02] [-1.59013253e-01 9.87275259e-01 -1.53250329e-03 -7.18842977e+01] [-9.14753300e-03 7.88637070e-05 9.99958157e-01 -5.32306436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.05576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.91, Y:-71.89, Z:-5.32 [[ 9.87402388e-01 1.57949652e-01 9.40385231e-03 4.01912104e+02] [-1.57941593e-01 9.87447163e-01 -1.59821030e-03 -7.18921059e+01] [-9.53824404e-03 9.28172461e-05 9.99954506e-01 -5.32323898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.94, Y:-71.90, Z:-5.32 [[ 9.87847803e-01 1.55197292e-01 8.39752995e-03 4.01943407e+02] [-1.55190770e-01 9.87883490e-01 -1.42675572e-03 -7.19027833e+01] [-8.51720981e-03 1.06198369e-04 9.99963722e-01 -5.32326330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.11576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.97, Y:-71.91, Z:-5.32 [[ 9.88001354e-01 1.54269562e-01 7.36393700e-03 4.01974745e+02] [-1.54264514e-01 9.88028791e-01 -1.25209394e-03 -7.19114145e+01] [-7.46894176e-03 1.01076349e-04 9.99972102e-01 -5.32439639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.14576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:402.00, Y:-71.92, Z:-5.32 [[ 9.88102129e-01 1.53646720e-01 6.84599415e-03 4.02004682e+02] [-1.53642328e-01 9.88125840e-01 -1.16596571e-03 -7.19197261e+01] [-6.94385052e-03 1.00258725e-04 9.99975886e-01 -5.32486876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.17576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:402.03, Y:-71.93, Z:-5.33 [[ 9.87978511e-01 1.54354791e-01 8.54753113e-03 4.02033974e+02] [-1.54347972e-01 9.88015478e-01 -1.45570903e-03 -7.19314504e+01] [-8.66978872e-03 1.18915141e-04 9.99962410e-01 -5.32507663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.20576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.07, Y:-71.94, Z:-5.32 [[ 9.87863275e-01 1.55024170e-01 9.67761577e-03 4.02066478e+02] [-1.55015445e-01 9.87910669e-01 -1.64982722e-03 -7.19400709e+01] [-9.81638296e-03 1.29623802e-04 9.99951810e-01 -5.32460885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.10, Y:-71.95, Z:-5.32 [[ 9.87757056e-01 1.55653884e-01 1.03859279e-02 4.02097435e+02] [-1.55643845e-01 9.87811647e-01 -1.77295916e-03 -7.19483715e+01] [-1.05353086e-02 1.34747161e-04 9.99944493e-01 -5.32469470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.13, Y:-71.96, Z:-5.33 [[ 9.87527726e-01 1.57157200e-01 9.51863742e-03 4.02127592e+02] [-1.57148828e-01 9.87573593e-01 -1.62595316e-03 -7.19593487e+01] [-9.65588521e-03 1.09831115e-04 9.99953375e-01 -5.32523724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.29576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:402.16, Y:-71.97, Z:-5.33 [[ 9.87337569e-01 1.58395459e-01 8.68354509e-03 4.02159863e+02] [-1.58388533e-01 9.87375749e-01 -1.48394666e-03 -7.19676938e+01] [-8.80897226e-03 8.97823219e-05 9.99961196e-01 -5.32587847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.19, Y:-71.97, Z:-5.33 [[ 9.87171746e-01 1.59453084e-01 8.16447764e-03 4.02191358e+02] [-1.59446985e-01 9.87205505e-01 -1.39672437e-03 -7.19749347e+01] [-8.28272928e-03 7.70054889e-05 9.99965695e-01 -5.32572570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.22, Y:-71.98, Z:-5.33 [[ 9.86791571e-01 1.61769800e-01 8.53969333e-03 4.02224049e+02] [-1.61763201e-01 9.86828520e-01 -1.46249750e-03 -7.19809266e+01] [-8.66380086e-03 6.17720785e-05 9.99962467e-01 -5.32532229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.26, Y:-71.99, Z:-5.33 [[ 9.86489295e-01 1.63566244e-01 9.21710017e-03 4.02256017e+02] [-1.63558614e-01 9.86532352e-01 -1.58071781e-03 -7.19860399e+01] [-9.35151959e-03 5.18250741e-05 9.99956272e-01 -5.32570803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.29, Y:-71.99, Z:-5.33 [[ 9.86139393e-01 1.65623956e-01 9.88955408e-03 4.02288353e+02] [-1.65615264e-01 9.86188980e-01 -1.69715601e-03 -7.19910268e+01] [-1.00340589e-02 3.57712800e-05 9.99949657e-01 -5.32600547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.32, Y:-72.00, Z:-5.33 [[ 9.85749220e-01 1.67878788e-01 1.07325161e-02 4.02319903e+02] [-1.67868660e-01 9.85807645e-01 -1.84410641e-03 -7.19955248e+01] [-1.08897828e-02 1.61733487e-05 9.99940704e-01 -5.32659874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.35, Y:-72.00, Z:-5.33 [[ 9.85452217e-01 1.69568616e-01 1.14198372e-02 4.02352600e+02] [-1.69557238e-01 9.85518384e-01 -1.96438662e-03 -7.19998549e+01] [-1.15875578e-02 -5.06895656e-07 9.99932862e-01 -5.32693815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.38, Y:-72.00, Z:-5.33 [[ 9.85340532e-01 1.70192285e-01 1.17738035e-02 4.02384461e+02] [-1.70180206e-01 9.85410872e-01 -2.02758793e-03 -7.20023010e+01] [-1.19471137e-02 -5.80373277e-06 9.99928631e-01 -5.32830944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.42, Y:-72.01, Z:-5.33 [[ 9.85559868e-01 1.68970995e-01 1.09794764e-02 4.02415979e+02] [-1.68960396e-01 9.85621024e-01 -1.89253487e-03 -7.20069582e+01] [-1.11413862e-02 1.01097376e-05 9.99937933e-01 -5.32922569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.45, Y:-72.01, Z:-5.33 [[ 9.86449658e-01 1.63818272e-01 8.98030240e-03 4.02447372e+02] [-1.63810963e-01 9.86490532e-01 -1.54852524e-03 -7.20126287e+01] [-9.11266002e-03 5.64702160e-05 9.99958477e-01 -5.32953524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.48, Y:-72.02, Z:-5.33 [[ 9.86877998e-01 1.61241409e-01 8.54551772e-03 4.02480265e+02] [-1.61234682e-01 9.86914992e-01 -1.47490013e-03 -7.20185064e+01] [-8.67151453e-03 7.77126519e-05 9.99962399e-01 -5.32963154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.51, Y:-72.02, Z:-5.33 [[ 9.87113845e-01 1.59750725e-01 9.27159832e-03 4.02512860e+02] [-1.59742723e-01 9.87157381e-01 -1.60212514e-03 -7.20245550e+01] [-9.40846737e-03 1.00409550e-04 9.99955734e-01 -5.32999910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.54, Y:-72.03, Z:-5.33 [[ 9.87214058e-01 1.59075344e-01 1.01704597e-02 4.02544135e+02] [-1.59065656e-01 9.87266439e-01 -1.75959707e-03 -7.20306365e+01] [-1.03208620e-02 1.19328119e-04 9.99946731e-01 -5.33009235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.58, Y:-72.04, Z:-5.33 [[ 9.87237953e-01 1.58903792e-01 1.05265644e-02 4.02575963e+02] [-1.58893386e-01 9.87294064e-01 -1.82294096e-03 -7.20362253e+01] [-1.06824868e-02 1.27075038e-04 9.99942933e-01 -5.33051010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.61, Y:-72.04, Z:-5.33 [[ 9.87099930e-01 1.59835324e-01 9.29502316e-03 4.02607344e+02] [-1.59827239e-01 9.87143687e-01 -1.61104484e-03 -7.20411647e+01] [-9.43302530e-03 1.04664360e-04 9.99955503e-01 -5.33137879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.64, Y:-72.05, Z:-5.33 [[ 9.86857942e-01 1.61394150e-01 7.95811449e-03 4.02638382e+02] [-1.61388266e-01 9.86890025e-01 -1.38037605e-03 -7.20460328e+01] [-8.07656843e-03 7.78887693e-05 9.99967381e-01 -5.33229925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.67, Y:-72.05, Z:-5.33 [[ 9.86593612e-01 1.63050196e-01 6.90500989e-03 4.02668378e+02] [-1.63045796e-01 9.86617773e-01 -1.19925179e-03 -7.20510305e+01] [-7.00814372e-03 5.73413237e-05 9.99975441e-01 -5.33264261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.70, Y:-72.06, Z:-5.33 [[ 9.85990429e-01 1.66643664e-01 7.26380822e-03 4.02699420e+02] [-1.66638892e-01 9.86017184e-01 -1.26158933e-03 -7.20550821e+01] [-7.37247560e-03 3.34820534e-05 9.99972822e-01 -5.33153571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.73, Y:-72.06, Z:-5.33 [[ 9.85588220e-01 1.68976499e-01 7.92488686e-03 4.02730013e+02] [-1.68970897e-01 9.85620080e-01 -1.37602277e-03 -7.20585252e+01] [-8.04344313e-03 1.71165930e-05 9.99967651e-01 -5.33124158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.76, Y:-72.06, Z:-5.33 [[ 9.85144291e-01 1.71511044e-01 8.64216548e-03 4.02760080e+02] [-1.71504460e-01 9.85182197e-01 -1.50279340e-03 -7.20614636e+01] [-8.77185324e-03 -1.70158805e-06 9.99961527e-01 -5.33189083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.79, Y:-72.06, Z:-5.33 [[ 9.84507000e-01 1.75090445e-01 9.45006428e-03 4.02790429e+02] [-1.75082740e-01 9.84552352e-01 -1.64304551e-03 -7.20617435e+01] [-9.59176459e-03 -3.69533368e-05 9.99953997e-01 -5.33207147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.82, Y:-72.07, Z:-5.33 [[ 9.84345409e-01 1.75983971e-01 9.68287643e-03 4.02820558e+02] [-1.75975928e-01 9.84393031e-01 -1.68323939e-03 -7.20651866e+01] [-9.82797923e-03 -4.70642000e-05 9.99951703e-01 -5.33244926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.85, Y:-72.07, Z:-5.33 [[ 9.84379701e-01 1.75781105e-01 9.87966439e-03 4.02851886e+02] [-1.75772721e-01 9.84429277e-01 -1.71738515e-03 -7.20691839e+01] [-1.00277147e-02 -4.60164179e-05 9.99949720e-01 -5.33260519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.88, Y:-72.07, Z:-5.33 [[ 9.84797373e-01 1.73292585e-01 1.19922686e-02 4.02883480e+02] [-1.73280044e-01 9.84870387e-01 -2.08490909e-03 -7.20731221e+01] [-1.21721295e-02 -2.48078416e-05 9.99925917e-01 -5.33346779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.91, Y:-72.08, Z:-5.33 [[ 9.85161216e-01 1.71167309e-01 1.26147184e-02 4.02914535e+02] [-1.71153229e-01 9.85241977e-01 -2.19543366e-03 -7.20791067e+01] [-1.28043366e-02 3.80630697e-06 9.99918021e-01 -5.33427719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.95, Y:-72.09, Z:-5.33 [[ 9.85653164e-01 1.68332110e-01 1.23345384e-02 4.02945832e+02] [-1.68318411e-01 9.85730338e-01 -2.14784300e-03 -7.20857019e+01] [-1.25200796e-02 4.08983401e-05 9.99921620e-01 -5.33482589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.98, Y:-72.09, Z:-5.34 [[ 9.85643288e-01 1.68389957e-01 1.23341830e-02 4.02977994e+02] [-1.68376238e-01 9.85720458e-01 -2.14988179e-03 -7.20914073e+01] [-1.25200750e-02 4.22332170e-05 9.99921620e-01 -5.33523914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.01, Y:-72.10, Z:-5.34 [[ 9.86168138e-01 1.65366182e-01 1.12440633e-02 4.03008788e+02] [-1.65354578e-01 9.86232235e-01 -1.96036799e-03 -7.20982140e+01] [-1.14134362e-02 7.39951175e-05 9.99934862e-01 -5.33610564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.04, Y:-72.11, Z:-5.34 [[ 9.86958119e-01 1.60709005e-01 9.28911579e-03 4.03041020e+02] [-1.60700870e-01 9.87001826e-01 -1.62048588e-03 -7.21055358e+01] [-9.42880092e-03 1.06582701e-04 9.99955542e-01 -5.33616505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.07, Y:-72.11, Z:-5.34 [[ 9.87051539e-01 1.60136579e-01 9.24857009e-03 4.03071965e+02] [-1.60128472e-01 9.87094860e-01 -1.61534543e-03 -7.21117113e+01] [-9.38789189e-03 1.13469794e-04 9.99955926e-01 -5.33611228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.10, Y:-72.12, Z:-5.34 [[ 9.87038409e-01 1.60184097e-01 9.80986672e-03 4.03103795e+02] [-1.60174959e-01 9.87087149e-01 -1.71536988e-03 -7.21183842e+01] [-9.95796835e-03 1.21840957e-04 9.99950411e-01 -5.33709468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.14, Y:-72.13, Z:-5.34 [[ 9.86945324e-01 1.60725561e-01 1.03064257e-02 4.03135029e+02] [-1.60715479e-01 9.86999128e-01 -1.80447247e-03 -7.21254998e+01] [-1.04624580e-02 1.24513521e-04 9.99945259e-01 -5.33785767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.17, Y:-72.13, Z:-5.34 [[ 9.86850998e-01 1.61289851e-01 1.05210458e-02 4.03166540e+02] [-1.61279355e-01 9.86907072e-01 -1.84411851e-03 -7.21333132e+01] [-1.06807321e-02 1.23042712e-04 9.99942952e-01 -5.33814723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.20, Y:-72.14, Z:-5.34 [[ 9.86769701e-01 1.61812700e-01 1.01097817e-02 4.03198979e+02] [-1.61803019e-01 9.86821482e-01 -1.77373846e-03 -7.21399673e+01] [-1.02635631e-02 1.14478178e-04 9.99947322e-01 -5.33813485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.23, Y:-72.15, Z:-5.34 [[ 9.86650054e-01 1.62627549e-01 8.59942847e-03 4.03229949e+02] [-1.62620564e-01 9.86687525e-01 -1.51014241e-03 -7.21477788e+01] [-8.73053955e-03 9.15381847e-05 9.99961884e-01 -5.33889243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.26, Y:-72.16, Z:-5.34 [[ 9.86645883e-01 1.62712775e-01 7.37927542e-03 4.03261908e+02] [-1.62707626e-01 9.86673475e-01 -1.29685010e-03 -7.21555122e+01] [-7.49194940e-03 7.88674290e-05 9.99971932e-01 -5.34021169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.29, Y:-72.16, Z:-5.34 [[ 9.86653011e-01 1.62724645e-01 6.04359286e-03 4.03294005e+02] [-1.62721187e-01 9.86671519e-01 -1.06278776e-03 -7.21637425e+01] [-6.13598270e-03 6.51821393e-05 9.99981173e-01 -5.34073555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.32, Y:-72.17, Z:-5.34 [[ 9.86701285e-01 1.62374494e-01 7.42274182e-03 4.03324311e+02] [-1.62369251e-01 9.86729201e-01 -1.30750835e-03 -7.21736534e+01] [-7.53654211e-03 8.48951395e-05 9.99971596e-01 -5.34051811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.36, Y:-72.18, Z:-5.34 [[ 9.86610725e-01 1.62831485e-01 9.22951384e-03 4.03356524e+02] [-1.62823378e-01 9.86653889e-01 -1.62808311e-03 -7.21810155e+01] [-9.37143892e-03 1.03503636e-04 9.99956082e-01 -5.34007717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.39, Y:-72.19, Z:-5.34 [[ 9.86432292e-01 1.63811778e-01 1.08182558e-02 4.03388165e+02] [-1.63800670e-01 9.86491606e-01 -1.91102557e-03 -7.21879501e+01] [-1.09851671e-02 1.13059779e-04 9.99939655e-01 -5.34037163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.42, Y:-72.20, Z:-5.34 [[ 9.86014049e-01 1.66298778e-01 1.10005708e-02 4.03420293e+02] [-1.66287423e-01 9.86075407e-01 -1.94536273e-03 -7.21973443e+01] [-1.11709037e-02 8.88984280e-05 9.99937600e-01 -5.34128318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.45, Y:-72.21, Z:-5.34 [[ 9.85870235e-01 1.67203840e-01 1.01368033e-02 4.03451525e+02] [-1.67194227e-01 9.85922345e-01 -1.79451568e-03 -7.22054921e+01] [-1.02941508e-02 7.43446119e-05 9.99947011e-01 -5.34192981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.48, Y:-72.21, Z:-5.34 [[ 9.85792738e-01 1.67704530e-01 9.37380293e-03 4.03482223e+02] [-1.67696316e-01 9.85837302e-01 -1.66107387e-03 -7.22137916e+01] [-9.51961420e-03 6.55223458e-05 9.99954685e-01 -5.34240983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.51, Y:-72.22, Z:-5.34 [[ 9.85693112e-01 1.68318172e-01 8.83639350e-03 4.03514127e+02] [-1.68310885e-01 9.85732717e-01 -1.56725740e-03 -7.22220039e+01] [-8.97412007e-03 5.75736066e-05 9.99959730e-01 -5.34255916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.54, Y:-72.23, Z:-5.34 [[ 9.85511971e-01 1.69308420e-01 1.00406246e-02 4.03544886e+02] [-1.69299038e-01 9.85563116e-01 -1.78335914e-03 -7.22327498e+01] [-1.01976070e-02 5.76537060e-05 9.99948001e-01 -5.34116152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.58, Y:-72.24, Z:-5.34 [[ 9.85415773e-01 1.69829315e-01 1.06657106e-02 4.03577046e+02] [-1.69818744e-01 9.85473491e-01 -1.89566844e-03 -7.22415306e+01] [-1.08327151e-02 5.67840068e-05 9.99941323e-01 -5.34209298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.61, Y:-72.25, Z:-5.34 [[ 9.85341824e-01 1.70256639e-01 1.06849134e-02 4.03608088e+02] [-1.70246032e-01 9.85399753e-01 -1.90122835e-03 -7.22498879e+01] [-1.08526078e-02 5.42957001e-05 9.99941107e-01 -5.34317968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.64, Y:-72.26, Z:-5.34 [[ 9.85224025e-01 1.70965402e-01 1.02201557e-02 4.03639635e+02] [-1.70955717e-01 9.85277032e-01 -1.82030142e-03 -7.22614125e+01] [-1.03808932e-02 4.62106489e-05 9.99946116e-01 -5.34406503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.67, Y:-72.27, Z:-5.34 [[ 9.85062653e-01 1.71858636e-01 1.07786081e-02 4.03671689e+02] [-1.71847893e-01 9.85121621e-01 -1.92199976e-03 -7.22703770e+01] [-1.09485522e-02 4.10090881e-05 9.99940062e-01 -5.34405877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.70, Y:-72.28, Z:-5.34 [[ 9.84818943e-01 1.73186692e-01 1.17481209e-02 4.03702833e+02] [-1.73173994e-01 9.84889013e-01 -2.09740899e-03 -7.22792709e+01] [-1.19338385e-02 3.10990957e-05 9.99928789e-01 -5.34354065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.73, Y:-72.29, Z:-5.34 [[ 9.84460369e-01 1.75159852e-01 1.25223284e-02 4.03733740e+02] [-1.75145553e-01 9.84540007e-01 -2.23806659e-03 -7.22872737e+01] [-1.27207527e-02 1.00577218e-05 9.99919088e-01 -5.34331857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.76, Y:-72.30, Z:-5.34 [[ 9.83465340e-01 1.80716401e-01 1.17263586e-02 4.03764730e+02] [-1.80704234e-01 9.83535246e-01 -2.09776635e-03 -7.22960811e+01] [-1.19123878e-02 -5.59221607e-05 9.99929043e-01 -5.34406648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.80, Y:-72.30, Z:-5.35 [[ 9.82935071e-01 1.83645110e-01 1.06357405e-02 4.03797177e+02] [-1.83635254e-01 9.82992608e-01 -1.90430921e-03 -7.23031274e+01] [-1.08045714e-02 -8.12846121e-05 9.99941626e-01 -5.34543617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.83, Y:-72.31, Z:-5.35 [[ 9.82369477e-01 1.86707909e-01 9.50622633e-03 4.03827946e+02] [-1.86700163e-01 9.82415465e-01 -1.70370996e-03 -7.23100378e+01] [-9.65715989e-03 -1.01141336e-04 9.99953363e-01 -5.34606461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.86, Y:-72.32, Z:-5.35 [[ 9.81805809e-01 1.89673332e-01 9.02110324e-03 4.03859920e+02] [-1.89666468e-01 9.81847245e-01 -1.61825869e-03 -7.23172250e+01] [-9.16428588e-03 -1.22184999e-04 9.99958000e-01 -5.34638262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.89, Y:-72.32, Z:-5.35 [[ 9.80776317e-01 1.94875188e-01 1.00736132e-02 4.03891570e+02] [-1.94866879e-01 9.80828031e-01 -1.80931543e-03 -7.23245497e+01] [-1.02330729e-02 -1.88479853e-04 9.99947623e-01 -5.34582233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.92, Y:-72.33, Z:-5.35 [[ 9.80268496e-01 1.97376737e-01 1.07749239e-02 4.03924067e+02] [-1.97367360e-01 9.80327686e-01 -1.93734935e-03 -7.23304686e+01] [-1.09453439e-02 -2.27495734e-04 9.99940072e-01 -5.34613072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.96, Y:-72.34, Z:-5.35 [[ 9.79889372e-01 1.99212539e-01 1.14535162e-02 4.03956352e+02] [-1.99202042e-01 9.79956273e-01 -2.06162370e-03 -7.23359494e+01] [-1.16346463e-02 -2.61400665e-04 9.99932281e-01 -5.34731524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.99, Y:-72.34, Z:-5.35 [[ 9.79467125e-01 2.01312240e-01 1.08412614e-02 4.03987361e+02] [-2.01302942e-01 9.79527085e-01 -1.95345302e-03 -7.23418523e+01] [-1.10125632e-02 -2.69034814e-04 9.99939324e-01 -5.34871414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.02, Y:-72.35, Z:-5.35 [[ 9.79216192e-01 2.02565456e-01 1.01432503e-02 4.04018286e+02] [-2.02557374e-01 9.79268690e-01 -1.82865706e-03 -7.23480207e+01] [-1.03033902e-02 -2.63939537e-04 9.99946884e-01 -5.34889851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.05, Y:-72.35, Z:-5.35 [[ 9.78866539e-01 2.04260682e-01 9.89306733e-03 4.04050614e+02] [-2.04253064e-01 9.78916492e-01 -1.78512204e-03 -7.23541232e+01] [-1.00491170e-02 -2.73293080e-04 9.99949469e-01 -5.34939506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.08, Y:-72.36, Z:-5.35 [[ 9.78388624e-01 2.06554924e-01 9.52700193e-03 4.04083209e+02] [-2.06547951e-01 9.78434966e-01 -1.72075980e-03 -7.23594754e+01] [-9.67698322e-03 -2.84210920e-04 9.99953137e-01 -5.34891567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.12, Y:-72.36, Z:-5.35 [[ 9.77419685e-01 2.11096328e-01 9.43926642e-03 4.04115171e+02] [-2.11089678e-01 9.77465209e-01 -1.70677828e-03 -7.23633946e+01] [-9.58684915e-03 -3.24293011e-04 9.99953993e-01 -5.34978835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.15, Y:-72.37, Z:-5.35 [[ 9.77091551e-01 2.12610097e-01 9.43651750e-03 4.04146662e+02] [-2.12603503e-01 9.77137060e-01 -1.70802112e-03 -7.23684634e+01] [-9.58391350e-03 -3.37343672e-04 9.99954016e-01 -5.35044077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.18, Y:-72.37, Z:-5.35 [[ 9.76913074e-01 2.13422000e-01 9.58620359e-03 4.04179092e+02] [-2.13415218e-01 9.76960044e-01 -1.73683012e-03 -7.23736364e+01] [-9.73601564e-03 -3.49109679e-04 9.99952543e-01 -5.35162612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.21, Y:-72.38, Z:-5.35 [[ 9.76534600e-01 2.15124772e-01 1.00750486e-02 4.04210403e+02] [-2.15117350e-01 9.76586497e-01 -1.82748720e-03 -7.23776267e+01] [-1.02322942e-02 -3.82713275e-04 9.99947575e-01 -5.35194386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.24, Y:-72.38, Z:-5.35 [[ 9.76170095e-01 2.16770628e-01 1.01213267e-02 4.04242766e+02] [-2.16763207e-01 9.76222482e-01 -1.83767504e-03 -7.23827023e+01] [-1.02790207e-02 -4.00047821e-04 9.99947089e-01 -5.35187805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.28, Y:-72.39, Z:-5.35 [[ 9.75465073e-01 2.19929796e-01 9.93862102e-03 4.04275540e+02] [-2.19922786e-01 9.75515610e-01 -1.80635243e-03 -7.23867169e+01] [-1.00925507e-02 -4.23695518e-04 9.99948979e-01 -5.35287119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.31, Y:-72.39, Z:-5.35 [[ 9.75139184e-01 2.21377360e-01 9.77937627e-03 4.04307093e+02] [-2.21370627e-01 9.75188125e-01 -1.77926328e-03 -7.23915428e+01] [-9.93062022e-03 -4.29837313e-04 9.99950598e-01 -5.35346155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.34, Y:-72.40, Z:-5.35 [[ 9.74947449e-01 2.22214255e-01 9.91442423e-03 4.04339476e+02] [-2.22207360e-01 9.74997758e-01 -1.80559071e-03 -7.23958388e+01] [-1.00677694e-02 -4.42701981e-04 9.99949221e-01 -5.35406623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.37, Y:-72.40, Z:-5.35 [[ 9.74837906e-01 2.22724502e-01 9.21160935e-03 4.04371896e+02] [-2.22718558e-01 9.74881339e-01 -1.67913710e-03 -7.23993024e+01] [-9.35421103e-03 -4.14709860e-04 9.99956162e-01 -5.35487326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.40, Y:-72.40, Z:-5.36 [[ 9.74875940e-01 2.22577039e-01 8.73856525e-03 4.04403339e+02] [-2.22571670e-01 9.74915027e-01 -1.59454254e-03 -7.24045366e+01] [-8.87426714e-03 -3.90475901e-04 9.99960547e-01 -5.35557540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.44, Y:-72.41, Z:-5.36 [[ 9.74904468e-01 2.22453000e-01 8.71443545e-03 4.04435963e+02] [-2.22447641e-01 9.74943339e-01 -1.59167906e-03 -7.24102236e+01] [-8.85015457e-03 -3.86770584e-04 9.99960762e-01 -5.35520190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.47, Y:-72.41, Z:-5.36 [[ 9.74978809e-01 2.22032310e-01 1.08616493e-02 4.04467726e+02] [-2.22023930e-01 9.75039193e-01 -1.98659188e-03 -7.24134527e+01] [-1.10316213e-02 -4.74661071e-04 9.99939037e-01 -5.35522486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.50, Y:-72.42, Z:-5.36 [[ 9.74955045e-01 2.22094154e-01 1.16981631e-02 4.04499994e+02] [-2.22084410e-01 9.75025090e-01 -2.14188032e-03 -7.24177958e+01] [-1.18817016e-02 -5.09742625e-04 9.99929280e-01 -5.35572405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.53, Y:-72.42, Z:-5.36 [[ 9.74881865e-01 2.22414965e-01 1.17017982e-02 4.04533221e+02] [-2.22405212e-01 9.74951959e-01 -2.14481040e-03 -7.24219035e+01] [-1.18857291e-02 -5.11604160e-04 9.99929231e-01 -5.35611748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.57, Y:-72.42, Z:-5.36 [[ 9.74807608e-01 2.22754659e-01 1.14231506e-02 4.04566407e+02] [-2.22745363e-01 9.74874408e-01 -2.09586858e-03 -7.24248300e+01] [-1.16030016e-02 -5.01385190e-04 9.99932557e-01 -5.35712993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.60, Y:-72.42, Z:-5.36 [[ 9.74545347e-01 2.24017114e-01 8.81474623e-03 4.04598932e+02] [-2.24011619e-01 9.74585130e-01 -1.61853255e-03 -7.24228956e+01] [-8.95329958e-03 -3.97272208e-04 9.99959839e-01 -5.35806803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.63, Y:-72.42, Z:-5.36 [[ 9.74533547e-01 2.24096743e-01 8.06322892e-03 4.04629430e+02] [-2.24092131e-01 9.74566836e-01 -1.48260794e-03 -7.24240586e+01] [-8.19040311e-03 -3.62054982e-04 9.99966393e-01 -5.35908363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.66, Y:-72.43, Z:-5.36 [[ 9.74753623e-01 2.23135963e-01 8.10651891e-03 4.04659924e+02] [-2.23131267e-01 9.74787267e-01 -1.49071973e-03 -7.24259119e+01] [-8.23476460e-03 -3.55733374e-04 9.99966030e-01 -5.35913706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.69, Y:-72.43, Z:-5.36 [[ 9.75791458e-01 2.18474108e-01 1.00047683e-02 4.04690131e+02] [-2.18466711e-01 9.75842667e-01 -1.83975856e-03 -7.24250738e+01] [-1.01650194e-02 -3.90488137e-04 9.99948259e-01 -5.35850849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.72, Y:-72.43, Z:-5.36 [[ 9.76548649e-01 2.15015958e-01 1.09942362e-02 4.04720463e+02] [-2.15006804e-01 9.76610458e-01 -2.02189582e-03 -7.24277344e+01] [-1.11718259e-02 -3.89355956e-04 9.99937517e-01 -5.35867982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.75, Y:-72.43, Z:-5.36 [[ 9.77292821e-01 2.11586653e-01 1.13943308e-02 4.04749758e+02] [-2.11576587e-01 9.77359175e-01 -2.09547524e-03 -7.24313461e+01] [-1.15797283e-02 -3.62880711e-04 9.99932887e-01 -5.35936960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.78, Y:-72.44, Z:-5.36 [[ 9.78809344e-01 2.04464238e-01 1.12536124e-02 4.04781213e+02] [-2.04453949e-01 9.78873996e-01 -2.06956797e-03 -7.24356547e+01] [-1.14390212e-02 -2.75133025e-04 9.99934534e-01 -5.36002268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.81, Y:-72.44, Z:-5.36 [[ 9.79537563e-01 2.00947545e-01 1.12359995e-02 4.04811956e+02] [-2.00937054e-01 9.79601975e-01 -2.06659879e-03 -7.24410901e+01] [-1.14220852e-02 -2.33417488e-04 9.99934739e-01 -5.36015067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.84, Y:-72.45, Z:-5.36 [[ 9.80209953e-01 1.97659099e-01 1.09237200e-02 4.04842213e+02] [-1.97648976e-01 9.80270802e-01 -2.00943468e-03 -7.24459891e+01] [-1.11053868e-02 -1.89394199e-04 9.99938315e-01 -5.35969024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.87, Y:-72.45, Z:-5.36 [[ 9.80777055e-01 1.94842649e-01 1.06164932e-02 4.04872703e+02] [-1.94832921e-01 9.80834501e-01 -1.95302027e-03 -7.24509929e+01] [-1.07935545e-02 -1.52964908e-04 9.99941736e-01 -5.35996030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.90, Y:-72.46, Z:-5.36 [[ 9.81636877e-01 1.90467214e-01 1.05490094e-02 4.04902951e+02] [-1.90457353e-01 9.81693552e-01 -1.94085864e-03 -7.24571268e+01] [-1.07255644e-02 -1.03917990e-04 9.99942474e-01 -5.35975035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.93, Y:-72.46, Z:-5.36 [[ 9.81979795e-01 1.88667759e-01 1.09616710e-02 4.04932666e+02] [-1.88656997e-01 9.82040971e-01 -2.01701563e-03 -7.24634341e+01] [-1.11453558e-02 -8.73273253e-05 9.99937885e-01 -5.36021777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.96, Y:-72.47, Z:-5.36 [[ 9.81973218e-01 1.88701995e-01 1.09615540e-02 4.04963961e+02] [-1.88691228e-01 9.82034393e-01 -2.01765113e-03 -7.24692470e+01] [-1.11453578e-02 -8.70697086e-05 9.99937885e-01 -5.36062035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.99, Y:-72.48, Z:-5.36 [[ 9.82237316e-01 1.87299820e-01 1.13416450e-02 4.04993685e+02] [-1.87288195e-01 9.82302790e-01 -2.08806367e-03 -7.24758202e+01] [-1.15320235e-02 -7.31821709e-05 9.99933501e-01 -5.36101935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.03, Y:-72.48, Z:-5.36 [[ 9.82447567e-01 1.86232019e-01 1.06964434e-02 4.05025257e+02] [-1.86221617e-01 9.82505792e-01 -1.96911958e-03 -7.24842113e+01] [-1.08760307e-02 -5.73522503e-05 9.99940853e-01 -5.36128219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.06, Y:-72.49, Z:-5.36 [[ 9.82371035e-01 1.86633775e-01 1.07230923e-02 4.05055531e+02] [-1.86623325e-01 9.82429555e-01 -1.97589573e-03 -7.24906676e+01] [-1.09034516e-02 -6.01163982e-05 9.99940554e-01 -5.36170305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.08, Y:-72.50, Z:-5.36 [[ 9.82275061e-01 1.87096425e-01 1.14294296e-02 4.05084809e+02] [-1.87084560e-01 9.82341551e-01 -2.10814558e-03 -7.24973102e+01] [-1.16220301e-02 -6.74909795e-05 9.99932460e-01 -5.36220562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.11, Y:-72.50, Z:-5.36 [[ 9.82283555e-01 1.87009099e-01 1.21084436e-02 4.05114720e+02] [-1.86995773e-01 9.82358179e-01 -2.23354160e-03 -7.25039696e+01] [-1.23125212e-02 -7.02565972e-05 9.99924196e-01 -5.36262086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.15, Y:-72.51, Z:-5.36 [[ 9.82514035e-01 1.85758197e-01 1.26516079e-02 4.05145070e+02] [-1.85743544e-01 9.82595486e-01 -2.33389058e-03 -7.25136296e+01] [-1.28649522e-02 -5.68742424e-05 9.99917241e-01 -5.36268621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.18, Y:-72.52, Z:-5.36 [[ 9.82683340e-01 1.84894388e-01 1.21457518e-02 4.05175385e+02] [-1.84880814e-01 9.82758395e-01 -2.24080652e-03 -7.25217416e+01] [-1.23506521e-02 -4.35132453e-05 9.99923727e-01 -5.36278787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.21, Y:-72.53, Z:-5.36 [[ 9.82792260e-01 1.84370202e-01 1.12695183e-02 4.05206153e+02] [-1.84358464e-01 9.82856870e-01 -2.08068977e-03 -7.25304412e+01] [-1.14599406e-02 -3.27452734e-05 9.99934332e-01 -5.36331081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.24, Y:-72.54, Z:-5.36 [[ 9.82672115e-01 1.85072252e-01 1.01870252e-02 4.05236717e+02] [-1.85062683e-01 9.82724916e-01 -1.88225859e-03 -7.25408938e+01] [-1.03593973e-02 -3.55951908e-05 9.99946339e-01 -5.36382541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.27, Y:-72.55, Z:-5.36 [[ 9.82332057e-01 1.86856403e-01 1.04122638e-02 4.05269076e+02] [-1.86846488e-01 9.82387236e-01 -1.92566934e-03 -7.25486648e+01] [-1.05886987e-02 -5.38481917e-05 9.99943937e-01 -5.36325723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.30, Y:-72.56, Z:-5.36 [[ 9.81746029e-01 1.89871025e-01 1.11233299e-02 4.05300456e+02] [-1.89859876e-01 9.81809037e-01 -2.05953396e-03 -7.25558372e+01] [-1.13120316e-02 -8.99347463e-05 9.99936013e-01 -5.36317732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.33, Y:-72.56, Z:-5.36 [[ 9.80213998e-01 1.97599811e-01 1.16117721e-02 4.05332496e+02] [-1.97588177e-01 9.80282755e-01 -2.15217080e-03 -7.25618093e+01] [-1.18080885e-02 -1.84760950e-04 9.99930265e-01 -5.36303320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.36, Y:-72.57, Z:-5.36 [[ 9.79324477e-01 2.01995388e-01 1.10196544e-02 4.05363891e+02] [-2.01985163e-01 9.79386447e-01 -2.04465587e-03 -7.25667300e+01] [-1.12055113e-02 -2.23425160e-04 9.99937191e-01 -5.36393020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.40, Y:-72.57, Z:-5.37 [[ 9.78378317e-01 2.06572502e-01 1.01818120e-02 4.05397020e+02] [-2.06564010e-01 9.78431263e-01 -1.89019700e-03 -7.25713445e+01] [-1.03526659e-02 -2.53868161e-04 9.99946377e-01 -5.36507588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.43, Y:-72.57, Z:-5.37 [[ 9.76557706e-01 2.15036964e-01 9.70314837e-03 4.05427241e+02] [-2.15029645e-01 9.76605856e-01 -1.80370847e-03 -7.25728992e+01] [-9.86401551e-03 -3.25039142e-04 9.99951297e-01 -5.36535381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.46, Y:-72.58, Z:-5.37 [[ 9.75689952e-01 2.18939432e-01 9.72843147e-03 4.05457997e+02] [-2.18932267e-01 9.75738383e-01 -1.80853181e-03 -7.25759600e+01] [-9.88836292e-03 -3.65301240e-04 9.99951042e-01 -5.36520698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.49, Y:-72.58, Z:-5.37 [[ 9.74863958e-01 2.22596432e-01 9.54425327e-03 4.05488322e+02] [-2.22589709e-01 9.74910597e-01 -1.77444391e-03 -7.25781515e+01] [-9.69977854e-03 -3.94611148e-04 9.99952878e-01 -5.36518195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.52, Y:-72.58, Z:-5.37 [[ 9.74063092e-01 2.26102963e-01 8.86247569e-03 4.05517563e+02] [-2.26097309e-01 9.74103327e-01 -1.64782057e-03 -7.25794901e+01] [-9.00554416e-03 -3.98700712e-04 9.99959370e-01 -5.36636892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.55, Y:-72.57, Z:-5.37 [[ 9.72624276e-01 2.32280060e-01 6.92754246e-03 4.05546414e+02] [-2.32276762e-01 9.72648882e-01 -1.28802434e-03 -7.25748355e+01] [-7.03724880e-03 -3.56343391e-04 9.99975175e-01 -5.36751495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.58, Y:-72.57, Z:-5.37 [[ 9.72050463e-01 2.34662639e-01 7.16542933e-03 4.05576248e+02] [-2.34659179e-01 9.72076795e-01 -1.33174437e-03 -7.25747098e+01] [-7.27785823e-03 -3.86911029e-04 9.99973441e-01 -5.36801037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.61, Y:-72.57, Z:-5.37 [[ 9.71289601e-01 2.37715634e-01 9.36949577e-03 4.05606356e+02] [-2.37709866e-01 9.71334643e-01 -1.74078372e-03 -7.25674244e+01] [-9.51472733e-03 -5.36416453e-04 9.99954590e-01 -5.36701295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.63, Y:-72.57, Z:-5.37 [[ 9.71148061e-01 2.38247616e-01 1.04650565e-02 4.05634999e+02] [-2.38240458e-01 9.71204256e-01 -1.94363636e-03 -7.25654391e+01] [-1.06267742e-02 -6.05641175e-04 9.99943351e-01 -5.36636828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.66, Y:-72.56, Z:-5.37 [[ 9.71199384e-01 2.38000812e-01 1.12857936e-02 4.05663320e+02] [-2.37992480e-01 9.71264737e-01 -2.09520191e-03 -7.25631127e+01] [-1.14601532e-02 -6.51075215e-04 9.99934118e-01 -5.36671233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.69, Y:-72.56, Z:-5.37 [[ 9.71826895e-01 2.35419975e-01 1.13983184e-02 4.05692821e+02] [-2.35411310e-01 9.71893534e-01 -2.11512105e-03 -7.25551976e+01] [-1.15758937e-02 -6.27761542e-04 9.99932800e-01 -5.36777402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.72, Y:-72.55, Z:-5.37 [[ 9.72290697e-01 2.33527788e-01 1.07504585e-02 4.05720580e+02] [-2.33519972e-01 9.72349961e-01 -1.99421202e-03 -7.25541666e+01] [-1.09189118e-02 -5.71492976e-04 9.99940224e-01 -5.36848989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.75, Y:-72.55, Z:-5.37 [[ 9.72838189e-01 2.31259802e-01 1.02353321e-02 4.05749057e+02] [-2.31252601e-01 9.72891892e-01 -1.89783642e-03 -7.25529808e+01] [-1.03967649e-02 -5.20659429e-04 9.99945817e-01 -5.36885478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.78, Y:-72.54, Z:-5.37 [[ 9.74143686e-01 2.25648094e-01 1.12702060e-02 4.05778289e+02] [-2.25638998e-01 9.74208745e-01 -2.08883812e-03 -7.25440072e+01] [-1.14508756e-02 -5.08169520e-04 9.99934307e-01 -5.36858850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.81, Y:-72.54, Z:-5.37 [[ 9.74731672e-01 2.23069893e-01 1.17469280e-02 4.05806707e+02] [-2.23059835e-01 9.74802326e-01 -2.17633135e-03 -7.25432386e+01] [-1.19364068e-02 -4.98928731e-04 9.99928634e-01 -5.36882587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.83, Y:-72.54, Z:-5.37 [[ 9.75311582e-01 2.20518284e-01 1.17900394e-02 4.05834243e+02] [-2.20507975e-01 9.75382728e-01 -2.18349783e-03 -7.25426539e+01] [-1.19813020e-02 -4.70206989e-04 9.99928111e-01 -5.36949398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.86, Y:-72.54, Z:-5.37 [[ 9.75883862e-01 2.17995620e-01 1.13401112e-02 4.05862437e+02] [-2.17985923e-01 9.75949656e-01 -2.09927740e-03 -7.25424490e+01] [-1.15250109e-02 -4.23333675e-04 9.99933495e-01 -5.36928585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.89, Y:-72.54, Z:-5.37 [[ 9.77122812e-01 2.12280392e-01 1.29632071e-02 4.05890413e+02] [-2.12267231e-01 9.77208713e-01 -2.39871049e-03 -7.25380040e+01] [-1.31769582e-02 -4.07829342e-04 9.99913097e-01 -5.36943967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.92, Y:-72.54, Z:-5.37 [[ 9.77969124e-01 2.08252568e-01 1.43965394e-02 4.05917164e+02] [-2.08235918e-01 9.78075004e-01 -2.66265634e-03 -7.25392740e+01] [-1.46354003e-02 -3.93880905e-04 9.99892819e-01 -5.36965845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.95, Y:-72.54, Z:-5.37 [[ 9.78893174e-01 2.03793386e-01 1.53756428e-02 4.05945344e+02] [-2.03773864e-01 9.79013857e-01 -2.84246461e-03 -7.25421867e+01] [-1.56322428e-02 -3.50684930e-04 9.99877748e-01 -5.36970416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.97, Y:-72.54, Z:-5.37 [[ 9.80698509e-01 1.95078934e-01 1.32152905e-02 4.05972909e+02] [-1.95063730e-01 9.80787529e-01 -2.44228536e-03 -7.25444781e+01] [-1.34378305e-02 -1.82678255e-04 9.99909692e-01 -5.37060492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.00, Y:-72.55, Z:-5.37 [[ 9.81500562e-01 1.91134695e-01 1.11434130e-02 4.05999606e+02] [-1.91123638e-01 9.81563812e-01 -2.05876547e-03 -7.25483197e+01] [-1.13314724e-02 -1.09090159e-04 9.99935791e-01 -5.37205931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.03, Y:-72.55, Z:-5.37 [[ 9.82081781e-01 1.88194684e-01 9.90642394e-03 4.06026224e+02] [-1.88185808e-01 9.82131741e-01 -1.82906615e-03 -7.25523132e+01] [-1.00736339e-02 -6.79558537e-05 9.99949257e-01 -5.37362773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.05, Y:-72.56, Z:-5.37 [[ 9.82471375e-01 1.86169121e-01 9.54234863e-03 4.06053315e+02] [-1.86160796e-01 9.82517713e-01 -1.76108870e-03 -7.25570949e+01] [-9.70338688e-03 -4.61919804e-05 9.99952920e-01 -5.37375726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.08, Y:-72.56, Z:-5.37 [[ 9.82766665e-01 1.84566208e-01 1.02468262e-02 4.06080041e+02] [-1.84556530e-01 9.82820082e-01 -1.89030934e-03 -7.25622391e+01] [-1.04196738e-02 -3.33856803e-05 9.99945713e-01 -5.37251032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.11, Y:-72.57, Z:-5.37 [[ 9.82727390e-01 1.84809075e-01 9.61678792e-03 4.06107213e+02] [-1.84800569e-01 9.82774442e-01 -1.77342597e-03 -7.25664203e+01] [-9.77887860e-03 -3.43936141e-05 9.99952185e-01 -5.37258345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.13, Y:-72.57, Z:-5.37 [[ 9.82552710e-01 1.85796495e-01 8.35671367e-03 4.06134785e+02] [-1.85790116e-01 9.82588246e-01 -1.54002520e-03 -7.25705569e+01] [-8.49733991e-03 -3.94388722e-05 9.99963896e-01 -5.37300262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.16, Y:-72.57, Z:-5.37 [[ 9.82020863e-01 1.88595280e-01 8.17589478e-03 4.06162400e+02] [-1.88589276e-01 9.82054895e-01 -1.50619147e-03 -7.25734379e+01] [-8.31323809e-03 -6.27746350e-05 9.99965442e-01 -5.37440679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.19, Y:-72.58, Z:-5.37 [[ 9.81741656e-01 1.90015081e-01 8.80851527e-03 4.06190466e+02] [-1.90008175e-01 9.81781168e-01 -1.62202652e-03 -7.25774366e+01] [-8.95624391e-03 -8.12789096e-05 9.99959889e-01 -5.37448444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.22, Y:-72.58, Z:-5.37 [[ 9.81562479e-01 1.90910749e-01 9.39072550e-03 4.06217230e+02] [-1.90902947e-01 9.81607394e-01 -1.72853509e-03 -7.25811871e+01] [-9.54800152e-03 -9.60519932e-05 9.99954412e-01 -5.37424816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.24, Y:-72.58, Z:-5.37 [[ 9.81487318e-01 1.91273543e-01 9.85276481e-03 4.06244372e+02] [-1.91264982e-01 9.81536765e-01 -1.81268324e-03 -7.25846413e+01] [-1.00175692e-02 -1.05363282e-04 9.99949817e-01 -5.37412233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.27, Y:-72.59, Z:-5.37 [[ 9.81630074e-01 1.90569452e-01 9.25645942e-03 4.06272270e+02] [-1.90561872e-01 9.81673711e-01 -1.70229283e-03 -7.25872556e+01] [-9.41122788e-03 -9.29063921e-05 9.99955709e-01 -5.37475924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.30, Y:-72.59, Z:-5.38 [[ 9.81842324e-01 1.89516636e-01 8.31231190e-03 4.06299764e+02] [-1.89510489e-01 9.81877507e-01 -1.52819621e-03 -7.25915686e+01] [-8.45129069e-03 -7.48225805e-05 9.99964284e-01 -5.37558690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.33, Y:-72.60, Z:-5.38 [[ 9.82117901e-01 1.88130574e-01 7.16354365e-03 4.06326666e+02] [-1.88125974e-01 9.82144024e-01 -1.31667279e-03 -7.25962890e+01] [-7.28333799e-03 -5.45207157e-05 9.99973475e-01 -5.37661114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.35, Y:-72.60, Z:-5.38 [[ 9.82347695e-01 1.86956204e-01 6.35482960e-03 4.06354369e+02] [-1.86952563e-01 9.82368249e-01 -1.16757743e-03 -7.26012775e+01] [-6.46106867e-03 -4.10846844e-05 9.99979126e-01 -5.37730029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.38, Y:-72.61, Z:-5.38 [[ 9.82387638e-01 1.86685387e-01 7.94328524e-03 4.06382107e+02] [-1.86679696e-01 9.82419749e-01 -1.45862047e-03 -7.26056992e+01] [-8.07594342e-03 -4.99193545e-05 9.99967388e-01 -5.37712082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.41, Y:-72.61, Z:-5.38 [[ 9.82285147e-01 1.87142908e-01 9.66547821e-03 4.06408925e+02] [-1.87134511e-01 9.82332697e-01 -1.77398767e-03 -7.26098765e+01] [-9.82670449e-03 -6.61828010e-05 9.99951715e-01 -5.37626545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.44, Y:-72.61, Z:-5.38 [[ 9.81886494e-01 1.89090604e-01 1.19856403e-02 4.06436646e+02] [-1.89077853e-01 9.81959639e-01 -2.19853823e-03 -7.26140699e+01] [-1.21851379e-02 -1.07504133e-04 9.99925753e-01 -5.37522350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.46, Y:-72.62, Z:-5.37 [[ 9.81782932e-01 1.89591727e-01 1.25399916e-02 4.06464373e+02] [-1.89577822e-01 9.81863006e-01 -2.29926680e-03 -7.26187542e+01] [-1.27484758e-02 -1.19923395e-04 9.99918728e-01 -5.37499937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.49, Y:-72.62, Z:-5.38 [[ 9.81738872e-01 1.89795007e-01 1.29089808e-02 4.06491183e+02] [-1.89780302e-01 9.81823731e-01 -2.36593099e-03 -7.26233758e+01] [-1.31233855e-02 -1.27143846e-04 9.99913877e-01 -5.37550239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.52, Y:-72.63, Z:-5.38 [[ 9.81907467e-01 1.88899907e-01 1.32117927e-02 4.06518476e+02] [-1.88884439e-01 9.81996340e-01 -2.42027575e-03 -7.26282032e+01] [-1.34311219e-02 -1.19015207e-04 9.99909791e-01 -5.37679024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.55, Y:-72.63, Z:-5.38 [[ 9.82105954e-01 1.87882599e-01 1.29623907e-02 4.06546026e+02] [-1.87867632e-01 9.82191488e-01 -2.37372282e-03 -7.26341379e+01] [-1.31775310e-02 -1.03966332e-04 9.99913167e-01 -5.37757482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.57, Y:-72.64, Z:-5.38 [[ 9.82774297e-01 1.84366714e-01 1.27904646e-02 4.06572318e+02] [-1.84351856e-01 9.82857523e-01 -2.34127391e-03 -7.26421604e+01] [-1.30028573e-02 -5.70020719e-05 9.99915458e-01 -5.37704723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.60, Y:-72.65, Z:-5.38 [[ 9.83254134e-01 1.81787066e-01 1.28362942e-02 4.06599016e+02] [-1.81771902e-01 9.83337919e-01 -2.34808338e-03 -7.26483202e+01] [-1.30492660e-02 -2.45149112e-05 9.99914854e-01 -5.37754906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.63, Y:-72.65, Z:-5.38 [[ 9.83683938e-01 1.79487912e-01 1.22474486e-02 4.06626392e+02] [-1.79473942e-01 9.83760179e-01 -2.23936683e-03 -7.26543357e+01] [-1.24504915e-02 4.73130548e-06 9.99922490e-01 -5.37767372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.65, Y:-72.66, Z:-5.38 [[ 9.84071151e-01 1.77418990e-01 1.12459577e-02 4.06653787e+02] [-1.77407084e-01 9.84135408e-01 -2.05553421e-03 -7.26601534e+01] [-1.14322360e-02 2.76793476e-05 9.99934649e-01 -5.37861242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.68, Y:-72.67, Z:-5.38 [[ 9.84591359e-01 1.74685262e-01 8.05694290e-03 4.06680410e+02] [-1.74679062e-01 9.84624323e-01 -1.47231558e-03 -7.26698500e+01] [-8.19025378e-03 4.22499646e-05 9.99966458e-01 -5.37974095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.71, Y:-72.68, Z:-5.38 [[ 9.84756078e-01 1.73771071e-01 7.68643360e-03 4.06707026e+02] [-1.73765405e-01 9.84786075e-01 -1.40409101e-03 -7.26774297e+01] [-7.81348317e-03 4.70509074e-05 9.99969473e-01 -5.37996006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.73, Y:-72.69, Z:-5.38 [[ 9.85025753e-01 1.72169939e-01 9.04308889e-03 4.06732487e+02] [-1.72162035e-01 9.85067260e-01 -1.65113342e-03 -7.26872132e+01] [-9.19232634e-03 6.95323458e-05 9.99957747e-01 -5.37899822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.76, Y:-72.69, Z:-5.38 [[ 9.85092853e-01 1.71741400e-01 9.84699416e-03 4.06758587e+02] [-1.71732016e-01 9.85142064e-01 -1.79698993e-03 -7.26944764e+01] [-1.00093057e-02 7.91577695e-05 9.99949903e-01 -5.37863123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.79, Y:-72.70, Z:-5.38 [[ 9.85102690e-01 1.71684955e-01 9.84715089e-03 4.06786641e+02] [-1.71675578e-01 9.85151902e-01 -1.79613061e-03 -7.26994589e+01] [-1.00093080e-02 7.88577719e-05 9.99949903e-01 -5.37899154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.81, Y:-72.71, Z:-5.38 [[ 9.85014360e-01 1.72196449e-01 9.75159378e-03 4.06813990e+02] [-1.72187283e-01 9.85062626e-01 -1.77816244e-03 -7.27072056e+01] [-9.91212384e-03 7.24151025e-05 9.99950871e-01 -5.37935850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.84, Y:-72.72, Z:-5.38 [[ 9.84604598e-01 1.74567605e-01 8.94075423e-03 4.06839504e+02] [-1.74560003e-01 9.84645190e-01 -1.62978836e-03 -7.27152697e+01] [-9.08797889e-03 4.39990291e-05 9.99958702e-01 -5.37993474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.87, Y:-72.72, Z:-5.38 [[ 9.84291572e-01 1.76313978e-01 9.13685988e-03 4.06865674e+02] [-1.76306121e-01 9.84333978e-01 -1.66475757e-03 -7.27202515e+01] [-9.28724167e-03 2.77225239e-05 9.99956872e-01 -5.38052102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.89, Y:-72.72, Z:-5.38 [[ 9.83973011e-01 1.78055060e-01 9.66999856e-03 4.06892787e+02] [-1.78046352e-01 9.84020526e-01 -1.76101383e-03 -7.27249961e+01] [-9.82903449e-03 1.10821204e-05 9.99951694e-01 -5.38019281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.92, Y:-72.73, Z:-5.38 [[ 9.83623608e-01 1.79937988e-01 1.03401099e-02 4.06920739e+02] [-1.79928144e-01 9.83677956e-01 -1.88226203e-03 -7.27298468e+01] [-1.05100286e-02 -9.03941016e-06 9.99944768e-01 -5.38018214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.95, Y:-72.73, Z:-5.38 [[ 9.82792705e-01 1.84409897e-01 1.05587797e-02 4.06948317e+02] [-1.84399898e-01 9.82849422e-01 -1.92130956e-03 -7.27339914e+01] [-1.07319990e-02 -5.87888753e-05 9.99942409e-01 -5.38017953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.98, Y:-72.74, Z:-5.38 [[ 9.82341049e-01 1.86835488e-01 9.92793182e-03 4.06975200e+02] [-1.86826777e-01 9.82391212e-01 -1.80590276e-03 -7.27385489e+01] [-1.00905197e-02 -8.07910989e-05 9.99949086e-01 -5.38082766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.00, Y:-72.74, Z:-5.38 [[ 9.82011087e-01 1.88612238e-01 8.92459121e-03 4.07003238e+02] [-1.88605279e-01 9.82051636e-01 -1.62272825e-03 -7.27430220e+01] [-9.07047581e-03 -8.96878827e-05 9.99958858e-01 -5.38147731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.03, Y:-72.75, Z:-5.38 [[ 9.81667853e-01 1.90419970e-01 8.27411568e-03 4.07029883e+02] [-1.90414057e-01 9.81702717e-01 -1.50398490e-03 -7.27469170e+01] [-8.40911061e-03 -9.90943073e-05 9.99964638e-01 -5.38213643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.06, Y:-72.75, Z:-5.38 [[ 9.81565185e-01 1.90929081e-01 8.71052408e-03 4.07056092e+02] [-1.90922553e-01 9.81603827e-01 -1.58269160e-03 -7.27512695e+01] [-8.85246563e-03 -1.09520515e-04 9.99960810e-01 -5.38230718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.08, Y:-72.76, Z:-5.38 [[ 9.81423029e-01 1.91585490e-01 1.01900749e-02 4.07083503e+02] [-1.91576608e-01 9.81475920e-01 -1.84991610e-03 -7.27563906e+01] [-1.03557303e-02 -1.36629723e-04 9.99946369e-01 -5.38242140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.11, Y:-72.76, Z:-5.38 [[ 9.81299289e-01 1.92118361e-01 1.19264456e-02 4.07110465e+02] [-1.92106244e-01 9.81371748e-01 -2.16419146e-03 -7.27614036e+01] [-1.21200577e-02 -1.67425128e-04 9.99926535e-01 -5.38234996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.14, Y:-72.77, Z:-5.38 [[ 9.81203705e-01 1.92537716e-01 1.29813796e-02 4.07138244e+02] [-1.92523412e-01 9.81289556e-01 -2.35451638e-03 -7.27663384e+01] [-1.31918255e-02 -1.88959302e-04 9.99912966e-01 -5.38297209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.30576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:407.16, Y:-72.77, Z:-5.38 [[ 9.81297842e-01 1.92128811e-01 1.18770565e-02 4.07164798e+02] [-1.92116816e-01 9.81369702e-01 -2.15349480e-03 -7.27712962e+01] [-1.20695318e-02 -1.68562472e-04 9.99927146e-01 -5.38340513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:407.19, Y:-72.78, Z:-5.38 [[ 9.81404785e-01 1.91663078e-01 1.04839058e-02 4.07191832e+02] [-1.91653713e-01 9.81460770e-01 -1.90017386e-03 -7.27762888e+01] [-1.06537354e-02 -1.44439745e-04 9.99943237e-01 -5.38406548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.22, Y:-72.78, Z:-5.38 [[ 9.81280228e-01 1.92382872e-01 8.82862829e-03 4.07218684e+02] [-1.92376262e-01 9.81319935e-01 -1.59983373e-03 -7.27814943e+01] [-8.97148955e-03 -1.28533309e-04 9.99959747e-01 -5.38445435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.25, Y:-72.79, Z:-5.38 [[ 9.81102119e-01 1.93292098e-01 8.76338295e-03 4.07246522e+02] [-1.93285633e-01 9.81141247e-01 -1.58684387e-03 -7.27863236e+01] [-8.90484085e-03 -1.36980134e-04 9.99960342e-01 -5.38491130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.27, Y:-72.79, Z:-5.39 [[ 9.80932554e-01 1.94133694e-01 9.13420548e-03 4.07272963e+02] [-1.94126712e-01 9.80975069e-01 -1.65335190e-03 -7.27905204e+01] [-9.28139917e-03 -1.51366576e-04 9.99956915e-01 -5.38552945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:407.30, Y:-72.80, Z:-5.39 [[ 9.80768618e-01 1.94944588e-01 9.46176683e-03 4.07300944e+02] [-1.94937142e-01 9.80814244e-01 -1.71180637e-03 -7.27957393e+01] [-9.61394306e-03 -1.65563813e-04 9.99953771e-01 -5.38573822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.33, Y:-72.80, Z:-5.39 [[ 9.80786052e-01 1.94808458e-01 1.04107955e-02 4.07326548e+02] [-1.94799445e-01 9.80841288e-01 -1.88271608e-03 -7.28031313e+01] [-1.05781071e-02 -1.81475505e-04 9.99944034e-01 -5.38646842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.35, Y:-72.81, Z:-5.39 [[ 9.80851554e-01 1.94455358e-01 1.08324588e-02 4.07353358e+02] [-1.94445588e-01 9.80911351e-01 -1.95803571e-03 -7.28096992e+01] [-1.10064323e-02 -1.85781457e-04 9.99939410e-01 -5.38681295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.38, Y:-72.82, Z:-5.39 [[ 9.80875768e-01 1.94338738e-01 1.07323323e-02 4.07380543e+02] [-1.94329149e-01 9.80934463e-01 -1.93921872e-03 -7.28154102e+01] [-1.09045799e-02 -1.83472350e-04 9.99940526e-01 -5.38660764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.41, Y:-72.82, Z:-5.39 [[ 9.80692051e-01 1.95329561e-01 9.45847720e-03 4.07407383e+02] [-1.95322165e-01 9.80737647e-01 -1.70850031e-03 -7.28195412e+01] [-9.61000530e-03 -1.71937570e-04 9.99953808e-01 -5.38789678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.60576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:407.44, Y:-72.82, Z:-5.39 [[ 9.80524715e-01 1.96196502e-01 8.84396630e-03 4.07435249e+02] [-1.96190077e-01 9.80564584e-01 -1.59677803e-03 -7.28239678e+01] [-8.98536240e-03 -1.69418114e-04 9.99959616e-01 -5.38846185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.46, Y:-72.83, Z:-5.39 [[ 9.79746992e-01 2.00066117e-01 8.32946150e-03 4.07461688e+02] [-2.00060562e-01 9.79782380e-01 -1.50337004e-03 -7.28268843e+01] [-8.46183302e-03 -1.93474479e-04 9.99964179e-01 -5.38871426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.49, Y:-72.83, Z:-5.39 [[ 9.79223546e-01 2.02634990e-01 7.76577805e-03 4.07489118e+02] [-2.02630247e-01 9.79254318e-01 -1.40098000e-03 -7.28299278e+01] [-7.88855926e-03 -2.01708917e-04 9.99968864e-01 -5.38897672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.52, Y:-72.83, Z:-5.39 [[ 9.78715868e-01 2.05104744e-01 6.87700974e-03 4.07517403e+02] [-2.05101089e-01 9.78740009e-01 -1.24024385e-03 -7.28334554e+01] [-6.98518447e-03 -1.96635849e-04 9.99975584e-01 -5.39010480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.55, Y:-72.84, Z:-5.39 [[ 9.78172946e-01 2.07726690e-01 5.22590271e-03 4.07545307e+02] [-2.07724617e-01 9.78186892e-01 -9.42306863e-04 -7.28363477e+01] [-5.30765181e-03 -1.63809558e-04 9.99985901e-01 -5.39144453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.57, Y:-72.84, Z:-5.39 [[ 9.78086841e-01 2.08120311e-01 5.66275083e-03 4.07572203e+02] [-2.08117885e-01 9.78103217e-01 -1.02097994e-03 -7.28401877e+01] [-5.75124147e-03 -1.79912684e-04 9.99983445e-01 -5.39168612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.60, Y:-72.84, Z:-5.39 [[ 9.78083597e-01 2.08104227e-01 6.71616528e-03 4.07599063e+02] [-2.08100823e-01 9.78106632e-01 -1.20947919e-03 -7.28435930e+01] [-6.82082354e-03 -2.14667770e-04 9.99976715e-01 -5.39237965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.63, Y:-72.85, Z:-5.39 [[ 9.78109709e-01 2.07965910e-01 7.18170363e-03 4.07626659e+02] [-2.07962019e-01 9.78136048e-01 -1.29258051e-03 -7.28471304e+01] [-7.29349588e-03 -2.29236041e-04 9.99973376e-01 -5.39298424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.66, Y:-72.85, Z:-5.39 [[ 9.78026332e-01 2.08401204e-01 5.78197943e-03 4.07655013e+02] [-2.08398691e-01 9.78043406e-01 -1.04042040e-03 -7.28487161e+01] [-5.87185172e-03 -1.87398397e-04 9.99982743e-01 -5.39383180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.68, Y:-72.85, Z:-5.40 [[ 9.77806628e-01 2.09444106e-01 5.23121206e-03 4.07682059e+02] [-2.09442065e-01 9.77820605e-01 -9.41111288e-04 -7.28521982e+01] [-5.31229716e-03 -1.75411004e-04 9.99985874e-01 -5.39511158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.71, Y:-72.86, Z:-5.39 [[ 9.77168774e-01 2.12405343e-01 5.01575191e-03 4.07708835e+02] [-2.12403508e-01 9.77181629e-01 -9.01974847e-04 -7.28550709e+01] [-5.09288490e-03 -1.83981644e-04 9.99987014e-01 -5.39486236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.74, Y:-72.86, Z:-5.39 [[ 9.76771201e-01 2.14214842e-01 5.47924539e-03 4.07736703e+02] [-2.14212684e-01 9.76786546e-01 -9.84707711e-04 -7.28590957e+01] [-5.56299219e-03 -2.11889725e-04 9.99984504e-01 -5.39414913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.76, Y:-72.86, Z:-5.39 [[ 9.76309329e-01 2.16286738e-01 6.33576762e-03 4.07764368e+02] [-2.16283899e-01 9.76329852e-01 -1.13806936e-03 -7.28628942e+01] [-6.43194837e-03 -2.59216795e-04 9.99979281e-01 -5.39424731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.79, Y:-72.86, Z:-5.39 [[ 9.75499892e-01 2.19841758e-01 8.34043049e-03 4.07791218e+02] [-2.19836975e-01 9.75535475e-01 -1.49735592e-03 -7.28645780e+01] [-8.46556717e-03 -3.72864477e-04 9.99964097e-01 -5.39439537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.82, Y:-72.87, Z:-5.39 [[ 9.75173180e-01 2.21266539e-01 8.85373428e-03 4.07819163e+02] [-2.21261215e-01 9.75213285e-01 -1.58869634e-03 -7.28675430e+01] [-8.98580463e-03 -4.09733945e-04 9.99959543e-01 -5.39470148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.85, Y:-72.87, Z:-5.39 [[ 9.74917399e-01 2.22387562e-01 8.93514439e-03 4.07847166e+02] [-2.22382192e-01 9.74958251e-01 -1.60268748e-03 -7.28700576e+01] [-9.06781051e-03 -4.24529086e-04 9.99958796e-01 -5.39465663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.88, Y:-72.87, Z:-5.39 [[ 9.74594568e-01 2.23805777e-01 8.74079301e-03 4.07875620e+02] [-2.23800700e-01 9.74633670e-01 -1.56725305e-03 -7.28684465e+01] [-8.86983145e-03 -4.28759290e-04 9.99960570e-01 -5.39423310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.90, Y:-72.87, Z:-5.39 [[ 9.74403607e-01 2.24623549e-01 9.04827233e-03 4.07902510e+02] [-2.24618149e-01 9.74445513e-01 -1.62176897e-03 -7.28689297e+01] [-9.18133587e-03 -4.52148646e-04 9.99957748e-01 -5.39399980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.93, Y:-72.87, Z:-5.39 [[ 9.74127152e-01 2.25798129e-01 9.56534121e-03 4.07930274e+02] [-2.25792160e-01 9.74173991e-01 -1.71361525e-03 -7.28696737e+01] [-9.70523774e-03 -4.90499903e-04 9.99952783e-01 -5.39433508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.96, Y:-72.87, Z:-5.39 [[ 9.73852125e-01 2.26940610e-01 1.04880414e-02 4.07958664e+02] [-2.26933509e-01 9.73908443e-01 -1.87800404e-03 -7.28659899e+01] [-1.06405874e-02 -5.51189808e-04 9.99943235e-01 -5.39493448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.99, Y:-72.87, Z:-5.40 [[ 9.73944264e-01 2.26542117e-01 1.05470441e-02 4.07987225e+02] [-2.26534919e-01 9.74001215e-01 -1.88794413e-03 -7.28670470e+01] [-1.07005326e-02 -5.50521435e-04 9.99942596e-01 -5.39546376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.02, Y:-72.87, Z:-5.40 [[ 9.74172466e-01 2.25572809e-01 1.02428078e-02 4.08015704e+02] [-2.25565985e-01 9.74226171e-01 -1.83172851e-03 -7.28682350e+01] [-1.03919995e-02 -5.26009542e-04 9.99945863e-01 -5.39556325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.04, Y:-72.87, Z:-5.40 [[ 9.74887114e-01 2.22484667e-01 9.78197657e-03 4.08043924e+02] [-2.22478309e-01 9.74936074e-01 -1.74721884e-03 -7.28659198e+01] [-9.92553124e-03 -4.72936469e-04 9.99950629e-01 -5.39604557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.07, Y:-72.87, Z:-5.40 [[ 9.75475082e-01 2.19908487e-01 9.41389291e-03 4.08070876e+02] [-2.19902484e-01 9.75520411e-01 -1.68085503e-03 -7.28660949e+01] [-9.55307897e-03 -4.30506240e-04 9.99954276e-01 -5.39645219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.10, Y:-72.87, Z:-5.40 [[ 9.76061881e-01 2.17312051e-01 8.87000654e-03 4.08097892e+02] [-2.17306626e-01 9.76102108e-01 -1.58247575e-03 -7.28670355e+01] [-9.00192314e-03 -3.82916941e-04 9.99959409e-01 -5.39715233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.13, Y:-72.86, Z:-5.40 [[ 9.77113343e-01 2.12541283e-01 8.70160042e-03 4.08125952e+02] [-2.12535879e-01 9.77152031e-01 -1.55176784e-03 -7.28645655e+01] [-8.83260125e-03 -3.33149240e-04 9.99960936e-01 -5.39776122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.15, Y:-72.87, Z:-5.40 [[ 9.77555619e-01 2.10476565e-01 9.19932618e-03 4.08153742e+02] [-2.10470438e-01 9.77598847e-01 -1.64013079e-03 -7.28664395e+01] [-9.33845976e-03 -3.32867133e-04 9.99956340e-01 -5.39843281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.18, Y:-72.87, Z:-5.40 [[ 9.78012176e-01 2.08336210e-01 9.39190489e-03 4.08180727e+02] [-2.08329746e-01 9.78057217e-01 -1.67225474e-03 -7.28678704e+01] [-9.53421157e-03 -3.21127663e-04 9.99954497e-01 -5.39880925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.21, Y:-72.87, Z:-5.40 [[ 9.79007320e-01 2.03595378e-01 9.67416705e-03 4.08209833e+02] [-2.03588293e-01 9.79055076e-01 -1.72196856e-03 -7.28656827e+01] [-9.82212719e-03 -2.83727331e-04 9.99951721e-01 -5.39946503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.24, Y:-72.87, Z:-5.40 [[ 9.79583375e-01 2.00831524e-01 9.11648127e-03 4.08236703e+02] [-2.00825131e-01 9.79625765e-01 -1.62086616e-03 -7.28671371e+01] [-9.25626096e-03 -2.43044997e-04 9.99957130e-01 -5.40012216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.26, Y:-72.87, Z:-5.40 [[ 9.80181313e-01 1.97922106e-01 8.45183365e-03 4.08263421e+02] [-1.97916512e-01 9.80217731e-01 -1.50150489e-03 -7.28694043e+01] [-8.58181821e-03 -2.01010403e-04 9.99963155e-01 -5.40107110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.29, Y:-72.87, Z:-5.40 [[ 9.81305702e-01 1.92333572e-01 6.84949701e-03 4.08291093e+02] [-1.92329765e-01 9.81329599e-01 -1.21646385e-03 -7.28696756e+01] [-6.95558099e-03 -1.23639231e-04 9.99975802e-01 -5.40136490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.32, Y:-72.87, Z:-5.40 [[ 9.81860364e-01 1.89480706e-01 6.87657308e-03 4.08317710e+02] [-1.89476801e-01 9.81884439e-01 -1.22095009e-03 -7.28717170e+01] [-6.98334659e-03 -1.04148563e-04 9.99975611e-01 -5.40143396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.35, Y:-72.87, Z:-5.40 [[ 9.82414611e-01 1.86567495e-01 7.35545358e-03 4.08345563e+02] [-1.86562951e-01 9.82442142e-01 -1.30521606e-03 -7.28741879e+01] [-7.46981845e-03 -8.99917908e-05 9.99972096e-01 -5.40171668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.37, Y:-72.88, Z:-5.40 [[ 9.82959180e-01 1.83666560e-01 7.60564124e-03 4.08373414e+02] [-1.83661627e-01 9.82988601e-01 -1.34809312e-03 -7.28777847e+01] [-7.72385827e-03 -7.17439364e-05 9.99970168e-01 -5.40202613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.40, Y:-72.88, Z:-5.40 [[ 9.84059933e-01 1.77701307e-01 6.94934444e-03 4.08400210e+02] [-1.77697051e-01 9.84084470e-01 -1.23007312e-03 -7.28821967e+01] [-7.05732755e-03 -2.44123424e-05 9.99975096e-01 -5.40264418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.43, Y:-72.89, Z:-5.40 [[ 9.84610994e-01 1.74648105e-01 6.26333342e-03 4.08427996e+02] [-1.74644585e-01 9.84630915e-01 -1.10892735e-03 -7.28868557e+01] [-6.36074377e-03 -1.99520390e-06 9.99979770e-01 -5.40280878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.45, Y:-72.89, Z:-5.40 [[ 9.85541428e-01 1.69312918e-01 6.42103923e-03 4.08454653e+02] [-1.69309118e-01 9.85562344e-01 -1.13487947e-03 -7.28913034e+01] [-6.52048423e-03 3.13302502e-05 9.99978741e-01 -5.40316993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.48, Y:-72.90, Z:-5.40 [[ 9.85981013e-01 1.66693734e-01 7.39201820e-03 4.08481875e+02] [-1.66688625e-01 9.86008720e-01 -1.30627276e-03 -7.28964756e+01] [-7.50634189e-03 5.57947917e-05 9.99971825e-01 -5.40328528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.51, Y:-72.90, Z:-5.40 [[ 9.86010549e-01 1.66518920e-01 7.39227645e-03 4.08509939e+02] [-1.66513818e-01 9.86038258e-01 -1.30480911e-03 -7.29012399e+01] [-7.50634280e-03 5.56393701e-05 9.99971825e-01 -5.40364547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.54, Y:-72.91, Z:-5.40 [[ 9.86351356e-01 1.64457563e-01 8.04438067e-03 4.08536310e+02] [-1.64451469e-01 9.86384157e-01 -1.41780834e-03 -7.29070025e+01] [-8.16801895e-03 7.55469658e-05 9.99966638e-01 -5.40319148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.56, Y:-72.91, Z:-5.40 [[ 9.86947213e-01 1.60840336e-01 8.09842071e-03 4.08562101e+02] [-1.60834042e-01 9.86980433e-01 -1.42681960e-03 -7.29149096e+01] [-8.22247292e-03 1.05693891e-04 9.99966189e-01 -5.40298521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.59, Y:-72.92, Z:-5.40 [[ 9.87158565e-01 1.59549114e-01 7.87700894e-03 4.08589535e+02] [-1.59543128e-01 9.87189986e-01 -1.38662242e-03 -7.29213393e+01] [-7.99733872e-03 1.12093553e-04 9.99968014e-01 -5.40361294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.62, Y:-72.93, Z:-5.40 [[ 9.87280282e-01 1.58798563e-01 7.78848527e-03 4.08615511e+02] [-1.58792691e-01 9.87310996e-01 -1.37052658e-03 -7.29280359e+01] [-7.90729480e-03 1.16339330e-04 9.99968730e-01 -5.40417692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.64, Y:-72.94, Z:-5.41 [[ 9.87551058e-01 1.57074688e-01 8.39347482e-03 4.08641206e+02] [-1.57067813e-01 9.87586717e-01 -1.47616736e-03 -7.29384641e+01] [-8.52115276e-03 1.39445903e-04 9.99963685e-01 -5.40517870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.67, Y:-72.95, Z:-5.41 [[ 9.87690880e-01 1.56177625e-01 8.67613609e-03 4.08667230e+02] [-1.56170251e-01 9.87728974e-01 -1.52511621e-03 -7.29458945e+01] [-8.80786003e-03 1.51389022e-04 9.99961199e-01 -5.40546803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.69, Y:-72.95, Z:-5.41 [[ 9.87849265e-01 1.55142829e-01 9.19417811e-03 4.08694546e+02] [-1.55134512e-01 9.87892035e-01 -1.61535769e-03 -7.29529086e+01] [-9.33346649e-03 1.69395575e-04 9.99956428e-01 -5.40512808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.72, Y:-72.96, Z:-5.41 [[ 9.88053862e-01 1.53737323e-01 1.06958653e-02 4.08721269e+02] [-1.53725993e-01 9.88111730e-01 -1.87836019e-03 -7.29636979e+01] [-1.08574840e-02 2.11688531e-04 9.99941033e-01 -5.40536517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.75, Y:-72.97, Z:-5.41 [[ 9.88122456e-01 1.53271559e-01 1.10381967e-02 4.08748469e+02] [-1.53259473e-01 9.88184082e-01 -1.93764598e-03 -7.29716769e+01] [-1.12047563e-02 2.22923300e-04 9.99937200e-01 -5.40574576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.77, Y:-72.98, Z:-5.41 [[ 9.88275464e-01 1.52267676e-01 1.12321600e-02 4.08773968e+02] [-1.52255106e-01 9.88339263e-01 -1.97087703e-03 -7.29814080e+01] [-1.14012856e-02 2.37615710e-04 9.99934975e-01 -5.40562803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.80, Y:-72.99, Z:-5.41 [[ 9.88320608e-01 1.52004363e-01 1.08189256e-02 4.08800792e+02] [-1.51992695e-01 9.88379796e-01 -1.89747388e-03 -7.29883174e+01] [-1.09816318e-02 2.30914880e-04 9.99939673e-01 -5.40596269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.83, Y:-73.00, Z:-5.41 [[ 9.88423996e-01 1.51382405e-01 1.00683317e-02 4.08827973e+02] [-1.51372274e-01 9.88475249e-01 -1.76519178e-03 -7.29953667e+01] [-1.02195157e-02 2.20691646e-04 9.99947755e-01 -5.40672593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.85, Y:-73.00, Z:-5.41 [[ 9.88543663e-01 1.50667461e-01 8.98572986e-03 4.08853552e+02] [-1.50659366e-01 9.88584480e-01 -1.57495347e-03 -7.30031170e+01] [-9.12044733e-03 2.03125908e-04 9.99958387e-01 -5.40761266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.88, Y:-73.01, Z:-5.41 [[ 9.88951731e-01 1.48015325e-01 8.12012981e-03 4.08880184e+02] [-1.48008633e-01 9.88985046e-01 -1.42222415e-03 -7.30149111e+01] [-8.24119792e-03 2.04661721e-04 9.99966020e-01 -5.40809431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.91, Y:-73.02, Z:-5.41 [[ 9.89194858e-01 1.46379217e-01 8.16439912e-03 4.08905823e+02] [-1.46372401e-01 9.89228526e-01 -1.42943868e-03 -7.30237357e+01] [-8.28569662e-03 2.18950694e-04 9.99965649e-01 -5.40788159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.93, Y:-73.04, Z:-5.41 [[ 9.89701636e-01 1.42913186e-01 8.15434610e-03 4.08930274e+02] [-1.42906275e-01 9.89735197e-01 -1.42699286e-03 -7.30376143e+01] [-8.27457944e-03 2.46989942e-04 9.99965735e-01 -5.40913283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.96, Y:-73.05, Z:-5.41 [[ 9.89986710e-01 1.40960594e-01 7.51162213e-03 4.08956548e+02] [-1.40954678e-01 9.90015178e-01 -1.31390809e-03 -7.30468190e+01] [-7.62182918e-03 2.41953269e-04 9.99970924e-01 -5.41007789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.98, Y:-73.06, Z:-5.41 [[ 9.90209195e-01 1.39420729e-01 6.90006468e-03 4.08983472e+02] [-1.39415702e-01 9.90233208e-01 -1.20659832e-03 -7.30560187e+01] [-7.00089800e-03 2.32807389e-04 9.99975466e-01 -5.41112929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.01, Y:-73.07, Z:-5.41 [[ 9.90346121e-01 1.38451244e-01 6.76866150e-03 4.09010970e+02] [-1.38446388e-01 9.90369223e-01 -1.18306335e-03 -7.30689385e+01] [-6.86727062e-03 2.34545464e-04 9.99976393e-01 -5.41070972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.04, Y:-73.08, Z:-5.41 [[ 9.90281099e-01 1.38889012e-01 7.29292058e-03 4.09038241e+02] [-1.38883390e-01 9.90307922e-01 -1.27430500e-03 -7.30778283e+01] [-7.39922399e-03 2.49054630e-04 9.99972594e-01 -5.41020964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.07, Y:-73.09, Z:-5.41 [[ 9.90086279e-01 1.40272156e-01 7.27206130e-03 4.09065288e+02] [-1.40266605e-01 9.90112956e-01 -1.27037380e-03 -7.30870653e+01] [-7.37836018e-03 2.37752318e-04 9.99972751e-01 -5.41024673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.09, Y:-73.10, Z:-5.41 [[ 9.89784520e-01 1.42359064e-01 7.77829478e-03 4.09092325e+02] [-1.42352782e-01 9.89815054e-01 -1.35823527e-03 -7.30996810e+01] [-7.89243037e-03 2.37098342e-04 9.99968826e-01 -5.41098208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.12, Y:-73.11, Z:-5.41 [[ 9.89711549e-01 1.42815388e-01 8.64958961e-03 4.09119425e+02] [-1.42807641e-01 9.89749311e-01 -1.50994770e-03 -7.31073634e+01] [-8.77656912e-03 2.59185181e-04 9.99961452e-01 -5.41105108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.15, Y:-73.11, Z:-5.41 [[ 9.89685732e-01 1.42921488e-01 9.77753469e-03 4.09146364e+02] [-1.42911600e-01 9.89733986e-01 -1.70618269e-03 -7.31147767e+01] [-9.92100856e-03 2.91261538e-04 9.99950743e-01 -5.41129735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.17, Y:-73.12, Z:-5.41 [[ 9.89647910e-01 1.43117340e-01 1.06977015e-02 4.09174423e+02] [-1.43105523e-01 9.89705677e-01 -1.86599060e-03 -7.31242827e+01] [-1.08546315e-02 3.15773532e-04 9.99941037e-01 -5.41059705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.20, Y:-73.13, Z:-5.41 [[ 9.89560789e-01 1.43724643e-01 1.06147359e-02 4.09202868e+02] [-1.43713049e-01 9.89617670e-01 -1.85106719e-03 -7.31315334e+01] [-1.07705742e-02 3.06267445e-04 9.99941949e-01 -5.41085782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.23, Y:-73.14, Z:-5.41 [[ 9.89475346e-01 1.44370348e-01 9.78474651e-03 4.09230140e+02] [-1.44360532e-01 9.89523687e-01 -1.70593725e-03 -7.31382490e+01] [-9.92852520e-03 2.75451647e-04 9.99950673e-01 -5.41143705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.26, Y:-73.15, Z:-5.41 [[ 9.89257877e-01 1.45940931e-01 8.37242316e-03 4.09258046e+02] [-1.45933804e-01 9.89293281e-01 -1.45926280e-03 -7.31474414e+01] [-8.49574815e-03 2.21767661e-04 9.99963886e-01 -5.41302841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.29, Y:-73.15, Z:-5.41 [[ 9.89149281e-01 1.46668028e-01 8.49643778e-03 4.09285818e+02] [-1.46660718e-01 9.89185747e-01 -1.48046403e-03 -7.31539225e+01] [-8.62169189e-03 2.18306259e-04 9.99962809e-01 -5.41276622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.31, Y:-73.16, Z:-5.41 [[ 9.89033749e-01 1.47432664e-01 8.70934846e-03 4.09314097e+02] [-1.47425017e-01 9.89072072e-01 -1.51714111e-03 -7.31597734e+01] [-8.83784948e-03 2.16527911e-04 9.99960922e-01 -5.41250167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.34, Y:-73.17, Z:-5.41 [[ 9.88934558e-01 1.48017571e-01 9.96184620e-03 4.09341591e+02] [-1.48007601e-01 9.88984702e-01 -1.73475559e-03 -7.31659035e+01] [-1.01088878e-02 2.41130795e-04 9.99948875e-01 -5.41203141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.37, Y:-73.17, Z:-5.41 [[ 9.88958764e-01 1.47812122e-01 1.05895644e-02 4.09369405e+02] [-1.47800852e-01 9.89015425e-01 -1.84333784e-03 -7.31712793e+01] [-1.07457102e-02 2.57838468e-04 9.99942230e-01 -5.41227502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.40, Y:-73.18, Z:-5.41 [[ 9.89015664e-01 1.47396697e-01 1.10557869e-02 4.09397951e+02] [-1.47384395e-01 9.89077418e-01 -1.92378714e-03 -7.31767606e+01] [-1.12185891e-02 2.73205148e-04 9.99937032e-01 -5.41286899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.43, Y:-73.18, Z:-5.41 [[ 9.89102634e-01 1.46850230e-01 1.05351276e-02 4.09425581e+02] [-1.46839034e-01 9.89158703e-01 -1.83268583e-03 -7.31835641e+01] [-1.06900434e-02 2.65746432e-04 9.99942825e-01 -5.41341763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.45, Y:-73.19, Z:-5.41 [[ 9.89189706e-01 1.46262468e-01 1.05364113e-02 4.09454668e+02] [-1.46251240e-01 9.89245782e-01 -1.83251183e-03 -7.31892252e+01] [-1.06911281e-02 2.71738615e-04 9.99942811e-01 -5.41382543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.48, Y:-73.19, Z:-5.41 [[ 9.89271153e-01 1.45713131e-01 1.05009105e-02 4.09482665e+02] [-1.45701950e-01 9.89326845e-01 -1.82608387e-03 -7.31939672e+01] [-1.06549171e-02 2.76488961e-04 9.99943197e-01 -5.41389349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.51, Y:-73.20, Z:-5.41 [[ 9.89425735e-01 1.44647201e-01 1.06724696e-02 4.09511562e+02] [-1.44635594e-01 9.89483250e-01 -1.85563035e-03 -7.31982115e+01] [-1.08286416e-02 2.92389445e-04 9.99941326e-01 -5.41426690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.54, Y:-73.20, Z:-5.41 [[ 9.89481528e-01 1.44259492e-01 1.07473522e-02 4.09539919e+02] [-1.44247700e-01 9.89539848e-01 -1.86840745e-03 -7.32028352e+01] [-1.09044688e-02 2.98473809e-04 9.99940500e-01 -5.41414407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.57, Y:-73.21, Z:-5.41 [[ 9.89449088e-01 1.44536871e-01 9.97973482e-03 4.09568880e+02] [-1.44526722e-01 9.89499377e-01 -1.73459969e-03 -7.32068830e+01] [-1.01256550e-02 2.73959722e-04 9.99948697e-01 -5.41459837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.60, Y:-73.21, Z:-5.42 [[ 9.89444459e-01 1.44634067e-01 8.98051235e-03 4.09597057e+02] [-1.44625854e-01 9.89485182e-01 -1.56082550e-03 -7.32111782e+01] [-9.11183244e-03 2.45535874e-04 9.99958456e-01 -5.41560006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.63, Y:-73.22, Z:-5.42 [[ 9.89468394e-01 1.44526181e-01 8.02992054e-03 4.09625921e+02] [-1.44519613e-01 9.89500952e-01 -1.39528736e-03 -7.32158845e+01] [-8.14726958e-03 2.20111733e-04 9.99966786e-01 -5.41606043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.65, Y:-73.22, Z:-5.42 [[ 9.89505754e-01 1.44250515e-01 8.37567655e-03 4.09654221e+02] [-1.44243363e-01 9.89541174e-01 -1.45494936e-03 -7.32215422e+01] [-8.49795400e-03 2.31545006e-04 9.99963865e-01 -5.41546099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.68, Y:-73.23, Z:-5.42 [[ 9.89561790e-01 1.43788848e-01 9.60368738e-03 4.09682064e+02] [-1.43779430e-01 9.89608354e-01 -1.66765795e-03 -7.32275880e+01] [-9.74367988e-03 2.69437887e-04 9.99952493e-01 -5.41613960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.71, Y:-73.23, Z:-5.42 [[ 9.89706187e-01 1.42717793e-01 1.06440449e-02 4.09711142e+02] [-1.42706166e-01 9.89763374e-01 -1.84783932e-03 -7.32341929e+01] [-1.07988053e-02 3.09847161e-04 9.99941643e-01 -5.41646010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.74, Y:-73.24, Z:-5.42 [[ 9.90063212e-01 1.40163737e-01 1.13561588e-02 4.09739468e+02] [-1.40150338e-01 9.90128273e-01 -1.97113037e-03 -7.32431967e+01] [-1.15203349e-02 3.59974168e-04 9.99933574e-01 -5.41699566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.77, Y:-73.25, Z:-5.42 [[ 9.90205091e-01 1.39214360e-01 1.06413732e-02 4.09769569e+02] [-1.39202539e-01 9.90262208e-01 -1.84720075e-03 -7.32503507e+01] [-1.07949066e-02 3.47801414e-04 9.99941673e-01 -5.41755540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.80, Y:-73.26, Z:-5.42 [[ 9.90230512e-01 1.39154754e-01 8.91557456e-03 4.09797843e+02] [-1.39146454e-01 9.90270604e-01 -1.54766676e-03 -7.32598560e+01] [-9.04419659e-03 2.91976260e-04 9.99959058e-01 -5.41838555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.83, Y:-73.27, Z:-5.42 [[ 9.90124896e-01 1.39943332e-01 8.27968387e-03 4.09826937e+02] [-1.39936202e-01 9.90159479e-01 -1.43724145e-03 -7.32678346e+01] [-8.39933982e-03 2.64421027e-04 9.99964690e-01 -5.41864969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.86, Y:-73.28, Z:-5.42 [[ 9.89987816e-01 1.40924212e-01 8.03064255e-03 4.09856151e+02] [-1.40917538e-01 9.90020356e-01 -1.39383629e-03 -7.32758100e+01] [-8.14692487e-03 2.48222570e-04 9.99966782e-01 -5.41907743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.88, Y:-73.29, Z:-5.42 [[ 9.89769075e-01 1.42431615e-01 8.39123831e-03 4.09884597e+02] [-1.42424384e-01 9.89804614e-01 -1.45616848e-03 -7.32863589e+01] [-8.51309082e-03 2.46153576e-04 9.99963733e-01 -5.41961003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.91, Y:-73.29, Z:-5.42 [[ 9.89631077e-01 1.43376805e-01 8.56873455e-03 4.09912934e+02] [-1.43369302e-01 9.89668143e-01 -1.48677881e-03 -7.32940125e+01] [-8.69337321e-03 2.42869032e-04 9.99962182e-01 -5.41920495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.94, Y:-73.30, Z:-5.42 [[ 9.89015237e-01 1.47526349e-01 9.21075666e-03 4.09941985e+02] [-1.47517857e-01 9.89058101e-01 -1.59840457e-03 -7.33029673e+01] [-9.34578028e-03 2.22095391e-04 9.99956303e-01 -5.41944238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.97, Y:-73.31, Z:-5.42 [[ 9.88581075e-01 1.50393243e-01 9.45153548e-03 4.09971425e+02] [-1.50384434e-01 9.88626235e-01 -1.63989681e-03 -7.33094401e+01] [-9.59066534e-03 1.99807132e-04 9.99953989e-01 -5.41948122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.00, Y:-73.32, Z:-5.42 [[ 9.88183493e-01 1.52954521e-01 9.91454008e-03 4.10000407e+02] [-1.52944958e-01 9.88233212e-01 -1.72020083e-03 -7.33154144e+01] [-1.00609903e-02 1.83495150e-04 9.99949370e-01 -5.42003997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.03, Y:-73.32, Z:-5.42 [[ 9.87804768e-01 1.55329547e-01 1.06991777e-02 4.10028806e+02] [-1.55318547e-01 9.87862694e-01 -1.85655617e-03 -7.33209869e+01] [-1.08576966e-02 1.72134297e-04 9.99941039e-01 -5.42106610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.06, Y:-73.33, Z:-5.42 [[ 9.87097072e-01 1.59752620e-01 1.08844770e-02 4.10057403e+02] [-1.59741508e-01 9.87157072e-01 -1.88831557e-03 -7.33269573e+01] [-1.10463519e-02 1.25247993e-04 9.99938979e-01 -5.42060081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.09, Y:-73.33, Z:-5.42 [[ 9.86738091e-01 1.62008686e-01 1.00560752e-02 4.10086741e+02] [-1.61999321e-01 9.86789328e-01 -1.74435083e-03 -7.33323640e+01] [-1.02058277e-02 9.21400556e-05 9.99947915e-01 -5.42068985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.12, Y:-73.34, Z:-5.42 [[ 9.86381372e-01 1.64219327e-01 9.15435649e-03 4.10115416e+02] [-1.64211662e-01 9.86423848e-01 -1.58787941e-03 -7.33369644e+01] [-9.29083604e-03 6.30025782e-05 9.99956837e-01 -5.42118014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.14, Y:-73.34, Z:-5.42 [[ 9.85622405e-01 1.68736776e-01 8.73925194e-03 4.10143954e+02] [-1.68729969e-01 9.85661149e-01 -1.51577045e-03 -7.33396209e+01] [-8.86970733e-03 1.94036056e-05 9.99960663e-01 -5.42208030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.17, Y:-73.34, Z:-5.42 [[ 9.85193039e-01 1.71154811e-01 1.00352664e-02 4.10173351e+02] [-1.71145967e-01 9.85244148e-01 -1.73994096e-03 -7.33436703e+01] [-1.01849867e-02 -3.31764172e-06 9.99948132e-01 -5.42235595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.20, Y:-73.35, Z:-5.42 [[ 9.84409223e-01 1.75433896e-01 1.27055111e-02 4.10202437e+02] [-1.75420080e-01 9.84491211e-01 -2.20251484e-03 -7.33460384e+01] [-1.28948597e-02 -6.06258488e-05 9.99916856e-01 -5.42150888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.23, Y:-73.35, Z:-5.42 [[ 9.84089742e-01 1.77243290e-01 1.23368067e-02 4.10231698e+02] [-1.77230414e-01 9.84167064e-01 -2.13800850e-03 -7.33493181e+01] [-1.25204265e-02 -8.24651124e-05 9.99921613e-01 -5.42278607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-73.35, Z:-5.42 [[ 9.83873212e-01 1.78551803e-01 1.06187124e-02 4.10260152e+02] [-1.78542341e-01 9.83930509e-01 -1.84008607e-03 -7.33523015e+01] [-1.07766258e-02 -8.54783860e-05 9.99941927e-01 -5.42416915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-73.36, Z:-5.42 [[ 9.83879590e-01 1.78516647e-01 1.06188035e-02 4.10289066e+02] [-1.78507189e-01 9.83936888e-01 -1.83955990e-03 -7.33572239e+01] [-1.07766246e-02 -8.56273303e-05 9.99941927e-01 -5.42454001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-73.36, Z:-5.43 [[ 9.83517064e-01 1.80693737e-01 6.63006185e-03 4.10317825e+02] [-1.80690100e-01 9.83539409e-01 -1.14856567e-03 -7.33600405e+01] [-6.72846574e-03 -6.83526066e-05 9.99977361e-01 -5.42670201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-73.36, Z:-5.43 [[ 9.83356699e-01 1.81580914e-01 6.16238459e-03 4.10345263e+02] [-1.81577791e-01 9.83376005e-01 -1.06736350e-03 -7.33629239e+01] [-6.25375398e-03 -6.93531304e-05 9.99980443e-01 -5.42673027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-73.36, Z:-5.43 [[ 9.82820029e-01 1.84390975e-01 8.04728330e-03 4.10373950e+02] [-1.84385748e-01 9.82852967e-01 -1.39311105e-03 -7.33627466e+01] [-8.16617337e-03 -1.14626913e-04 9.99966650e-01 -5.42556025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.40, Y:-73.36, Z:-5.43 [[ 9.82559346e-01 1.85744277e-01 8.72893742e-03 4.10401848e+02] [-1.85738186e-01 9.82598109e-01 -1.51052578e-03 -7.33646281e+01] [-8.85760893e-03 -1.37115781e-04 9.99960761e-01 -5.42574834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.43, Y:-73.36, Z:-5.42 [[ 9.82188997e-01 1.87831174e-01 4.92178110e-03 4.10428704e+02] [-1.87773939e-01 9.82158647e-01 -1.02635384e-02 -7.33635713e+01] [-6.76178233e-03 9.15655225e-03 9.99935216e-01 -5.42493269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-73.37, Z:-5.43 [[ 9.81803289e-01 1.89654359e-01 9.67091666e-03 4.10458739e+02] [-1.89731482e-01 9.81805078e-01 7.79448255e-03 -7.33689593e+01] [-8.01669749e-03 -9.48752595e-03 9.99922857e-01 -5.42742589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.49, Y:-73.36, Z:-5.43 [[ 9.81553200e-01 1.91139257e-01 4.37039037e-03 4.10487863e+02] [-1.91085244e-01 9.81516845e-01 -1.05409517e-02 -7.33634027e+01] [-6.30440145e-03 9.51138775e-03 9.99934892e-01 -5.42708644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.52, Y:-73.37, Z:-5.43 [[ 9.81370143e-01 1.91822739e-01 1.08018140e-02 4.10516138e+02] [-1.91905378e-01 9.81386952e-01 7.20949886e-03 -7.33705628e+01] [-9.21781345e-03 -9.14811312e-03 9.99915668e-01 -5.42732484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.54, Y:-73.36, Z:-5.43 [[ 9.80922829e-01 1.94039370e-01 1.17952250e-02 4.10544361e+02] [-1.94028904e-01 9.80993699e-01 -2.03621900e-03 -7.33631467e+01] [-1.19661480e-02 -2.91240876e-04 9.99928361e-01 -5.42675632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.99576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.57, Y:-73.36, Z:-5.43 [[ 9.80792456e-01 1.94703526e-01 1.16917038e-02 4.10572756e+02] [-1.94693302e-01 9.80862095e-01 -2.01733826e-03 -7.33633345e+01] [-1.18607319e-02 -2.97706266e-04 9.99929615e-01 -5.42712354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.60, Y:-73.36, Z:-5.43 [[ 9.80889089e-01 1.94271801e-01 1.07266840e-02 4.10600858e+02] [-1.94263177e-01 9.80947703e-01 -1.85011827e-03 -7.33634430e+01] [-1.08817419e-02 -2.69038892e-04 9.99940756e-01 -5.42768105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.63, Y:-73.36, Z:-5.43 [[ 9.81994717e-01 1.88650339e-01 9.87045680e-03 4.10628495e+02] [-1.88642759e-01 9.82044303e-01 -1.70180497e-03 -7.33606084e+01] [-1.00142719e-02 -1.90826717e-04 9.99949838e-01 -5.42904579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.66, Y:-73.36, Z:-5.43 [[ 9.82985550e-01 1.83355292e-01 1.09656826e-02 4.10655427e+02] [-1.83345619e-01 9.83046700e-01 -1.88961221e-03 -7.33630759e+01] [-1.11262485e-02 -1.53048375e-04 9.99938090e-01 -5.42904100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.68, Y:-73.37, Z:-5.43 [[ 9.85212998e-01 1.70881392e-01 1.24458178e-02 4.10683388e+02] [-1.70867954e-01 9.85291606e-01 -2.14307167e-03 -7.33668473e+01] [-1.26289708e-02 -1.52093473e-05 9.99920251e-01 -5.42819574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.71, Y:-73.37, Z:-5.43 [[ 9.86191699e-01 1.65175796e-01 1.19536237e-02 4.10710895e+02] [-1.65162990e-01 9.86264140e-01 -2.05748167e-03 -7.33719016e+01] [-1.21292765e-02 5.47751192e-05 9.99926436e-01 -5.42892557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.74, Y:-73.38, Z:-5.43 [[ 9.87018573e-01 1.60255210e-01 1.06114747e-02 4.10739694e+02] [-1.60244840e-01 9.87075609e-01 -1.82588841e-03 -7.33771029e+01] [-1.07669360e-02 1.01751706e-04 9.99942030e-01 -5.43015425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.77, Y:-73.38, Z:-5.43 [[ 9.88177107e-01 1.53086551e-01 8.39725427e-03 4.10767699e+02] [-1.53079801e-01 9.88212774e-01 -1.44461179e-03 -7.33844176e+01] [-8.51942457e-03 1.42082284e-04 9.99963699e-01 -5.43112897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.80, Y:-73.39, Z:-5.43 [[ 9.88577681e-01 1.50469291e-01 8.55340880e-03 4.10796084e+02] [-1.50462193e-01 9.88614669e-01 -1.47105917e-03 -7.33916858e+01] [-8.67737465e-03 1.67291622e-04 9.99962337e-01 -5.43134130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.82, Y:-73.40, Z:-5.43 [[ 9.89019204e-01 1.47442672e-01 1.00832488e-02 4.10822837e+02] [-1.47432656e-01 9.89070577e-01 -1.73359564e-03 -7.34038776e+01] [-1.02286507e-02 2.27959232e-04 9.99947660e-01 -5.42985875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.85, Y:-73.41, Z:-5.43 [[ 9.89161561e-01 1.46448130e-01 1.05996336e-02 4.10850190e+02] [-1.46437011e-01 9.89218319e-01 -1.82181622e-03 -7.34127168e+01] [-1.07521533e-02 2.49891916e-04 9.99942163e-01 -5.42926668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-73.42, Z:-5.43 [[ 9.89254015e-01 1.45797382e-01 1.09370039e-02 4.10876885e+02] [-1.45785510e-01 9.89314436e-01 -1.87925369e-03 -7.34211083e+01] [-1.10941261e-02 2.64602578e-04 9.99938423e-01 -5.42913787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.90, Y:-73.43, Z:-5.43 [[ 9.89277782e-01 1.45634738e-01 1.09541751e-02 4.10904382e+02] [-1.45622828e-01 9.89338391e-01 -1.88145021e-03 -7.34295783e+01] [-1.11113905e-02 2.66098943e-04 9.99938231e-01 -5.42998432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.38576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:410.93, Y:-73.44, Z:-5.43 [[ 9.89173356e-01 1.46457704e-01 9.28513713e-03 4.10931924e+02] [-1.46449186e-01 9.89216909e-01 -1.59442310e-03 -7.34419517e+01] [-9.41853020e-03 2.17360078e-04 9.99955621e-01 -5.43079490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.41576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.96, Y:-73.45, Z:-5.43 [[ 9.88786771e-01 1.49159224e-01 7.22822677e-03 4.10959724e+02] [-1.49154136e-01 9.88813179e-01 -1.24100193e-03 -7.34528973e+01] [-7.33247278e-03 1.48966366e-04 9.99973106e-01 -5.43103836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.99, Y:-73.46, Z:-5.43 [[ 9.88424822e-01 1.51584825e-01 6.19776497e-03 4.10987451e+02] [-1.51581133e-01 9.88444246e-01 -1.06386391e-03 -7.34595227e+01] [-6.28741075e-03 1.12085260e-04 9.99980228e-01 -5.43134335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.01, Y:-73.46, Z:-5.43 [[ 9.88041269e-01 1.54086979e-01 5.62608681e-03 4.11014640e+02] [-1.54083978e-01 9.88057283e-01 -9.65613061e-04 -7.34649807e+01] [-5.70768445e-03 8.71757213e-05 9.99983707e-01 -5.43217371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.50576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:411.04, Y:-73.47, Z:-5.43 [[ 9.87022184e-01 1.60469346e-01 6.06615702e-03 4.11041389e+02] [-1.60465981e-01 9.87040823e-01 -1.04056077e-03 -7.34719351e+01] [-6.15452273e-03 5.36447265e-05 9.99981059e-01 -5.43299437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.07, Y:-73.48, Z:-5.43 [[ 9.86537782e-01 1.63396122e-01 6.70164144e-03 4.11070056e+02] [-1.63392085e-01 9.86560543e-01 -1.14916781e-03 -7.34775421e+01] [-6.79934458e-03 3.87022914e-05 9.99976883e-01 -5.43317195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.10, Y:-73.48, Z:-5.43 [[ 9.86089546e-01 1.66055857e-01 7.27051740e-03 4.11097004e+02] [-1.66051181e-01 9.86116348e-01 -1.24636692e-03 -7.34821527e+01] [-7.37654260e-03 2.17513875e-05 9.99972793e-01 -5.43371394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.13, Y:-73.49, Z:-5.43 [[ 9.85135590e-01 1.71579192e-01 8.27342491e-03 4.11125267e+02] [-1.71573337e-01 9.85170331e-01 -1.41764934e-03 -7.34873091e+01] [-8.39397188e-03 -2.29223012e-05 9.99964770e-01 -5.43313035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.15, Y:-73.49, Z:-5.43 [[ 9.84707495e-01 1.73988693e-01 8.89297981e-03 4.11153314e+02] [-1.73982030e-01 9.84747649e-01 -1.52333180e-03 -7.34926215e+01] [-9.02238347e-03 -4.71824427e-05 9.99959296e-01 -5.43282076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-73.50, Z:-5.43 [[ 9.83815429e-01 1.78919995e-01 9.73840728e-03 4.11181874e+02] [-1.78912252e-01 9.83863621e-01 -1.66762381e-03 -7.34992544e+01] [-9.87963590e-03 -1.01686339e-04 9.99951190e-01 -5.43393691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.21, Y:-73.50, Z:-5.43 [[ 9.83416763e-01 1.81129612e-01 9.13971405e-03 4.11210641e+02] [-1.81122891e-01 9.83459226e-01 -1.56469904e-03 -7.35041733e+01] [-9.27194944e-03 -1.16660172e-04 9.99957008e-01 -5.43472599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.24, Y:-73.51, Z:-5.44 [[ 9.83040046e-01 1.83223958e-01 7.82624290e-03 4.11238329e+02] [-1.83219098e-01 9.83071192e-01 -1.33958317e-03 -7.35087873e+01] [-7.93919767e-03 -1.17053265e-04 9.99968477e-01 -5.43533543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.74576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.27, Y:-73.51, Z:-5.44 [[ 9.82647628e-01 1.85366573e-01 6.54778176e-03 4.11266896e+02] [-1.85363221e-01 9.82669436e-01 -1.12040978e-03 -7.35133493e+01] [-6.64199153e-03 -1.12749913e-04 9.99977935e-01 -5.43565688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-73.52, Z:-5.44 [[ 9.82110847e-01 1.88227266e-01 5.36480552e-03 4.11295067e+02] [-1.88225059e-01 9.82125493e-01 -9.17840962e-04 -7.35180015e+01] [-5.44167497e-03 -1.08369274e-04 9.99985188e-01 -5.43634842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.32, Y:-73.52, Z:-5.44 [[ 9.82058845e-01 1.88453065e-01 6.77251982e-03 4.11322460e+02] [-1.88449556e-01 9.82082188e-01 -1.15824083e-03 -7.35223502e+01] [-6.86944511e-03 -1.38817699e-04 9.99976395e-01 -5.43623309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-73.53, Z:-5.44 [[ 9.82181764e-01 1.87762806e-01 8.00700678e-03 4.11351232e+02] [-1.87757885e-01 9.82214388e-01 -1.36866077e-03 -7.35268308e+01] [-8.12158085e-03 -1.59105004e-04 9.99967007e-01 -5.43688164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.38, Y:-73.53, Z:-5.44 [[ 9.82316208e-01 1.87020596e-01 8.84109447e-03 4.11379606e+02] [-1.87014570e-01 9.82355978e-01 -1.51075738e-03 -7.35311044e+01] [-8.96764475e-03 -1.69372022e-04 9.99959776e-01 -5.43771656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.41, Y:-73.53, Z:-5.44 [[ 9.82433893e-01 1.86343466e-01 9.98790739e-03 4.11408060e+02] [-1.86335747e-01 9.82484645e-01 -1.70616713e-03 -7.35341834e+01] [-1.01308987e-02 -1.84907765e-04 9.99948664e-01 -5.43733455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.44, Y:-73.54, Z:-5.44 [[ 9.82336822e-01 1.86857898e-01 9.92444957e-03 4.11435268e+02] [-1.86850307e-01 9.82386935e-01 -1.69488124e-03 -7.35376562e+01] [-1.00663515e-02 -1.89442199e-04 9.99949315e-01 -5.43757485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.46, Y:-73.54, Z:-5.44 [[ 9.82242271e-01 1.87371614e-01 9.59159037e-03 4.11464208e+02] [-1.87364554e-01 9.82289083e-01 -1.63740020e-03 -7.35410865e+01] [-9.72851683e-03 -1.88800361e-04 9.99952659e-01 -5.43782026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.98576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.49, Y:-73.54, Z:-5.44 [[ 9.82068301e-01 1.88347575e-01 8.18794618e-03 4.11493322e+02] [-1.88342467e-01 9.82102419e-01 -1.39746477e-03 -7.35439539e+01] [-8.30461086e-03 -1.69732134e-04 9.99965502e-01 -5.43830429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.52, Y:-73.55, Z:-5.44 [[ 9.82091482e-01 1.88213522e-01 8.48473094e-03 4.11521377e+02] [-1.88208036e-01 9.82128118e-01 -1.44774043e-03 -7.35474300e+01] [-8.60557715e-03 -1.75080999e-04 9.99962956e-01 -5.43899342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.04576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.55, Y:-73.55, Z:-5.44 [[ 9.82161026e-01 1.87810292e-01 9.32808457e-03 4.11549387e+02] [-1.87803648e-01 9.82205304e-01 -1.59097015e-03 -7.35509205e+01] [-9.46089470e-03 -1.89259434e-04 9.99955227e-01 -5.43932358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.58, Y:-73.55, Z:-5.44 [[ 9.82489301e-01 1.86081928e-01 9.39625380e-03 4.11577736e+02] [-1.86075115e-01 9.82534216e-01 -1.60192342e-03 -7.35529453e+01] [-9.53022986e-03 -1.74536384e-04 9.99954571e-01 -5.43959916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.61, Y:-73.56, Z:-5.44 [[ 9.82747373e-01 1.84742834e-01 8.81397770e-03 4.11605341e+02] [-1.84736790e-01 9.82786885e-01 -1.50205043e-03 -7.35565973e+01] [-8.93975475e-03 -1.52129834e-04 9.99960028e-01 -5.43972041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.63, Y:-73.56, Z:-5.44 [[ 9.83228650e-01 1.82177017e-01 8.54143057e-03 4.11632454e+02] [-1.82171248e-01 9.83265742e-01 -1.45514001e-03 -7.35596356e+01] [-8.66358913e-03 -1.25267727e-04 9.99962463e-01 -5.43950502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.66, Y:-73.56, Z:-5.44 [[ 9.83364681e-01 1.81447885e-01 8.40053768e-03 4.11659870e+02] [-1.81442285e-01 9.83400555e-01 -1.43041550e-03 -7.35637685e+01] [-8.52063929e-03 -1.17592672e-04 9.99963692e-01 -5.43986917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.69, Y:-73.57, Z:-5.44 [[ 9.83471895e-01 1.80855003e-01 8.63137299e-03 4.11687801e+02] [-1.80849073e-01 9.83509763e-01 -1.46909257e-03 -7.35687730e+01] [-8.75473235e-03 -1.16164550e-04 9.99961670e-01 -5.44026337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.72, Y:-73.57, Z:-5.44 [[ 9.83674192e-01 1.79702865e-01 9.58983529e-03 4.11715317e+02] [-1.79695498e-01 9.83720929e-01 -1.63142557e-03 -7.35745700e+01] [-9.72689353e-03 -1.18459007e-04 9.99952686e-01 -5.44055351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.74, Y:-73.58, Z:-5.44 [[ 9.83775225e-01 1.79136987e-01 9.81057688e-03 4.11742577e+02] [-1.79129255e-01 9.83824134e-01 -1.66840984e-03 -7.35792774e+01] [-9.95075622e-03 -1.16021060e-04 9.99950483e-01 -5.44036584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.77, Y:-73.58, Z:-5.44 [[ 9.83939752e-01 1.78262177e-01 9.22825579e-03 4.11770067e+02] [-1.78255303e-01 9.83983021e-01 -1.56875426e-03 -7.35843309e+01] [-9.36009656e-03 -1.01425851e-04 9.99956188e-01 -5.44117953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.80, Y:-73.59, Z:-5.44 [[ 9.84099539e-01 1.77415768e-01 8.47015450e-03 4.11797586e+02] [-1.77409949e-01 9.84135986e-01 -1.43944768e-03 -7.35892819e+01] [-8.59116456e-03 -8.61298866e-05 9.99963092e-01 -5.44154188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.83, Y:-73.60, Z:-5.44 [[ 9.84590609e-01 1.74726656e-01 7.20613909e-03 4.11826284e+02] [-1.74722375e-01 9.84616978e-01 -1.22428749e-03 -7.35951854e+01] [-7.30920255e-03 -5.36517729e-05 9.99973286e-01 -5.44205206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.85, Y:-73.60, Z:-5.44 [[ 9.84770630e-01 1.73691237e-01 7.62634000e-03 4.11853492e+02] [-1.73686414e-01 9.84800158e-01 -1.29531877e-03 -7.36004652e+01] [-7.73540636e-03 -4.89997596e-05 9.99970080e-01 -5.44234715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.88, Y:-73.61, Z:-5.44 [[ 9.84873176e-01 1.73041575e-01 9.02444111e-03 4.11882057e+02] [-1.73034801e-01 9.84914519e-01 -1.53205623e-03 -7.36052375e+01] [-9.15341250e-03 -5.26612846e-05 9.99958105e-01 -5.44204808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.91, Y:-73.61, Z:-5.44 [[ 9.84627444e-01 1.74356961e-01 1.04138200e-02 4.11910413e+02] [-1.74348020e-01 9.84682509e-01 -1.76732793e-03 -7.36092488e+01] [-1.05624523e-02 -7.54693077e-05 9.99944213e-01 -5.44158200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4657692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.94, Y:-73.61, Z:-5.44 [[ 9.84290368e-01 1.76271021e-01 1.00498384e-02 4.11939084e+02] [-1.76262799e-01 9.84341667e-01 -1.70508555e-03 -7.36129422e+01] [-1.01930318e-02 -9.31133632e-05 9.99948045e-01 -5.44168824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.97, Y:-73.61, Z:-5.44 [[ 9.83454424e-01 1.80937045e-01 8.89839570e-03 4.11966987e+02] [-1.80930792e-01 9.83494672e-01 -1.50939861e-03 -7.36138254e+01] [-9.02463089e-03 -1.25569043e-04 9.99959269e-01 -5.44255014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.99, Y:-73.62, Z:-5.44 [[ 9.83013725e-01 1.83334211e-01 8.51962182e-03 4.11993986e+02] [-1.83328574e-01 9.83050633e-01 -1.44474141e-03 -7.36165639e+01] [-8.64009015e-03 -1.41689480e-04 9.99962664e-01 -5.44288987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.02, Y:-73.62, Z:-5.44 [[ 9.82599746e-01 1.85546845e-01 8.37299351e-03 4.12021407e+02] [-1.85541486e-01 9.82635407e-01 -1.41915358e-03 -7.36194426e+01] [-8.49091935e-03 -1.59077710e-04 9.99963939e-01 -5.44368118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.05, Y:-73.62, Z:-5.44 [[ 9.82610651e-01 1.85489085e-01 8.37310032e-03 4.12049523e+02] [-1.85483729e-01 9.82646312e-01 -1.41852303e-03 -7.36240723e+01] [-8.49091669e-03 -1.59218030e-04 9.99963939e-01 -5.44402423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:412.08, Y:-73.63, Z:-5.44 [[ 9.81874549e-01 1.89323308e-01 8.89130513e-03 4.12076321e+02] [-1.89317430e-01 9.81914784e-01 -1.50580310e-03 -7.36252792e+01] [-9.01558758e-03 -2.04769297e-04 9.99959338e-01 -5.44446571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.10, Y:-73.63, Z:-5.44 [[ 9.81655687e-01 1.90427323e-01 9.46293134e-03 4.12104689e+02] [-1.90420725e-01 9.81701269e-01 -1.60172155e-03 -7.36279373e+01] [-9.59478325e-03 -2.29599171e-04 9.99953943e-01 -5.44448512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.13, Y:-73.63, Z:-5.44 [[ 9.81672279e-01 1.90297269e-01 1.03192389e-02 4.12132572e+02] [-1.90289424e-01 9.81726483e-01 -1.74584026e-03 -7.36282350e+01] [-1.04628988e-02 -2.49799050e-04 9.99945231e-01 -5.44457614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.16, Y:-73.63, Z:-5.45 [[ 9.81880816e-01 1.89229822e-01 1.01062762e-02 4.12160669e+02] [-1.89222249e-01 9.81932798e-01 -1.70909831e-03 -7.36315406e+01] [-1.02470964e-02 -2.34201464e-04 9.99947470e-01 -5.44501031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.19, Y:-73.63, Z:-5.45 [[ 9.82259462e-01 1.87276394e-01 9.69029302e-03 4.12188841e+02] [-1.87269342e-01 9.82307238e-01 -1.63808863e-03 -7.36349286e+01] [-9.82562031e-03 -2.05666749e-04 9.99951706e-01 -5.44594787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.22, Y:-73.64, Z:-5.45 [[ 9.83033928e-01 1.83145273e-01 1.01047056e-02 4.12215617e+02] [-1.83137395e-01 9.83085845e-01 -1.70740228e-03 -7.36369693e+01] [-1.02464957e-02 -1.72115091e-04 9.99947488e-01 -5.44578889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.24, Y:-73.64, Z:-5.45 [[ 9.83369887e-01 1.81286386e-01 1.09046325e-02 4.12242546e+02] [-1.81277108e-01 9.83430332e-01 -1.84158204e-03 -7.36399394e+01] [-1.10578001e-02 -1.65803912e-04 9.99938847e-01 -5.44574839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:412.27, Y:-73.64, Z:-5.45 [[ 9.83638916e-01 1.79775257e-01 1.16335844e-02 4.12270161e+02] [-1.79764603e-01 9.83707696e-01 -1.96365716e-03 -7.36431744e+01] [-1.17970634e-02 -1.59777075e-04 9.99930399e-01 -5.44654202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.30, Y:-73.65, Z:-5.45 [[ 9.84019199e-01 1.77697339e-01 1.13961511e-02 4.12297552e+02] [-1.77686986e-01 9.84085178e-01 -1.92279351e-03 -7.36464581e+01] [-1.15564587e-02 -1.32882008e-04 9.99933213e-01 -5.44739231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.32, Y:-73.65, Z:-5.45 [[ 9.84101090e-01 1.77325058e-01 1.00433179e-02 4.12323819e+02] [-1.77317003e-01 9.84152331e-01 -1.69395445e-03 -7.36500309e+01] [-1.01845353e-02 -1.13828606e-04 9.99948130e-01 -5.44773581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.35, Y:-73.65, Z:-5.45 [[ 9.84203919e-01 1.76822877e-01 8.73587142e-03 4.12351690e+02] [-1.76816769e-01 9.84242684e-01 -1.47280844e-03 -7.36534265e+01] [-8.85864376e-03 -9.51047150e-05 9.99960757e-01 -5.44797885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.94576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:412.38, Y:-73.66, Z:-5.45 [[ 9.84444855e-01 1.75496991e-01 8.31462629e-03 4.12378619e+02] [-1.75491414e-01 9.84479964e-01 -1.40129023e-03 -7.36554694e+01] [-8.43150521e-03 -7.96525677e-05 9.99964451e-01 -5.44817344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.41, Y:-73.66, Z:-5.45 [[ 9.84646279e-01 1.74292242e-01 9.69118435e-03 4.12406473e+02] [-1.74284617e-01 9.84693967e-01 -1.63231411e-03 -7.36585406e+01] [-9.82735045e-03 -8.17723378e-05 9.99951707e-01 -5.44817678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.43, Y:-73.66, Z:-5.45 [[ 9.84987656e-01 1.72220454e-01 1.18081865e-02 4.12434396e+02] [-1.72208997e-01 9.85058429e-01 -1.98788821e-03 -7.36593316e+01] [-1.19741087e-02 -7.54306129e-05 9.99928305e-01 -5.44829715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.46, Y:-73.66, Z:-5.45 [[ 9.85217755e-01 1.70910438e-01 1.16446194e-02 4.12460832e+02] [-1.70899214e-01 9.85286567e-01 -1.95956741e-03 -7.36622868e+01] [-1.18081976e-02 -5.94557085e-05 9.99930279e-01 -5.44921135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.49, Y:-73.67, Z:-5.45 [[ 9.85511505e-01 1.69265361e-01 1.07848065e-02 4.12487999e+02] [-1.69255647e-01 9.85570513e-01 -1.81382581e-03 -7.36661471e+01] [-1.09362051e-02 -3.78431881e-05 9.99940197e-01 -5.44964437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0957692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:412.52, Y:-73.67, Z:-5.45 [[ 9.85885354e-01 1.67090752e-01 1.05237522e-02 4.12515430e+02] [-1.67081387e-01 9.85941520e-01 -1.76909185e-03 -7.36703322e+01] [-1.06714032e-02 -1.42013760e-05 9.99943059e-01 -5.44999795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.54, Y:-73.68, Z:-5.45 [[ 9.86778304e-01 1.61688008e-01 1.12056534e-02 4.12541926e+02] [-1.61677051e-01 9.86841925e-01 -1.88291631e-03 -7.36751968e+01] [-1.13626536e-02 4.63239646e-05 9.99935442e-01 -5.45060204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1557692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:412.57, Y:-73.68, Z:-5.45 [[ 9.87550052e-01 1.56868425e-01 1.17129293e-02 4.12569352e+02] [-1.56856126e-01 9.87619505e-01 -1.96718419e-03 -7.36836309e+01] [-1.18765065e-02 1.05448131e-04 9.99929466e-01 -5.45095292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.60, Y:-73.69, Z:-5.45 [[ 9.87813352e-01 1.55194267e-01 1.18118682e-02 4.12596997e+02] [-1.55181649e-01 9.87883963e-01 -1.98300858e-03 -7.36909935e+01] [-1.19765067e-02 1.25857179e-04 9.99928271e-01 -5.45114774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.63, Y:-73.70, Z:-5.45 [[ 9.87937916e-01 1.54414396e-01 1.16133329e-02 4.12625349e+02] [-1.54402150e-01 9.88006162e-01 -1.94917533e-03 -7.36986228e+01] [-1.17750252e-02 1.32540645e-04 9.99930663e-01 -5.45164398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.24576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:412.65, Y:-73.71, Z:-5.45 [[ 9.87974553e-01 1.54216141e-01 1.11204505e-02 4.12652497e+02] [-1.54204905e-01 9.88037128e-01 -1.86593173e-03 -7.37057642e+01] [-1.12751748e-02 1.28665045e-04 9.99936425e-01 -5.45176545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.68, Y:-73.72, Z:-5.45 [[ 9.87573204e-01 1.56796755e-01 1.06744533e-02 4.12679838e+02] [-1.56786561e-01 9.87630887e-01 -1.79045101e-03 -7.37159832e+01] [-1.08231566e-02 9.45906277e-05 9.99941423e-01 -5.45224295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.71, Y:-73.72, Z:-5.45 [[ 9.87124249e-01 1.59596849e-01 1.07033848e-02 4.12707511e+02] [-1.59586770e-01 9.87182274e-01 -1.79479130e-03 -7.37233264e+01] [-1.08526348e-02 6.35634037e-05 9.99941106e-01 -5.45235317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.74, Y:-73.73, Z:-5.45 [[ 9.85995011e-01 1.66447567e-01 1.04424646e-02 4.12735444e+02] [-1.66438362e-01 9.86050307e-01 -1.75052853e-03 -7.37321345e+01] [-1.05881667e-02 -1.20143123e-05 9.99943944e-01 -5.45329855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.76, Y:-73.74, Z:-5.45 [[ 9.85408402e-01 1.69881319e-01 1.05175438e-02 4.12764029e+02] [-1.69872181e-01 9.85464527e-01 -1.76274386e-03 -7.37379868e+01] [-1.06641236e-02 -4.96154907e-05 9.99943135e-01 -5.45363152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.79, Y:-73.74, Z:-5.45 [[ 9.84851936e-01 1.73065429e-01 1.07248037e-02 4.12791255e+02] [-1.73056121e-01 9.84910326e-01 -1.79695979e-03 -7.37432549e+01] [-1.08739616e-02 -8.62536084e-05 9.99940873e-01 -5.45384385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.82, Y:-73.75, Z:-5.45 [[ 9.83907752e-01 1.78369743e-01 1.04771326e-02 4.12819131e+02] [-1.78361167e-01 9.83963523e-01 -1.75484858e-03 -7.37477084e+01] [-1.06221282e-02 -1.42104472e-04 9.99943574e-01 -5.45410826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.85, Y:-73.75, Z:-5.46 [[ 9.83545247e-01 1.80364411e-01 1.03646875e-02 4.12847238e+02] [-1.80356136e-01 9.83599844e-01 -1.73536012e-03 -7.37517650e+01] [-1.05077022e-02 -1.62529782e-04 9.99944779e-01 -5.45530789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.87, Y:-73.76, Z:-5.46 [[ 9.83241240e-01 1.82004693e-01 1.05335696e-02 4.12874730e+02] [-1.81996248e-01 9.83297645e-01 -1.76286681e-03 -7.37559712e+01] [-1.06784843e-02 -1.83746813e-04 9.99942966e-01 -5.45619243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.51576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:412.90, Y:-73.76, Z:-5.46 [[ 9.82864256e-01 1.83986580e-01 1.12601881e-02 4.12901940e+02] [-1.83977070e-01 9.82928731e-01 -1.88361544e-03 -7.37598983e+01] [-1.14145224e-02 -2.20278126e-04 9.99934828e-01 -5.45650643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.93, Y:-73.76, Z:-5.46 [[ 9.82782270e-01 1.84414210e-01 1.14197075e-02 4.12929360e+02] [-1.84404469e-01 9.82848588e-01 -1.90933584e-03 -7.37637447e+01] [-1.15759520e-02 -2.29383681e-04 9.99932970e-01 -5.45678976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.96, Y:-73.77, Z:-5.46 [[ 9.82799297e-01 1.84340251e-01 1.11451053e-02 4.12956598e+02] [-1.84330976e-01 9.82862463e-01 -1.86264612e-03 -7.37668524e+01] [-1.12974663e-02 -2.23780841e-04 9.99936157e-01 -5.45696629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.98, Y:-73.77, Z:-5.46 [[ 9.82749663e-01 1.84635685e-01 1.06190155e-02 4.12984192e+02] [-1.84627291e-01 9.82807009e-01 -1.77386376e-03 -7.37699435e+01] [-1.07639614e-02 -2.17296045e-04 9.99942043e-01 -5.45718324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.01, Y:-73.77, Z:-5.46 [[ 9.82645918e-01 1.85215813e-01 1.01045616e-02 4.13011707e+02] [-1.85208251e-01 9.82697846e-01 -1.68726140e-03 -7.37709161e+01] [-1.02422384e-02 -2.13467653e-04 9.99947524e-01 -5.45801921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.04, Y:-73.77, Z:-5.46 [[ 9.82624496e-01 1.85320961e-01 1.02586660e-02 4.13039989e+02] [-1.85313181e-01 9.82678021e-01 -1.71210607e-03 -7.37733594e+01] [-1.03982548e-02 -2.18708675e-04 9.99945913e-01 -5.45894378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.07, Y:-73.78, Z:-5.46 [[ 9.82583681e-01 1.85528220e-01 1.04206202e-02 4.13067434e+02] [-1.85520212e-01 9.82638911e-01 -1.73837200e-03 -7.37758112e+01] [-1.05622239e-02 -2.25139703e-04 9.99944193e-01 -5.45916839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.7257692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:413.10, Y:-73.78, Z:-5.46 [[ 9.82532113e-01 1.85786203e-01 1.06833723e-02 4.13095010e+02] [-1.85777812e-01 9.82590165e-01 -1.78125365e-03 -7.37784476e+01] [-1.08283089e-02 -2.34594617e-04 9.99941345e-01 -5.45969028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.12, Y:-73.78, Z:-5.46 [[ 9.82665394e-01 1.85092933e-01 1.04561090e-02 4.13121635e+02] [-1.85084864e-01 9.82720996e-01 -1.74266605e-03 -7.37801569e+01] [-1.05979930e-02 -2.22809890e-04 9.99943815e-01 -5.45989662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.15, Y:-73.78, Z:-5.46 [[ 9.82894689e-01 1.83894462e-01 1.00427946e-02 4.13148461e+02] [-1.83886965e-01 9.82945973e-01 -1.67276737e-03 -7.37830129e+01] [-1.01791372e-02 -2.02584851e-04 9.99948171e-01 -5.45975982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.18, Y:-73.78, Z:-5.46 [[ 9.83235176e-01 1.82002924e-01 1.11141291e-02 4.13176993e+02] [-1.81993633e-01 9.83297968e-01 -1.85016764e-03 -7.37843160e+01] [-1.12652365e-02 -2.03550832e-04 9.99936524e-01 -5.45949787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8457692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:413.20, Y:-73.79, Z:-5.46 [[ 9.83240101e-01 1.81933236e-01 1.17983934e-02 4.13204428e+02] [-1.81922772e-01 9.83310862e-01 -1.96317285e-03 -7.37867844e+01] [-1.19586548e-02 -2.16126163e-04 9.99928469e-01 -5.45951367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.87576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:413.23, Y:-73.79, Z:-5.46 [[ 9.83139674e-01 1.82428640e-01 1.24968936e-02 4.13232601e+02] [-1.82416954e-01 9.83219068e-01 -2.07830298e-03 -7.37893143e+01] [-1.26663261e-02 -2.36383149e-04 9.99919751e-01 -5.45984290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9057692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:413.26, Y:-73.79, Z:-5.46 [[ 9.83004618e-01 1.83125736e-01 1.29184339e-02 4.13259422e+02] [-1.83113321e-01 9.83089467e-01 -2.14745289e-03 -7.37908135e+01] [-1.30932302e-02 -2.54581230e-04 9.99914248e-01 -5.45974766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.93576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:413.29, Y:-73.79, Z:-5.46 [[ 9.82610407e-01 1.85222742e-01 1.30124423e-02 4.13287450e+02] [-1.85210344e-01 9.82696522e-01 -2.16200675e-03 -7.37890693e+01] [-1.31877346e-02 -2.85628573e-04 9.99912997e-01 -5.46056299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9657692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:413.31, Y:-73.79, Z:-5.46 [[ 9.82521122e-01 1.85718307e-01 1.26868105e-02 4.13314766e+02] [-1.85706576e-01 9.82602986e-01 -2.10690898e-03 -7.37902680e+01] [-1.28573894e-02 -2.85941554e-04 9.99917299e-01 -5.46113127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.99576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:413.34, Y:-73.79, Z:-5.46 [[ 9.82480841e-01 1.85960748e-01 1.22473269e-02 4.13343237e+02] [-1.85949844e-01 9.82557134e-01 -2.03310895e-03 -7.37917502e+01] [-1.24117769e-02 -2.79897947e-04 9.99922932e-01 -5.46142521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.37, Y:-73.79, Z:-5.46 [[ 9.82572033e-01 1.85495564e-01 1.19831557e-02 4.13370959e+02] [-1.85485101e-01 9.82645065e-01 -1.98844409e-03 -7.37927798e+01] [-1.21440364e-02 -2.68907287e-04 9.99926222e-01 -5.46222377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.05576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:413.40, Y:-73.79, Z:-5.46 [[ 9.82950899e-01 1.83509929e-01 1.14732346e-02 4.13398750e+02] [-1.83500212e-01 9.83017828e-01 -1.90303398e-03 -7.37916636e+01] [-1.16276198e-02 -2.34752017e-04 9.99932369e-01 -5.46341960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0857692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:413.43, Y:-73.79, Z:-5.46 [[ 9.83266418e-01 1.81829906e-01 1.11819644e-02 4.13426139e+02] [-1.81820583e-01 9.83329976e-01 -1.85333383e-03 -7.37942180e+01] [-1.13325523e-02 -2.10790361e-04 9.99935762e-01 -5.46416693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.11576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:413.45, Y:-73.80, Z:-5.46 [[ 9.83629583e-01 1.79890153e-01 1.06007608e-02 4.13454481e+02] [-1.79881671e-01 9.83686688e-01 -1.75613038e-03 -7.37967104e+01] [-1.07437379e-02 -1.79500782e-04 9.99942268e-01 -5.46424440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1457692310001 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:413.48, Y:-73.80, Z:-5.46 [[ 9.84379716e-01 1.75725883e-01 1.08161709e-02 4.13481680e+02] [-1.75716809e-01 9.84439127e-01 -1.79101206e-03 -7.37973121e+01] [-1.09625890e-02 -1.37547099e-04 9.99939900e-01 -5.46466764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.17576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:413.51, Y:-73.80, Z:-5.46 [[ 9.84768284e-01 1.73513048e-01 1.11646683e-02 4.13509541e+02] [-1.73503250e-01 9.84831563e-01 -1.84771848e-03 -7.37997660e+01] [-1.13159210e-02 -1.17531679e-04 9.99935966e-01 -5.46447768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.54, Y:-73.80, Z:-5.46 [[ 9.85165379e-01 1.71225523e-01 1.14454024e-02 4.13536587e+02] [-1.71215081e-01 9.85231857e-01 -1.89333206e-03 -7.38028888e+01] [-1.16005618e-02 -9.43802984e-05 9.99932707e-01 -5.46495400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:413.56, Y:-73.81, Z:-5.47 [[ 9.85594718e-01 1.68724031e-01 1.16298653e-02 4.13564020e+02] [-1.68713087e-01 9.85663328e-01 -1.92284628e-03 -7.38063616e+01] [-1.17875622e-02 -6.69633482e-05 9.99930522e-01 -5.46561985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:413.59, Y:-73.81, Z:-5.47 [[ 9.86258143e-01 1.64796723e-01 1.17010965e-02 4.13592276e+02] [-1.64785378e-01 9.86327552e-01 -1.93383542e-03 -7.38098838e+01] [-1.18598036e-02 -2.09086791e-05 9.99929670e-01 -5.46557697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.29576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:413.62, Y:-73.81, Z:-5.47 [[ 9.86478656e-01 1.63481315e-01 1.15638006e-02 4.13619270e+02] [-1.63470154e-01 9.86546431e-01 -1.91031778e-03 -7.38133993e+01] [-1.17205274e-02 -5.84854600e-06 9.99931312e-01 -5.46592920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:413.65, Y:-73.82, Z:-5.47 [[ 9.86694911e-01 1.62183141e-01 1.13921610e-02 4.13646389e+02] [-1.62172232e-01 9.86760675e-01 -1.88101792e-03 -7.38176398e+01] [-1.15464059e-02 8.49861823e-06 9.99933338e-01 -5.46617786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.35576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:413.67, Y:-73.82, Z:-5.47 [[ 9.86747238e-01 1.61808111e-01 1.21665205e-02 4.13673962e+02] [-1.61795653e-01 9.86822241e-01 -2.00789359e-03 -7.38228642e+01] [-1.23310865e-02 1.27933216e-05 9.99923969e-01 -5.46659029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.38576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:413.70, Y:-73.83, Z:-5.47 [[ 9.86857351e-01 1.61078409e-01 1.28962827e-02 4.13701776e+02] [-1.61064361e-01 9.86941612e-01 -2.12743655e-03 -7.38275655e+01] [-1.30705622e-02 2.23448611e-05 9.99914576e-01 -5.46699566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.41576923100007 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:413.73, Y:-73.83, Z:-5.47 [[ 9.86925785e-01 1.60656189e-01 1.29261114e-02 4.13728036e+02] [-1.60642052e-01 9.87010430e-01 -2.13139116e-03 -7.38311430e+01] [-1.31006280e-02 2.70478376e-05 9.99914183e-01 -5.46724609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.44576923100004 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:413.75, Y:-73.84, Z:-5.47 [[ 9.86814614e-01 1.61405072e-01 1.20549128e-02 4.13754311e+02] [-1.61392849e-01 9.86888242e-01 -1.98640804e-03 -7.38353009e+01] [-1.22174680e-02 1.46397581e-05 9.99925364e-01 -5.46840695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.4757692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:413.78, Y:-73.84, Z:-5.47 [[ 9.86668100e-01 1.62349081e-01 1.13506194e-02 4.13781954e+02] [-1.62338317e-01 9.86733386e-01 -1.86948202e-03 -7.38396884e+01] [-1.15035438e-02 1.91782071e-06 9.99933832e-01 -5.46889258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.50576923100004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:413.81, Y:-73.84, Z:-5.47 [[ 9.86677252e-01 1.62293444e-01 1.13507469e-02 4.13810089e+02] [-1.62282685e-01 9.86742539e-01 -1.86870775e-03 -7.38441847e+01] [-1.15035438e-02 1.78174755e-06 9.99933832e-01 -5.46923564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5357692310001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:413.84, Y:-73.85, Z:-5.47 [[ 9.86269211e-01 1.64651986e-01 1.27580226e-02 4.13838286e+02] [-1.64638602e-01 9.86351724e-01 -2.09955749e-03 -7.38457197e+01] [-1.29295939e-02 -2.97340998e-05 9.99916409e-01 -5.46927430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.56576923100005 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:413.87, Y:-73.85, Z:-5.47 [[ 9.86054316e-01 1.65856341e-01 1.37317397e-02 4.13866754e+02] [-1.65840967e-01 9.86149923e-01 -2.25877669e-03 -7.38475120e+01] [-1.39161865e-02 -5.00084851e-05 9.99903164e-01 -5.46922270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5957692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:413.89, Y:-73.85, Z:-5.47 [[ 9.85810063e-01 1.67294360e-01 1.38244787e-02 4.13893283e+02] [-1.67278934e-01 9.85906989e-01 -2.27300163e-03 -7.38496342e+01] [-1.40099105e-02 -7.17961633e-05 9.99901854e-01 -5.46970160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.62576923100005 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:413.92, Y:-73.85, Z:-5.47 [[ 9.85691994e-01 1.68045504e-01 1.31149516e-02 4.13921158e+02] [-1.68031700e-01 9.85779236e-01 -2.15530727e-03 -7.38528779e+01] [-1.32906367e-02 -7.92585077e-05 9.99911672e-01 -5.47080886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6557692310001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:413.95, Y:-73.85, Z:-5.47 [[ 9.85565784e-01 1.68865204e-01 1.20261901e-02 4.13948636e+02] [-1.68853668e-01 9.85639151e-01 -1.97557000e-03 -7.38543679e+01] [-1.21870888e-02 -8.36121129e-05 9.99925731e-01 -5.47153355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.68576923100005 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:413.98, Y:-73.86, Z:-5.47 [[ 9.85634698e-01 1.68423283e-01 1.25634296e-02 4.13975282e+02] [-1.68410672e-01 9.85714761e-01 -2.06267704e-03 -7.38558513e+01] [-1.27313608e-02 -8.27695561e-05 9.99918950e-01 -5.47179075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7157692310001 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:414.00, Y:-73.86, Z:-5.47 [[ 9.85653779e-01 1.68214721e-01 1.37998121e-02 4.14003629e+02] [-1.68199511e-01 9.85750374e-01 -2.26381568e-03 -7.38582944e+01] [-1.39839770e-02 -8.97831584e-05 9.99902215e-01 -5.47217714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.74576923100005 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:414.03, Y:-73.86, Z:-5.47 [[ 9.85826244e-01 1.67044594e-01 1.55794601e-02 4.14031405e+02] [-1.67025082e-01 9.85949338e-01 -2.55450057e-03 -7.38594397e+01] [-1.57872739e-02 -8.38668945e-05 9.99875370e-01 -5.47285468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7757692310001 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:414.06, Y:-73.86, Z:-5.47 [[ 9.85913818e-01 1.66571083e-01 1.51002564e-02 4.14058657e+02] [-1.66552715e-01 9.86029446e-01 -2.47478040e-03 -7.38625408e+01] [-1.53015243e-02 -7.50685018e-05 9.99882922e-01 -5.47278471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.80576923100006 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:414.09, Y:-73.87, Z:-5.47 [[ 9.85951751e-01 1.66408598e-01 1.43986954e-02 4.14086409e+02] [-1.66391897e-01 9.86056882e-01 -2.35864007e-03 -7.38654139e+01] [-1.45904307e-02 -7.03209377e-05 9.99893552e-01 -5.47317333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8357692310001 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:414.11, Y:-73.87, Z:-5.47 [[ 9.85970548e-01 1.66383614e-01 1.33630680e-02 4.14114276e+02] [-1.66369238e-01 9.86061098e-01 -2.18812514e-03 -7.38686400e+01] [-1.35408696e-02 -6.57764975e-05 9.99908316e-01 -5.47355047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.86576923100006 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:414.14, Y:-73.87, Z:-5.47 [[ 9.85979716e-01 1.66354775e-01 1.30417985e-02 4.14141546e+02] [-1.66341092e-01 9.86065964e-01 -2.13455551e-03 -7.38715101e+01] [-1.32151671e-02 -6.47585732e-05 9.99912674e-01 -5.47427241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8957692310001 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:414.17, Y:-73.88, Z:-5.48 [[ 9.86069917e-01 1.65812819e-01 1.31235956e-02 4.14168250e+02] [-1.65798931e-01 9.86157242e-01 -2.14680498e-03 -7.38752919e+01] [-1.32978966e-02 -5.89783247e-05 9.99911577e-01 -5.47534245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.92576923100006 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:414.20, Y:-73.88, Z:-5.48 [[ 9.86241433e-01 1.64788561e-01 1.31364650e-02 4.14196349e+02] [-1.64774570e-01 9.86328915e-01 -2.14780054e-03 -7.38789630e+01] [-1.33108083e-02 -4.63054915e-05 9.99911406e-01 -5.47651235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.95576923100003 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:414.22, Y:-73.88, Z:-5.48 [[ 9.86556977e-01 1.63041951e-01 1.10749359e-02 4.14224324e+02] [-1.63031905e-01 9.86619137e-01 -1.81006791e-03 -7.38822371e+01] [-1.12218607e-02 -1.98327615e-05 9.99937033e-01 -5.47726899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.98576923100006 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:414.25, Y:-73.89, Z:-5.48 [[ 9.86698963e-01 1.62275014e-01 9.59045089e-03 4.14250856e+02] [-1.62267449e-01 9.86745570e-01 -1.56688819e-03 -7.38867361e+01] [-9.71760173e-03 -1.01710528e-05 9.99952783e-01 -5.47748803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.01576923100004 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:414.28, Y:-73.89, Z:-5.48 [[ 9.86849863e-01 1.61405286e-01 8.69954366e-03 4.14278416e+02] [-1.61399034e-01 9.86888207e-01 -1.42064955e-03 -7.38921020e+01] [-8.81477739e-03 -2.13013373e-06 9.99961149e-01 -5.47773966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.04576923100007 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:414.31, Y:-73.90, Z:-5.48 [[ 9.87197913e-01 1.59189557e-01 9.94813660e-03 4.14305786e+02] [-1.59181277e-01 9.87248036e-01 -1.62370444e-03 -7.38976800e+01] [-1.00797551e-02 1.93605488e-05 9.99949198e-01 -5.47821035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.07576923100004 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:414.33, Y:-73.90, Z:-5.48 [[ 9.87380390e-01 1.57969756e-01 1.12036642e-02 4.14332473e+02] [-1.57959186e-01 9.87443950e-01 -1.82770711e-03 -7.39022905e+01] [-1.13517129e-02 3.49204737e-05 9.99935567e-01 -5.47911976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.10576923100007 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:414.36, Y:-73.91, Z:-5.48 [[ 9.87548773e-01 1.56860877e-01 1.19199822e-02 4.14358823e+02] [-1.56848844e-01 9.87620708e-01 -1.94349061e-03 -7.39075021e+01] [-1.20772789e-02 4.96563348e-05 9.99927066e-01 -5.48001354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.13576923100004 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:414.38, Y:-73.92, Z:-5.48 [[ 9.87801607e-01 1.55332737e-01 1.09419078e-02 4.14384448e+02] [-1.55322514e-01 9.87862205e-01 -1.78319093e-03 -7.39155110e+01] [-1.10860851e-02 6.19142434e-05 9.99938546e-01 -5.48139087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.16576923100007 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:414.41, Y:-73.92, Z:-5.48 [[ 9.87933335e-01 1.54566074e-01 9.85161205e-03 4.14412194e+02] [-1.54557756e-01 9.87982452e-01 -1.60476300e-03 -7.39210837e+01] [-9.98126174e-03 6.27558082e-05 9.99950184e-01 -5.48119851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.19576923100004 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:414.44, Y:-73.93, Z:-5.48 [[ 9.88007451e-01 1.54089689e-01 9.88151918e-03 4.14439405e+02] [-1.54081304e-01 9.88056862e-01 -1.60894202e-03 -7.39259310e+01] [-1.00114242e-02 6.70893425e-05 9.99949882e-01 -5.48025419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.2257692310001 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:414.47, Y:-73.93, Z:-5.48 [[ 9.87953541e-01 1.54345724e-01 1.11892030e-02 4.14467160e+02] [-1.54334999e-01 9.88016899e-01 -1.82094766e-03 -7.39312016e+01] [-1.13361771e-02 7.21260548e-05 9.99935741e-01 -5.47847679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.25576923100004 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:414.49, Y:-73.94, Z:-5.48 [[ 9.87889382e-01 1.54678824e-01 1.22078241e-02 4.14494620e+02] [-1.54666094e-01 9.87964805e-01 -1.98576971e-03 -7.39366910e+01] [-1.23680571e-02 7.35843439e-05 9.99923510e-01 -5.47904301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.2857692310001 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:414.52, Y:-73.94, Z:-5.48 [[ 9.87824696e-01 1.54991573e-01 1.34157672e-02 4.14521441e+02] [-1.54976243e-01 9.87915789e-01 -2.18115390e-03 -7.39423055e+01] [-1.35917088e-02 7.54724723e-05 9.99907626e-01 -5.47949349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.31576923100005 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:414.55, Y:-73.95, Z:-5.48 [[ 9.87761230e-01 1.55280352e-01 1.46889234e-02 4.14547611e+02] [-1.55262027e-01 9.87870440e-01 -2.38679186e-03 -7.39478610e+01] [-1.48813751e-02 7.69484420e-05 9.99889263e-01 -5.47997908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3457692310001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:414.57, Y:-73.96, Z:-5.48 [[ 9.87840154e-01 1.54715677e-01 1.53261312e-02 4.14574432e+02] [-1.54695679e-01 9.87959033e-01 -2.48906638e-03 -7.39556539e+01] [-1.55266873e-02 8.79134539e-05 9.99879450e-01 -5.48154492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.37576923100005 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:414.60, Y:-73.96, Z:-5.48 [[ 9.88039115e-01 1.53521454e-01 1.44869405e-02 4.14600355e+02] [-1.53503473e-01 9.88145310e-01 -2.35170265e-03 -7.39614503e+01] [-1.46762391e-02 9.97785257e-05 9.99892293e-01 -5.48192255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4057692310001 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:414.63, Y:-73.97, Z:-5.48 [[ 9.88241923e-01 1.52246590e-01 1.41024218e-02 4.14628128e+02] [-1.52229441e-01 9.88342533e-01 -2.28789427e-03 -7.39672745e+01] [-1.42863474e-02 1.14189243e-04 9.99897938e-01 -5.48258441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.43576923100005 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:414.65, Y:-73.97, Z:-5.48 [[ 9.88560167e-01 1.50309165e-01 1.24880649e-02 4.14654485e+02] [-1.50295574e-01 9.88639034e-01 -2.02514942e-03 -7.39743608e+01] [-1.26505869e-02 1.25081164e-04 9.99919970e-01 -5.48324480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4657692310001 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:414.68, Y:-73.98, Z:-5.48 [[ 9.88732233e-01 1.49291591e-01 1.09815000e-02 4.14681712e+02] [-1.49281028e-01 9.88793207e-01 -1.77998850e-03 -7.39807664e+01] [-1.11241699e-02 1.20602393e-04 9.99938117e-01 -5.48420949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.49576923100005 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:414.71, Y:-73.99, Z:-5.49 [[ 9.89173998e-01 1.46466146e-01 9.08131472e-03 4.14708336e+02] [-1.46458808e-01 9.89215675e-01 -1.47147799e-03 -7.39918364e+01] [-9.19890059e-03 1.25509238e-04 9.99957681e-01 -5.48633727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5257692310001 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:414.74, Y:-74.00, Z:-5.49 [[ 9.89503772e-01 1.44234027e-01 8.87871124e-03 4.14735209e+02] [-1.44226929e-01 9.89543594e-01 -1.43801651e-03 -7.40002666e+01] [-8.99328275e-03 1.42373502e-04 9.99959549e-01 -5.48607630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.55576923100006 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:414.76, Y:-74.01, Z:-5.49 [[ 9.89800617e-01 1.42124265e-01 9.76894845e-03 4.14763404e+02] [-1.42115577e-01 9.89848808e-01 -1.58133899e-03 -7.40085251e+01] [-9.89452861e-03 1.76890560e-04 9.99951032e-01 -5.48584676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5857692310001 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:414.79, Y:-74.02, Z:-5.49 [[ 9.89992143e-01 1.40696387e-01 1.09582537e-02 4.14790632e+02] [-1.40685374e-01 9.90052767e-01 -1.77324962e-03 -7.40181576e+01] [-1.10987392e-02 2.13837180e-04 9.99938384e-01 -5.48508087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.61576923100006 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:414.82, Y:-74.03, Z:-5.49 [[ 9.89856980e-01 1.41638385e-01 1.10329905e-02 4.14817919e+02] [-1.41627287e-01 9.89918444e-01 -1.78480947e-03 -7.40250643e+01] [-1.11745583e-02 2.04133598e-04 9.99937542e-01 -5.48598257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6457692310001 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:414.84, Y:-74.03, Z:-5.49 [[ 9.89608142e-01 1.43398996e-01 1.06044005e-02 4.14844764e+02] [-1.43388850e-01 9.89664942e-01 -1.71484207e-03 -7.40321826e+01] [-1.07407100e-02 1.76468883e-04 9.99942301e-01 -5.48633499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.67576923100006 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:414.87, Y:-74.04, Z:-5.49 [[ 9.89109871e-01 1.46904542e-01 8.98439131e-03 4.14872357e+02] [-1.46897407e-01 9.89150667e-01 -1.45252307e-03 -7.40409346e+01] [-9.10029889e-03 1.16921115e-04 9.99958585e-01 -5.48658642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.70576923100003 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:414.90, Y:-74.05, Z:-5.49 [[ 9.88979752e-01 1.47812404e-01 8.39900436e-03 4.14900740e+02] [-1.47806204e-01 9.89015411e-01 -1.35751480e-03 -7.40466263e+01] [-8.50740227e-03 1.01129694e-04 9.99963806e-01 -5.48690632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.73576923100006 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:414.93, Y:-74.05, Z:-5.49 [[ 9.88920231e-01 1.48218738e-01 8.24517000e-03 4.14928338e+02] [-1.48212781e-01 9.88954598e-01 -1.33232185e-03 -7.40522030e+01] [-8.35157385e-03 9.55204542e-05 9.99965120e-01 -5.48727814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:414.96, Y:-74.06, Z:-5.49 [[ 9.88879140e-01 1.48447052e-01 9.02876093e-03 4.14956454e+02] [-1.48439924e-01 9.88920352e-01 -1.45823202e-03 -7.40598584e+01] [-9.14519568e-03 1.01786634e-04 9.99958177e-01 -5.48782900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.79576923100007 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:414.99, Y:-74.07, Z:-5.49 [[ 9.88910714e-01 1.48227506e-01 9.17635093e-03 4.14985034e+02] [-1.48220139e-01 9.88953283e-01 -1.48162050e-03 -7.40657318e+01] [-9.29459929e-03 1.05070377e-04 9.99956799e-01 -5.48840228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82576923100004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:415.01, Y:-74.07, Z:-5.49 [[ 9.88921185e-01 1.48141669e-01 9.43057354e-03 4.15013102e+02] [-1.48133888e-01 9.88966144e-01 -1.52217914e-03 -7.40708652e+01] [-9.55201611e-03 1.08327674e-04 9.99954373e-01 -5.48840801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.85576923100007 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:415.04, Y:-74.07, Z:-5.49 [[ 9.88750563e-01 1.49162257e-01 1.10880397e-02 4.15040492e+02] [-1.49151572e-01 9.88812726e-01 -1.78906795e-03 -7.40728962e+01] [-1.12308562e-02 1.15143388e-04 9.99936925e-01 -5.48733114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.88576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:415.07, Y:-74.08, Z:-5.49 [[ 9.88557345e-01 1.50393633e-01 1.16674770e-02 4.15069011e+02] [-1.50381897e-01 9.88626190e-01 -1.88172743e-03 -7.40752951e+01] [-1.18177732e-02 1.05618140e-04 9.99930162e-01 -5.48790021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.91576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:415.10, Y:-74.08, Z:-5.49 [[ 9.88307078e-01 1.52040409e-01 1.15253192e-02 4.15097334e+02] [-1.52029076e-01 9.88374275e-01 -1.85825114e-03 -7.40786807e+01] [-1.16738583e-02 8.43391291e-05 9.99931855e-01 -5.48839137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.94576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:415.13, Y:-74.08, Z:-5.49 [[ 9.87965503e-01 1.54317504e-01 1.05011167e-02 4.15125897e+02] [-1.54308230e-01 9.88021308e-01 -1.69266190e-03 -7.40812473e+01] [-1.06365344e-02 5.18828340e-05 9.99943429e-01 -5.49004177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.9757692310001 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:415.15, Y:-74.08, Z:-5.49 [[ 9.87945735e-01 1.54461625e-01 1.02386605e-02 4.15153959e+02] [-1.54452821e-01 9.87998787e-01 -1.64989544e-03 -7.40836134e+01] [-1.03706296e-02 4.86171786e-05 9.99946222e-01 -5.49075811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.00576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:415.18, Y:-74.09, Z:-5.49 [[ 9.88036143e-01 1.53883754e-01 1.02162126e-02 4.15182361e+02] [-1.53874963e-01 9.88088957e-01 -1.64568897e-03 -7.40862099e+01] [-1.03477716e-02 5.39808492e-05 9.99946459e-01 -5.49127036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0357692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:415.21, Y:-74.09, Z:-5.49 [[ 9.88127921e-01 1.53285847e-01 1.03276284e-02 4.15208917e+02] [-1.53276839e-01 9.88181889e-01 -1.66289484e-03 -7.40894900e+01] [-1.04604736e-02 6.01665835e-05 9.99945286e-01 -5.49156935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.06576923100005 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:415.24, Y:-74.09, Z:-5.49 [[ 9.88435032e-01 1.51286406e-01 1.04216192e-02 4.15235790e+02] [-1.51277131e-01 9.88489968e-01 -1.67713724e-03 -7.40948252e+01] [-1.05553941e-02 8.11885447e-05 9.99944287e-01 -5.49132733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0957692310001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:415.26, Y:-74.10, Z:-5.49 [[ 9.88722057e-01 1.49427954e-01 9.99904394e-03 4.15264250e+02] [-1.49419329e-01 9.88772612e-01 -1.60831154e-03 -7.40997491e+01] [-1.01271075e-02 9.61226607e-05 9.99948715e-01 -5.49154385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.12576923100005 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:415.29, Y:-74.10, Z:-5.49 [[ 9.89307274e-01 1.45622704e-01 8.07132179e-03 4.15291955e+02] [-1.45616959e-01 9.89340192e-01 -1.29801252e-03 -7.41034424e+01] [-8.17430314e-03 1.08811892e-04 9.99966584e-01 -5.49216568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1557692310001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:415.32, Y:-74.11, Z:-5.49 [[ 9.89497323e-01 1.44372993e-01 7.17546206e-03 4.15320542e+02] [-1.44368423e-01 9.89523334e-01 -1.15354057e-03 -7.41087923e+01] [-7.26682724e-03 1.05515162e-04 9.99973591e-01 -5.49302841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.18576923100005 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:415.35, Y:-74.11, Z:-5.49 [[ 9.89621905e-01 1.43522264e-01 7.06016668e-03 4.15348425e+02] [-1.43517820e-01 9.89647082e-01 -1.13468173e-03 -7.41149995e+01] [-7.14992545e-03 1.09646159e-04 9.99974433e-01 -5.49313686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2157692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:415.38, Y:-74.12, Z:-5.49 [[ 9.89692824e-01 1.42980761e-01 8.03844838e-03 4.15375427e+02] [-1.42974986e-01 9.89725460e-01 -1.29149482e-03 -7.41212806e+01] [-8.14051593e-03 1.28886110e-04 9.99966857e-01 -5.49284120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.24576923100005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:415.40, Y:-74.13, Z:-5.49 [[ 9.89689233e-01 1.42911690e-01 9.56405247e-03 4.15404163e+02] [-1.42903519e-01 9.89735432e-01 -1.53589263e-03 -7.41273071e+01] [-9.68537862e-03 1.53319642e-04 9.99953084e-01 -5.49242762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2757692310001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:415.43, Y:-74.13, Z:-5.49 [[ 9.89568032e-01 1.43660755e-01 1.08027041e-02 4.15431267e+02] [-1.43650381e-01 9.89626980e-01 -1.73423117e-03 -7.41335327e+01] [-1.09397884e-02 1.64327168e-04 9.99940145e-01 -5.49294283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.30576923100006 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:415.46, Y:-74.14, Z:-5.49 [[ 9.89525078e-01 1.44026820e-01 9.81812845e-03 4.15459070e+02] [-1.44018275e-01 9.89573774e-01 -1.57558626e-03 -7.41387851e+01] [-9.94268910e-03 1.45092200e-04 9.99950560e-01 -5.49389514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3357692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:415.49, Y:-74.14, Z:-5.49 [[ 9.89467416e-01 1.44480300e-01 8.92607856e-03 4.15487330e+02] [-1.44473260e-01 9.89507669e-01 -1.43194708e-03 -7.41443966e+01] [-9.03931133e-03 1.27285312e-04 9.99959136e-01 -5.49472299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.36576923100006 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:415.52, Y:-74.15, Z:-5.49 [[ 9.89376196e-01 1.45010056e-01 1.03357361e-02 4.15515922e+02] [-1.45000651e-01 9.89430171e-01 -1.65752417e-03 -7.41509261e+01] [-1.04668468e-02 1.41226493e-04 9.99945211e-01 -5.49391800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3957692310001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:415.54, Y:-74.16, Z:-5.49 [[ 9.89381081e-01 1.44976716e-01 1.03358131e-02 4.15544894e+02] [-1.44967314e-01 9.89435057e-01 -1.65704344e-03 -7.41554833e+01] [-1.04668486e-02 1.41092356e-04 9.99945211e-01 -5.49427111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.42576923100006 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:415.57, Y:-74.16, Z:-5.49 [[ 9.89466956e-01 1.44280932e-01 1.17539848e-02 4.15573010e+02] [-1.44268730e-01 9.89536752e-01 -1.88394456e-03 -7.41608431e+01] [-1.19028172e-02 1.68368428e-04 9.99929145e-01 -5.49371791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.45576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:415.60, Y:-74.17, Z:-5.49 [[ 9.89587328e-01 1.43343242e-01 1.30244437e-02 4.15601010e+02] [-1.43328187e-01 9.89673015e-01 -2.08690640e-03 -7.41670300e+01] [-1.31890843e-02 1.98406237e-04 9.99913001e-01 -5.49404845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.48576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:415.63, Y:-74.18, Z:-5.49 [[ 9.89917459e-01 1.40946491e-01 1.40539019e-02 4.15627850e+02] [-1.40928730e-01 9.90017184e-01 -2.25113269e-03 -7.41768179e+01] [-1.42308937e-02 2.47836997e-04 9.99898705e-01 -5.49426498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.51576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:415.66, Y:-74.18, Z:-5.49 [[ 9.90085801e-01 1.39789009e-01 1.37527748e-02 4.15655023e+02] [-1.39771901e-01 9.90181280e-01 -2.20211841e-03 -7.41834207e+01] [-1.39255721e-02 2.58034690e-04 9.99903001e-01 -5.49445292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.54576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:415.68, Y:-74.19, Z:-5.49 [[ 9.90203644e-01 1.38953242e-01 1.37382323e-02 4.15683653e+02] [-1.38936101e-01 9.90298907e-01 -2.19902403e-03 -7.41895749e+01] [-1.39105179e-02 2.68745178e-04 9.99903208e-01 -5.49454798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.57576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:415.71, Y:-74.20, Z:-5.49 [[ 9.90238132e-01 1.38665854e-01 1.41500190e-02 4.15711117e+02] [-1.38647649e-01 9.90339186e-01 -2.26430086e-03 -7.41990150e+01] [-1.43272995e-02 2.80330183e-04 9.99897320e-01 -5.49439142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.60576923100007 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:415.74, Y:-74.21, Z:-5.49 [[ 9.90277583e-01 1.38446979e-01 1.35181995e-02 4.15739679e+02] [-1.38430350e-01 9.90369810e-01 -2.16277218e-03 -7.42068839e+01] [-1.36874460e-02 2.70415716e-04 9.99906286e-01 -5.49477668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.63576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:415.77, Y:-74.22, Z:-5.50 [[ 9.90190034e-01 1.39270338e-01 1.12901970e-02 4.15767948e+02] [-1.39258794e-01 9.90254374e-01 -1.80610368e-03 -7.42179898e+01] [-1.14317037e-02 2.16126639e-04 9.99934633e-01 -5.49627520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.66576923100007 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:415.80, Y:-74.23, Z:-5.50 [[ 9.90064123e-01 1.40237337e-01 1.03209026e-02 4.15796854e+02] [-1.40227745e-01 9.90117899e-01 -1.65083775e-03 -7.42258546e+01] [-1.04504195e-02 1.87158328e-04 9.99945375e-01 -5.49675539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.69576923100004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:415.83, Y:-74.23, Z:-5.50 [[ 9.89886954e-01 1.41520663e-01 9.78367433e-03 4.15826090e+02] [-1.41512108e-01 9.89935288e-01 -1.56468870e-03 -7.42335012e+01] [-9.90664025e-03 1.64356555e-04 9.99950915e-01 -5.49745029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.7257692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:415.86, Y:-74.24, Z:-5.50 [[ 9.89620375e-01 1.43401723e-01 9.35195001e-03 4.15855027e+02] [-1.43393993e-01 9.89664553e-01 -1.49540168e-03 -7.42410846e+01] [-9.46973660e-03 1.38866515e-04 9.99955151e-01 -5.49758107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.75576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:415.88, Y:-74.25, Z:-5.50 [[ 9.88806924e-01 1.48934367e-01 8.91184537e-03 4.15882804e+02] [-1.48927571e-01 9.88847080e-01 -1.42503526e-03 -7.42480545e+01] [-9.02468899e-03 8.18652401e-05 9.99959273e-01 -5.49761262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.7857692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:415.91, Y:-74.25, Z:-5.50 [[ 9.88321922e-01 1.52128407e-01 8.75938364e-03 4.15909977e+02] [-1.52121971e-01 9.88360736e-01 -1.40028047e-03 -7.42525083e+01] [-8.87045331e-03 5.14331819e-05 9.99960655e-01 -5.49844253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.81576923100005 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:415.94, Y:-74.26, Z:-5.50 [[ 9.87329633e-01 1.58426316e-01 9.01660706e-03 4.15938706e+02] [-1.58419764e-01 9.87370803e-01 -1.44080476e-03 -7.42569775e+01] [-9.13099595e-03 -5.85952328e-06 9.99958312e-01 -5.49873983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8457692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:415.97, Y:-74.26, Z:-5.50 [[ 9.86801010e-01 1.61683503e-01 9.06706457e-03 4.15966344e+02] [-1.61677019e-01 9.86842664e-01 -1.44846979e-03 -7.42607861e+01] [-9.18195982e-03 -3.65845202e-05 9.99957844e-01 -5.49906037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.87576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:415.99, Y:-74.26, Z:-5.50 [[ 9.86329444e-01 1.64563822e-01 8.54264071e-03 4.15994869e+02] [-1.64558178e-01 9.86366435e-01 -1.36419587e-03 -7.42640039e+01] [-8.65067136e-03 -6.02148378e-05 9.99962580e-01 -5.49939738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9057692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:416.02, Y:-74.27, Z:-5.50 [[ 9.85362680e-01 1.70274882e-01 8.17644209e-03 4.16023000e+02] [-1.70269911e-01 9.85396597e-01 -1.30539052e-03 -7.42653572e+01] [-8.27931343e-03 -1.05918966e-04 9.99965720e-01 -5.50040619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.93576923100005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:416.05, Y:-74.27, Z:-5.50 [[ 9.84887041e-01 1.73002001e-01 8.23556575e-03 4.16051653e+02] [-1.72997057e-01 9.84921464e-01 -1.31429708e-03 -7.42682253e+01] [-8.33876150e-03 -1.30294477e-04 9.99965223e-01 -5.50048792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9657692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:416.08, Y:-74.27, Z:-5.50 [[ 9.84411480e-01 1.75693189e-01 8.12044585e-03 4.16079245e+02] [-1.75688477e-01 9.84444961e-01 -1.29559297e-03 -7.42702307e+01] [-8.22175886e-03 -1.51272173e-04 9.99966189e-01 -5.50037889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.99576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:416.11, Y:-74.27, Z:-5.50 [[ 9.83592762e-01 1.80245023e-01 7.55051725e-03 4.16108484e+02] [-1.80241087e-01 9.83621726e-01 -1.20424508e-03 -7.42660325e+01] [-7.64391200e-03 -1.76426687e-04 9.99970769e-01 -5.50131590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0257692310001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:416.14, Y:-74.27, Z:-5.50 [[ 9.83159735e-01 1.82561173e-01 8.26764108e-03 4.16135860e+02] [-1.82556540e-01 9.83194473e-01 -1.31796529e-03 -7.42654384e+01] [-8.36930831e-03 -2.13541544e-04 9.99964954e-01 -5.50136121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.05576923100006 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:416.16, Y:-74.27, Z:-5.50 [[ 9.82711935e-01 1.84889651e-01 9.64726165e-03 4.16162918e+02] [-1.84883465e-01 9.82759249e-01 -1.53694562e-03 -7.42652787e+01] [-9.76510095e-03 -2.73244351e-04 9.99952283e-01 -5.50094863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0857692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:416.19, Y:-74.26, Z:-5.50 [[ 9.82349951e-01 1.86744208e-01 1.07319357e-02 4.16190071e+02] [-1.86736677e-01 9.82408517e-01 -1.70842322e-03 -7.42649340e+01] [-1.08621832e-02 -3.25776537e-04 9.99940952e-01 -5.50057743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.11576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:416.22, Y:-74.26, Z:-5.50 [[ 9.81951159e-01 1.88818758e-01 1.09268999e-02 4.16219946e+02] [-1.88811089e-01 9.82011889e-01 -1.73858221e-03 -7.42579700e+01] [-1.10586225e-02 -3.55917049e-04 9.99938788e-01 -5.50086545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1457692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:416.25, Y:-74.26, Z:-5.50 [[ 9.81927618e-01 1.88930861e-01 1.11033152e-02 4.16248612e+02] [-1.88922958e-01 9.81990325e-01 -1.76587392e-03 -7.42564814e+01] [-1.12369762e-02 -3.63710787e-04 9.99936797e-01 -5.50160893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.17576923100006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:416.28, Y:-74.26, Z:-5.50 [[ 9.82028681e-01 1.88375855e-01 1.15848138e-02 4.16276949e+02] [-1.88367223e-01 9.82096939e-01 -1.84161510e-03 -7.42553720e+01] [-1.17243260e-02 -3.73680371e-04 9.99931198e-01 -5.50158781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.20576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:416.30, Y:-74.25, Z:-5.50 [[ 9.82509945e-01 1.85815452e-01 1.21171611e-02 4.16304845e+02] [-1.85805825e-01 9.82584596e-01 -1.92534709e-03 -7.42494645e+01] [-1.22638951e-02 -3.59766449e-04 9.99924731e-01 -5.50227389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.23576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:416.33, Y:-74.25, Z:-5.50 [[ 9.82804181e-01 1.84263501e-01 1.19542277e-02 4.16332587e+02] [-1.84254029e-01 9.82876823e-01 -1.89848820e-03 -7.42484224e+01] [-1.20993554e-02 -3.36772475e-04 9.99926743e-01 -5.50270811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:416.36, Y:-74.25, Z:-5.50 [[ 9.83074188e-01 1.82825614e-01 1.18294491e-02 4.16360979e+02] [-1.82816251e-01 9.83145307e-01 -1.87723250e-03 -7.42477491e+01] [-1.19732736e-02 -3.17156726e-04 9.99928267e-01 -5.50302934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.29576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:416.39, Y:-74.25, Z:-5.50 [[ 9.83379655e-01 1.81189458e-01 1.16118237e-02 4.16389460e+02] [-1.81180332e-01 9.83448166e-01 -1.84190314e-03 -7.42479839e+01] [-1.17533602e-02 -2.92544006e-04 9.99930884e-01 -5.50328125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:416.42, Y:-74.25, Z:-5.50 [[ 9.84227090e-01 1.76529381e-01 1.15936963e-02 4.16417961e+02] [-1.76519969e-01 9.84295343e-01 -1.83819801e-03 -7.42452240e+01] [-1.17361173e-02 -2.37314645e-04 9.99931101e-01 -5.50340982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.35576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:416.45, Y:-74.25, Z:-5.50 [[ 9.84845999e-01 1.72954850e-01 1.28443488e-02 4.16445522e+02] [-1.72943008e-01 9.84929730e-01 -2.03542241e-03 -7.42460385e+01] [-1.30028171e-02 -2.16762696e-04 9.99915436e-01 -5.50378483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.38576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:416.47, Y:-74.25, Z:-5.51 [[ 9.86329521e-01 1.64180394e-01 1.41022858e-02 4.16474377e+02] [-1.64165240e-01 9.86430325e-01 -2.23346900e-03 -7.42457980e+01] [-1.42776141e-02 -1.12168724e-04 9.99898063e-01 -5.50529374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.41576923100007 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:416.50, Y:-74.25, Z:-5.51 [[ 9.87157228e-01 1.59224946e-01 1.29624239e-02 4.16501025e+02] [-1.59211727e-01 9.87242329e-01 -2.05206113e-03 -7.42492448e+01] [-1.31237929e-02 -3.80629114e-05 9.99913879e-01 -5.50636230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.44576923100004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:416.53, Y:-74.25, Z:-5.51 [[ 9.87999515e-01 1.54040822e-01 1.13306346e-02 4.16528890e+02] [-1.54030390e-01 9.88064484e-01 -1.79290586e-03 -7.42536597e+01] [-1.14715784e-02 2.61280466e-05 9.99934199e-01 -5.50765014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.4757692310001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:416.56, Y:-74.26, Z:-5.51 [[ 9.89477352e-01 1.44413178e-01 8.91084076e-03 4.16556879e+02] [-1.44406339e-01 9.89517469e-01 -1.40955574e-03 -7.42581220e+01] [-9.02099102e-03 1.07941583e-04 9.99959304e-01 -5.50852949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.50576923100004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:416.58, Y:-74.26, Z:-5.51 [[ 9.90118015e-01 1.39966005e-01 8.70823608e-03 4.16584048e+02] [-1.39959307e-01 9.90156299e-01 -1.37691205e-03 -7.42627649e+01] [-8.81523569e-03 1.44506742e-04 9.99961135e-01 -5.50818948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5357692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:416.61, Y:-74.27, Z:-5.51 [[ 9.90678927e-01 1.35954102e-01 8.47031265e-03 4.16610313e+02] [-1.35947622e-01 9.90715121e-01 -1.33883144e-03 -7.42683310e+01] [-8.57368646e-03 1.74833236e-04 9.99963230e-01 -5.50863031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.56576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:416.64, Y:-74.28, Z:-5.51 [[ 9.91527148e-01 1.29703693e-01 7.13203608e-03 4.16637385e+02] [-1.29698942e-01 9.91552780e-01 -1.12657310e-03 -7.42767542e+01] [-7.21791089e-03 1.92010274e-04 9.99973932e-01 -5.50892395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5957692310001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:416.67, Y:-74.28, Z:-5.51 [[ 9.91767363e-01 1.27832042e-01 7.51449193e-03 4.16665871e+02] [-1.27826719e-01 9.91795807e-01 -1.18632294e-03 -7.42833197e+01] [-7.60449167e-03 2.16003525e-04 9.99971062e-01 -5.50973894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.62576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:416.69, Y:-74.29, Z:-5.51 [[ 9.91941942e-01 1.26445691e-01 7.91647716e-03 4.16692798e+02] [-1.26439743e-01 9.91973503e-01 -1.24942031e-03 -7.42892721e+01] [-8.01091939e-03 2.38395076e-04 9.99967884e-01 -5.50994245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.72, Y:-74.30, Z:-5.51 [[ 9.92028632e-01 1.25707543e-01 8.76395158e-03 4.16720754e+02] [-1.25700230e-01 9.92067307e-01 -1.38253768e-03 -7.42951703e+01] [-8.86822526e-03 2.69886234e-04 9.99960640e-01 -5.50947792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:416.75, Y:-74.30, Z:-5.51 [[ 9.91857040e-01 1.26952990e-01 1.01266987e-02 4.16748131e+02] [-1.26943296e-01 9.91908690e-01 -1.59696044e-03 -7.43030025e+01] [-1.02474994e-02 2.98439949e-04 9.99947448e-01 -5.50816365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7157692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:416.78, Y:-74.31, Z:-5.51 [[ 9.91631636e-01 1.28726173e-01 9.81176820e-03 4.16776173e+02] [-1.28717165e-01 9.91680140e-01 -1.54671535e-03 -7.43089468e+01] [-9.92923840e-03 2.70828890e-04 9.99950667e-01 -5.50821042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.74576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:416.80, Y:-74.32, Z:-5.51 [[ 9.90918793e-01 1.34121370e-01 9.56058283e-03 4.16802874e+02] [-1.34113072e-01 9.90964890e-01 -1.50668670e-03 -7.43164558e+01] [-9.67628079e-03 2.10805026e-04 9.99953161e-01 -5.50874362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7757692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:416.83, Y:-74.32, Z:-5.51 [[ 9.90525549e-01 1.36945456e-01 1.02507625e-02 4.16829854e+02] [-1.36936075e-01 9.90578570e-01 -1.61477462e-03 -7.43219050e+01] [-1.03753217e-02 1.95776343e-04 9.99946156e-01 -5.50877174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.80576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:416.86, Y:-74.33, Z:-5.51 [[ 9.90103322e-01 1.39863863e-01 1.15547082e-02 4.16858313e+02] [-1.39852153e-01 9.90170725e-01 -1.81928189e-03 -7.43267922e+01] [-1.16955856e-02 1.85326224e-04 9.99931587e-01 -5.50904524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:416.89, Y:-74.33, Z:-5.51 [[ 9.89339926e-01 1.45091709e-01 1.24461499e-02 4.16886211e+02] [-1.45078544e-01 9.89418202e-01 -1.95898930e-03 -7.43297752e+01] [-1.25986804e-02 1.32437015e-04 9.99920625e-01 -5.50978361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.86576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:416.91, Y:-74.33, Z:-5.51 [[ 9.89031421e-01 1.47193933e-01 1.22798314e-02 4.16913970e+02] [-1.47181290e-01 9.89107646e-01 -1.93194985e-03 -7.43339450e+01] [-1.24304464e-02 1.03397685e-04 9.99922734e-01 -5.51039801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8957692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:416.94, Y:-74.34, Z:-5.51 [[ 9.88854674e-01 1.48416757e-01 1.17856210e-02 4.16940470e+02] [-1.48405208e-01 9.88924901e-01 -1.85337791e-03 -7.43386581e+01] [-1.19301665e-02 8.36738686e-05 9.99928830e-01 -5.51098223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.92576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:416.97, Y:-74.35, Z:-5.51 [[ 9.88724512e-01 1.49494396e-01 8.67550790e-03 4.16967357e+02] [-1.49488184e-01 9.88762572e-01 -1.36378503e-03 -7.43452726e+01] [-8.78189572e-03 5.15217663e-05 9.99961437e-01 -5.51186421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.95576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:416.99, Y:-74.35, Z:-5.51 [[ 9.88821344e-01 1.48911621e-01 7.59467690e-03 4.16993840e+02] [-1.48906846e-01 9.88850508e-01 -1.19354940e-03 -7.43507523e+01] [-7.68773348e-03 4.93077368e-05 9.99970448e-01 -5.51249432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.02, Y:-74.36, Z:-5.51 [[ 9.88920580e-01 1.48129960e-01 9.67480790e-03 4.17020061e+02] [-1.48122187e-01 9.88967901e-01 -1.51911835e-03 -7.43585936e+01] [-9.79310141e-03 6.92336948e-05 9.99952044e-01 -5.51228836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.01576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:417.05, Y:-74.36, Z:-5.51 [[ 9.88921228e-01 1.48002946e-01 1.13988306e-02 4.17047560e+02] [-1.47992160e-01 9.88986917e-01 -1.78868100e-03 -7.43642727e+01] [-1.15380244e-02 8.19270474e-05 9.99933431e-01 -5.51242256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.07, Y:-74.37, Z:-5.51 [[ 9.88881995e-01 1.48194582e-01 1.22787001e-02 4.17074545e+02] [-1.48182093e-01 9.88958219e-01 -1.92580125e-03 -7.43698380e+01] [-1.24285147e-02 8.49067056e-05 9.99922759e-01 -5.51271977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.07576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:417.10, Y:-74.38, Z:-5.51 [[ 9.88591426e-01 1.50266925e-01 1.03365274e-02 4.17102334e+02] [-1.50258194e-01 9.88645462e-01 -1.62054388e-03 -7.43768533e+01] [-1.04626750e-02 4.89078364e-05 9.99945264e-01 -5.51377827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.10576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:417.13, Y:-74.38, Z:-5.51 [[ 9.88392265e-01 1.51662334e-01 8.90315399e-03 4.17129466e+02] [-1.51655916e-01 9.88432363e-01 -1.39554580e-03 -7.43823283e+01] [-9.01181726e-03 2.91306982e-05 9.99959392e-01 -5.51483606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.13576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:417.16, Y:-74.39, Z:-5.52 [[ 9.88199002e-01 1.52951227e-01 8.28577343e-03 4.17156752e+02] [-1.52945718e-01 9.88233738e-01 -1.29823852e-03 -7.43877800e+01] [-8.38684803e-03 1.56444378e-05 9.99964830e-01 -5.51529527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.16576923100007 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:417.18, Y:-74.39, Z:-5.52 [[ 9.87569478e-01 1.57010840e-01 7.35676676e-03 4.17183288e+02] [-1.57006613e-01 9.87596879e-01 -1.15224639e-03 -7.43938158e+01] [-7.44643507e-03 -1.71376615e-05 9.99972275e-01 -5.51528948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.19576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:417.21, Y:-74.40, Z:-5.52 [[ 9.87149361e-01 1.59649959e-01 6.93040472e-03 4.17209495e+02] [-1.59646276e-01 9.87173688e-01 -1.08507941e-03 -7.43982934e+01] [-7.01474606e-03 -3.52778535e-05 9.99975396e-01 -5.51545615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.2257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.24, Y:-74.40, Z:-5.52 [[ 9.86674262e-01 1.62575646e-01 6.56205435e-03 4.17236844e+02] [-1.62572412e-01 9.86696081e-01 -1.02685605e-03 -7.44026613e+01] [-6.64169509e-03 -5.36365713e-05 9.99977942e-01 -5.51522841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.25576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.27, Y:-74.40, Z:-5.51 [[ 9.85673225e-01 1.68451169e-01 8.51455048e-03 4.17265061e+02] [-1.68445950e-01 9.85709992e-01 -1.33154926e-03 -7.44034515e+01] [-8.61717852e-03 -1.21769093e-04 9.99962864e-01 -5.51403065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.2857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.29, Y:-74.40, Z:-5.51 [[ 9.85162822e-01 1.71316874e-01 1.02344216e-02 4.17293780e+02] [-1.71309498e-01 9.85215965e-01 -1.59963040e-03 -7.44041687e+01] [-1.03571593e-02 -1.77357229e-04 9.99946347e-01 -5.51372589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.31576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.32, Y:-74.41, Z:-5.51 [[ 9.85172597e-01 1.71260644e-01 1.02345344e-02 4.17321951e+02] [-1.71253272e-01 9.85225741e-01 -1.59890855e-03 -7.44084331e+01] [-1.03571568e-02 -1.77496611e-04 9.99946347e-01 -5.51406895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3457692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:417.35, Y:-74.41, Z:-5.51 [[ 9.84629331e-01 1.74287064e-01 1.13622296e-02 4.17350449e+02] [-1.74278187e-01 9.84694859e-01 -1.77434995e-03 -7.44086951e+01] [-1.14975753e-02 -2.33111777e-04 9.99933874e-01 -5.51388039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.37576923100005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:417.38, Y:-74.41, Z:-5.52 [[ 9.83842433e-01 1.78627774e-01 1.20907190e-02 4.17378224e+02] [-1.78618061e-01 9.83916677e-01 -1.88721186e-03 -7.44053318e+01] [-1.22333685e-02 -3.02901676e-04 9.99925124e-01 -5.51544887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4057692310001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:417.41, Y:-74.40, Z:-5.52 [[ 9.83692251e-01 1.79522313e-01 1.10134075e-02 4.17405955e+02] [-1.79514320e-01 9.83753860e-01 -1.71824907e-03 -7.44044381e+01] [-1.11429462e-02 -2.86836058e-04 9.99937874e-01 -5.51627472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.43576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.43, Y:-74.40, Z:-5.52 [[ 9.83713693e-01 1.79437700e-01 1.04634013e-02 4.17434164e+02] [-1.79430488e-01 9.83769301e-01 -1.63163521e-03 -7.44031280e+01] [-1.05863499e-02 -2.72391304e-04 9.99943926e-01 -5.51713348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4657692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.46, Y:-74.40, Z:-5.52 [[ 9.84316102e-01 1.76173835e-01 9.19734011e-03 4.17463860e+02] [-1.76168125e-01 9.84359048e-01 -1.43369105e-03 -7.43960713e+01] [-9.30606380e-03 -2.09072982e-04 9.99956676e-01 -5.51774334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.49576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:417.49, Y:-74.40, Z:-5.52 [[ 9.84863266e-01 1.73113958e-01 8.71231671e-03 4.17491205e+02] [-1.73108719e-01 9.84901786e-01 -1.35768960e-03 -7.43951424e+01] [-8.81581131e-03 -1.71039372e-04 9.99961125e-01 -5.51810143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.52, Y:-74.39, Z:-5.52 [[ 9.85483683e-01 1.69557730e-01 8.49039778e-03 4.17519675e+02] [-1.69552633e-01 9.85520247e-01 -1.32181903e-03 -7.43945799e+01] [-8.59158355e-03 -1.36938217e-04 9.99963082e-01 -5.51822621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.55576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.55, Y:-74.39, Z:-5.52 [[ 9.86819110e-01 1.61493326e-01 1.03898618e-02 4.17548021e+02] [-1.61485255e-01 9.86873801e-01 -1.61662324e-03 -7.43895047e+01] [-1.05145563e-02 -8.24947706e-05 9.99944717e-01 -5.51753315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.58, Y:-74.39, Z:-5.52 [[ 9.87518722e-01 1.57091307e-01 1.13620184e-02 4.17576181e+02] [-1.57081375e-01 9.87584082e-01 -1.76685357e-03 -7.43898673e+01] [-1.14985058e-02 -3.99604934e-05 9.99933889e-01 -5.51694109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.60, Y:-74.39, Z:-5.52 [[ 9.88206734e-01 1.52652313e-01 1.20300907e-02 4.17602867e+02] [-1.52640861e-01 9.88279956e-01 -1.86984370e-03 -7.43908449e+01] [-1.21745335e-02 1.15087328e-05 9.99925888e-01 -5.51717562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6457692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:417.63, Y:-74.39, Z:-5.52 [[ 9.88906087e-01 1.48022208e-01 1.24167996e-02 4.17630703e+02] [-1.48009663e-01 9.88984035e-01 -1.92836186e-03 -7.43929872e+01] [-1.25654570e-02 6.91624524e-05 9.99921049e-01 -5.51723845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.67576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:417.66, Y:-74.40, Z:-5.52 [[ 9.90286565e-01 1.38517881e-01 1.20547408e-02 4.17657581e+02] [-1.38505362e-01 9.90359916e-01 -1.87131921e-03 -7.43952948e+01] [-1.21977433e-02 1.83496040e-04 9.99925588e-01 -5.51790091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.70576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.68, Y:-74.40, Z:-5.52 [[ 9.90937951e-01 1.33810371e-01 1.16945060e-02 4.17683979e+02] [-1.33798272e-01 9.91006927e-01 -1.81448638e-03 -7.44001206e+01] [-1.18321336e-02 2.33338721e-04 9.99929971e-01 -5.51882520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.71, Y:-74.41, Z:-5.52 [[ 9.91564628e-01 1.29065022e-01 1.19083080e-02 4.17711397e+02] [-1.29052145e-01 9.91636089e-01 -1.84673060e-03 -7.44059952e+01] [-1.20470563e-02 2.94360052e-04 9.99927388e-01 -5.51955487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.74, Y:-74.42, Z:-5.52 [[ 9.92486829e-01 1.21576687e-01 1.37478759e-02 4.17738103e+02] [-1.21558821e-01 9.92581942e-01 -2.13095451e-03 -7.44166473e+01] [-1.39049678e-02 4.43768705e-04 9.99903223e-01 -5.51943602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.76, Y:-74.42, Z:-5.52 [[ 9.92846432e-01 1.18604046e-01 1.37493130e-02 4.17764660e+02] [-1.18585903e-01 9.92941512e-01 -2.13027434e-03 -7.44247377e+01] [-1.39049228e-02 4.84560574e-04 9.99903204e-01 -5.51937907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:417.79, Y:-74.44, Z:-5.52 [[ 9.93332795e-01 1.14550513e-01 1.29668212e-02 4.17792036e+02] [-1.14534040e-01 9.93417294e-01 -2.00836709e-03 -7.44374791e+01] [-1.31115239e-02 5.09834472e-04 9.99913910e-01 -5.51975511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.82, Y:-74.45, Z:-5.52 [[ 9.93442980e-01 1.13633160e-01 1.25917115e-02 4.17819102e+02] [-1.13617560e-01 9.93522646e-01 -1.94971670e-03 -7.44471157e+01] [-1.27317030e-02 5.06292833e-04 9.99918820e-01 -5.51989986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.85, Y:-74.46, Z:-5.52 [[ 9.93501520e-01 1.13136678e-01 1.24427674e-02 4.17846290e+02] [-1.13121415e-01 9.93579305e-01 -1.92598118e-03 -7.44574693e+01] [-1.25807753e-02 5.05921780e-04 9.99920731e-01 -5.52027843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.87, Y:-74.47, Z:-5.52 [[ 9.93642795e-01 1.12029083e-01 1.11122064e-02 4.17871586e+02] [-1.12016845e-01 9.93704820e-01 -1.71960272e-03 -7.44745140e+01] [-1.12348986e-02 4.63916540e-04 9.99936779e-01 -5.52144475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.90, Y:-74.48, Z:-5.52 [[ 9.93761088e-01 1.11033896e-01 1.05059349e-02 4.17898488e+02] [-1.11022908e-01 9.93816519e-01 -1.62524824e-03 -7.44848180e+01] [-1.06214293e-02 4.48709017e-04 9.99943490e-01 -5.52241750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.92, Y:-74.50, Z:-5.52 [[ 9.93862514e-01 1.10180360e-01 9.87881269e-03 4.17924821e+02] [-1.10170607e-01 9.93911517e-01 -1.52769408e-03 -7.44953039e+01] [-9.98698759e-03 4.29963088e-04 9.99950036e-01 -5.52344021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.00576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.95, Y:-74.51, Z:-5.52 [[ 9.93883691e-01 1.09982963e-01 9.94770662e-03 4.17951228e+02] [-1.09973071e-01 9.93933378e-01 -1.53773315e-03 -7.45137284e+01] [-1.00564821e-02 4.34348058e-04 9.99949338e-01 -5.52356629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.98, Y:-74.53, Z:-5.52 [[ 9.93787235e-01 1.10871552e-01 9.71752666e-03 4.17979529e+02] [-1.10862158e-01 9.93834658e-01 -1.50170027e-03 -7.45250311e+01] [-9.82411062e-03 4.15064574e-04 9.99951656e-01 -5.52302815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.06576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:418.01, Y:-74.54, Z:-5.52 [[ 9.93613446e-01 1.12459381e-01 9.23077176e-03 4.18007230e+02] [-1.12450975e-01 9.93656250e-01 -1.42631360e-03 -7.45354073e+01] [-9.33261640e-03 3.79195084e-04 9.99956378e-01 -5.52251069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.03, Y:-74.55, Z:-5.52 [[ 9.93010720e-01 1.17707199e-01 8.64433516e-03 4.18034900e+02] [-1.17700028e-01 9.93048297e-01 -1.33539901e-03 -7.45508510e+01] [-8.74142839e-03 3.08627040e-04 9.99961745e-01 -5.52178328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.12576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:418.06, Y:-74.56, Z:-5.52 [[ 9.92593280e-01 1.21157753e-01 8.90951402e-03 4.18062761e+02] [-1.21150276e-01 9.92633224e-01 -1.37617382e-03 -7.45607152e+01] [-9.01061375e-03 2.86590800e-04 9.99959363e-01 -5.52212915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.09, Y:-74.57, Z:-5.52 [[ 9.92155356e-01 1.24659197e-01 9.37201659e-03 4.18091148e+02] [-1.24651083e-01 9.92199583e-01 -1.44721590e-03 -7.45703621e+01] [-9.47931973e-03 2.67630988e-04 9.99955034e-01 -5.52263053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.12, Y:-74.58, Z:-5.52 [[ 9.91711274e-01 1.28125046e-01 9.62925791e-03 4.18118982e+02] [-1.28116646e-01 9.91757992e-01 -1.48671750e-03 -7.45791017e+01] [-9.74037924e-03 2.40726280e-04 9.99952532e-01 -5.52310844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2157692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:418.15, Y:-74.59, Z:-5.52 [[ 9.90811226e-01 1.34899233e-01 9.76279819e-03 4.18145864e+02] [-1.34890931e-01 9.90859307e-01 -1.50695877e-03 -7.45905098e+01] [-9.87684703e-03 1.76198727e-04 9.99951207e-01 -5.52408694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.18, Y:-74.60, Z:-5.52 [[ 9.90418377e-01 1.37804978e-01 9.01255569e-03 4.18175375e+02] [-1.37798027e-01 9.90459373e-01 -1.39076225e-03 -7.45987949e+01] [-9.11822422e-03 1.35524100e-04 9.99958419e-01 -5.52424688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.20, Y:-74.61, Z:-5.52 [[ 9.89887375e-01 1.41649394e-01 7.64426112e-03 4.18203621e+02] [-1.41644507e-01 9.89916886e-01 -1.17966679e-03 -7.46093032e+01] [-7.73428226e-03 8.49696638e-05 9.99970086e-01 -5.52479377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.23, Y:-74.62, Z:-5.52 [[ 9.89697565e-01 1.42945130e-01 8.08825057e-03 4.18232958e+02] [-1.42939703e-01 9.89730612e-01 -1.24812312e-03 -7.46157186e+01] [-8.18360230e-03 7.91322749e-05 9.99966511e-01 -5.52461423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.26, Y:-74.62, Z:-5.52 [[ 9.89440422e-01 1.44613966e-01 9.71860647e-03 4.18260634e+02] [-1.44606213e-01 9.89488148e-01 -1.49941697e-03 -7.46219300e+01] [-9.83328256e-03 7.82128810e-05 9.99951649e-01 -5.52455924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.29, Y:-74.63, Z:-5.52 [[ 9.88767254e-01 1.48975529e-01 1.20668524e-02 4.18290142e+02] [-1.48963907e-01 9.88840882e-01 -1.86135723e-03 -7.46311050e+01] [-1.22094937e-02 4.29236002e-05 9.99925460e-01 -5.52428702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.32, Y:-74.64, Z:-5.52 [[ 9.88473675e-01 1.50927076e-01 1.18663671e-02 4.18319961e+02] [-1.50915977e-01 9.88544899e-01 -1.83043162e-03 -7.46377359e+01] [-1.20066984e-02 1.85090824e-05 9.99927917e-01 -5.52492882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.35, Y:-74.64, Z:-5.53 [[ 9.88281972e-01 1.52229195e-01 1.11810241e-02 4.18349446e+02] [-1.52219424e-01 9.88345219e-01 -1.72472372e-03 -7.46431775e+01] [-1.13132650e-02 2.54430951e-06 9.99936003e-01 -5.52543109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.38, Y:-74.65, Z:-5.53 [[ 9.87833112e-01 1.55188159e-01 1.01181975e-02 4.18378977e+02] [-1.55180314e-01 9.87884930e-01 -1.56068830e-03 -7.46486329e+01] [-1.02378152e-02 -2.84454860e-05 9.99947592e-01 -5.52652547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.41, Y:-74.65, Z:-5.53 [[ 9.87626621e-01 1.56514054e-01 9.84928697e-03 4.18408085e+02] [-1.56506688e-01 9.87675731e-01 -1.51898000e-03 -7.46538387e+01] [-9.96564342e-03 -4.12941993e-05 9.99950341e-01 -5.52736465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.44, Y:-74.66, Z:-5.53 [[ 9.87489943e-01 1.57383639e-01 9.69550948e-03 4.18436927e+02] [-1.57376546e-01 9.87537537e-01 -1.49503482e-03 -7.46588332e+01] [-9.80997357e-03 -4.95139486e-05 9.99951880e-01 -5.52765671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.47, Y:-74.66, Z:-5.53 [[ 9.87105974e-01 1.59757539e-01 9.96617991e-03 4.18466144e+02] [-1.59750168e-01 9.87156281e-01 -1.53652369e-03 -7.46648027e+01] [-1.00836483e-02 -7.53872061e-05 9.99949156e-01 -5.52665591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.50, Y:-74.67, Z:-5.53 [[ 9.86844608e-01 1.61354005e-01 1.01293668e-02 4.18495533e+02] [-1.61346477e-01 9.86896588e-01 -1.56141429e-03 -7.46687720e+01] [-1.02485780e-02 -9.34643854e-05 9.99947478e-01 -5.52621395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.53, Y:-74.67, Z:-5.53 [[ 9.86522333e-01 1.63300450e-01 1.03271164e-02 4.18525240e+02] [-1.63292733e-01 9.86576378e-01 -1.59178999e-03 -7.46723508e+01] [-1.04484291e-02 -1.16006670e-04 9.99945407e-01 -5.52636302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.56, Y:-74.68, Z:-5.53 [[ 9.86104254e-01 1.65790700e-01 1.05756385e-02 4.18555076e+02] [-1.65782753e-01 9.86160952e-01 -1.62983897e-03 -7.46752504e+01] [-1.06994939e-02 -1.46067321e-04 9.99942748e-01 -5.52703632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.58, Y:-74.68, Z:-5.53 [[ 9.85259243e-01 1.70787114e-01 9.79725200e-03 4.18583310e+02] [-1.70780542e-01 9.85307935e-01 -1.50974312e-03 -7.46756908e+01] [-9.91115481e-03 -1.85691645e-04 9.99950866e-01 -5.52792064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.61, Y:-74.68, Z:-5.53 [[ 9.84828970e-01 1.73275664e-01 9.35111348e-03 4.18612422e+02] [-1.73269794e-01 9.84873344e-01 -1.44044798e-03 -7.46778495e+01] [-9.45925699e-03 -2.01670606e-04 9.99955240e-01 -5.52855415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.64, Y:-74.68, Z:-5.53 [[ 9.84439594e-01 1.75483522e-01 9.17714268e-03 4.18640169e+02] [-1.75477968e-01 9.84482344e-01 -1.41326318e-03 -7.46798934e+01] [-9.28273934e-03 -2.19114113e-04 9.99956890e-01 -5.52913777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.67, Y:-74.68, Z:-5.53 [[ 9.83939021e-01 1.78275723e-01 9.04263992e-03 4.18669443e+02] [-1.78270453e-01 9.83980542e-01 -1.39200068e-03 -7.46775301e+01] [-9.14594166e-03 -2.42391725e-04 9.99958146e-01 -5.52975057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.70, Y:-74.68, Z:-5.53 [[ 9.83814589e-01 1.78955243e-01 9.15831011e-03 4.18698037e+02] [-1.78949871e-01 9.83857183e-01 -1.40937862e-03 -7.46786507e+01] [-9.26268488e-03 -2.52311166e-04 9.99957069e-01 -5.52998928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.73, Y:-74.68, Z:-5.53 [[ 9.83872060e-01 1.78630530e-01 9.32224232e-03 4.18726221e+02] [-1.78624953e-01 9.83916190e-01 -1.43419822e-03 -7.46803342e+01] [-9.42849673e-03 -2.54117538e-04 9.99955518e-01 -5.53029455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.76, Y:-74.68, Z:-5.53 [[ 9.84321584e-01 1.76157993e-01 8.90957610e-03 4.18755451e+02] [-1.76152802e-01 9.84361881e-01 -1.37020128e-03 -7.46817488e+01] [-9.01161900e-03 -2.20728098e-04 9.99959370e-01 -5.52989597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.78, Y:-74.68, Z:-5.53 [[ 9.84560087e-01 1.74832982e-01 8.65238655e-03 4.18782832e+02] [-1.74828038e-01 9.84598084e-01 -1.33030746e-03 -7.46843517e+01] [-8.75170485e-03 -2.02912135e-04 9.99961683e-01 -5.53041032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.81, Y:-74.68, Z:-5.53 [[ 9.85089538e-01 1.71795423e-01 9.21598313e-03 4.18811447e+02] [-1.71789687e-01 9.85132629e-01 -1.41639488e-03 -7.46842678e+01] [-9.32229585e-03 -1.87935071e-04 9.99956529e-01 -5.53034618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.84, Y:-74.69, Z:-5.53 [[ 9.85430912e-01 1.69774524e-01 1.01256790e-02 4.18840288e+02] [-1.69767499e-01 9.85482915e-01 -1.55555525e-03 -7.46875181e+01] [-1.02427773e-02 -1.86118977e-04 9.99947524e-01 -5.53073726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.87, Y:-74.69, Z:-5.53 [[ 9.85793756e-01 1.67587426e-01 1.11859038e-02 4.18867662e+02] [-1.67578719e-01 9.85857202e-01 -1.71784503e-03 -7.46915964e+01] [-1.13155931e-02 -1.81078531e-04 9.99935960e-01 -5.53066035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.90, Y:-74.70, Z:-5.53 [[ 9.86560967e-01 1.62913849e-01 1.25114200e-02 4.18896004e+02] [-1.62902591e-01 9.86640288e-01 -1.92058499e-03 -7.46959199e+01] [-1.26571609e-02 -1.43368554e-04 9.99919885e-01 -5.53039131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.92, Y:-74.70, Z:-5.53 [[ 9.86856468e-01 1.61078646e-01 1.29607763e-02 4.18923373e+02] [-1.61066415e-01 9.86941566e-01 -1.98891448e-03 -7.46998102e+01] [-1.31119005e-02 -1.24772660e-04 9.99914028e-01 -5.53109579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.95, Y:-74.70, Z:-5.53 [[ 9.87076317e-01 1.59746714e-01 1.27016586e-02 4.18952002e+02] [-1.59734866e-01 9.87158030e-01 -1.94842341e-03 -7.47041467e+01] [-1.28497985e-02 -1.05655140e-04 9.99917432e-01 -5.53123531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.98, Y:-74.71, Z:-5.53 [[ 9.87240367e-01 1.58757440e-01 1.23504362e-02 4.18979079e+02] [-1.58746168e-01 9.87317612e-01 -1.89400987e-03 -7.47095331e+01] [-1.24944914e-02 -9.07414179e-05 9.99921937e-01 -5.53141028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.01, Y:-74.71, Z:-5.53 [[ 9.87235193e-01 1.58786699e-01 1.23877855e-02 4.19007825e+02] [-1.58775369e-01 9.87312907e-01 -1.89906069e-03 -7.47140554e+01] [-1.25321661e-02 -9.20556753e-05 9.99921465e-01 -5.53119512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.04, Y:-74.72, Z:-5.53 [[ 9.87207042e-01 1.58919598e-01 1.29157672e-02 4.19035937e+02] [-1.58907301e-01 9.87291523e-01 -1.97940222e-03 -7.47173928e+01] [-1.30661932e-02 -9.83298886e-05 9.99914629e-01 -5.53120921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.06, Y:-74.72, Z:-5.53 [[ 9.87182989e-01 1.59021498e-01 1.34874166e-02 4.19064445e+02] [-1.59008108e-01 9.87275115e-01 -2.06626515e-03 -7.47220618e+01] [-1.36443714e-02 -1.04826786e-04 9.99906906e-01 -5.53143391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.09, Y:-74.73, Z:-5.53 [[ 9.87188030e-01 1.58990193e-01 1.34875013e-02 4.19093450e+02] [-1.58976807e-01 9.87280157e-01 -2.06571194e-03 -7.47264131e+01] [-1.36443704e-02 -1.04953798e-04 9.99906906e-01 -5.53178701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.12, Y:-74.73, Z:-5.53 [[ 9.87164478e-01 1.59088140e-01 1.40448452e-02 4.19121403e+02] [-1.59073642e-01 9.87264378e-01 -2.15057876e-03 -7.47316071e+01] [-1.42081070e-02 -1.11189727e-04 9.99899054e-01 -5.53225176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.15, Y:-74.74, Z:-5.53 [[ 9.87035034e-01 1.59915712e-01 1.37407098e-02 4.19148661e+02] [-1.59901924e-01 9.87130665e-01 -2.10340804e-03 -7.47368092e+01] [-1.39002440e-02 -1.21028507e-04 9.99903380e-01 -5.53276569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.18, Y:-74.74, Z:-5.53 [[ 9.86965747e-01 1.60381401e-01 1.32823399e-02 4.19176921e+02] [-1.60368569e-01 9.87055110e-01 -2.03255718e-03 -7.47406706e+01] [-1.34363859e-02 -1.24005525e-04 9.99909720e-01 -5.53361741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.20, Y:-74.74, Z:-5.53 [[ 9.86876811e-01 1.60991559e-01 1.24851069e-02 4.19204128e+02] [-1.60980277e-01 9.86955775e-01 -1.90998954e-03 -7.47438579e+01] [-1.26297405e-02 -1.24931569e-04 9.99920234e-01 -5.53414395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.23, Y:-74.75, Z:-5.53 [[ 9.86339609e-01 1.64388027e-01 1.05238547e-02 4.19232425e+02] [-1.64380211e-01 9.86395740e-01 -1.60941672e-03 -7.47474014e+01] [-1.06452543e-02 -1.42482001e-04 9.99943328e-01 -5.53484242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.26, Y:-74.75, Z:-5.54 [[ 9.85935894e-01 1.66807229e-01 1.02840635e-02 4.19259821e+02] [-1.66799900e-01 9.85989514e-01 -1.57235178e-03 -7.47507407e+01] [-1.04022584e-02 -1.65142702e-04 9.99945881e-01 -5.53522859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.29, Y:-74.75, Z:-5.54 [[ 9.85471553e-01 1.69549867e-01 9.93281202e-03 4.19287509e+02] [-1.69543176e-01 9.85521591e-01 -1.51803861e-03 -7.47535463e+01] [-1.00463840e-02 -1.88056631e-04 9.99949516e-01 -5.53511055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.32, Y:-74.75, Z:-5.54 [[ 9.84609511e-01 1.74596846e-01 7.74938049e-03 4.19315229e+02] [-1.74592932e-01 9.84639988e-01 -1.18401407e-03 -7.47548018e+01] [-7.83707504e-03 -1.87195542e-04 9.99969272e-01 -5.53571893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.34, Y:-74.76, Z:-5.54 [[ 9.84353654e-01 1.76073590e-01 6.78052326e-03 4.19343413e+02] [-1.76070630e-01 9.84376991e-01 -1.03568514e-03 -7.47583237e+01] [-6.85694788e-03 -1.74370548e-04 9.99976476e-01 -5.53643084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.37, Y:-74.76, Z:-5.54 [[ 9.84209680e-01 1.76862761e-01 7.13236241e-03 4.19370461e+02] [-1.76859510e-01 9.84235504e-01 -1.08902688e-03 -7.47623809e+01] [-7.21253261e-03 -1.89595324e-04 9.99973971e-01 -5.53690427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.40, Y:-74.77, Z:-5.54 [[ 9.84318208e-01 1.76112007e-01 1.01107215e-02 4.19396908e+02] [-1.76105450e-01 9.84370099e-01 -1.54218165e-03 -7.47659707e+01] [-1.02242886e-02 -2.62555681e-04 9.99947696e-01 -5.53673104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.43, Y:-74.77, Z:-5.54 [[ 9.84581584e-01 1.74583083e-01 1.09477149e-02 4.19425189e+02] [-1.74575312e-01 9.84642410e-01 -1.66886478e-03 -7.47700236e+01] [-1.10709399e-02 -2.68067209e-04 9.99938679e-01 -5.53668869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.45, Y:-74.77, Z:-5.54 [[ 9.84898427e-01 1.72781493e-01 1.10292694e-02 4.19452214e+02] [-1.72773498e-01 9.84960148e-01 -1.68077792e-03 -7.47747221e+01] [-1.11537982e-02 -2.50169938e-04 9.99937763e-01 -5.53705292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.48, Y:-74.78, Z:-5.54 [[ 9.85557009e-01 1.69025165e-01 1.03862772e-02 4.19479790e+02] [-1.69017873e-01 9.85611716e-01 -1.58221372e-03 -7.47817686e+01] [-1.05042705e-02 -1.96104669e-04 9.99944809e-01 -5.53693765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.51, Y:-74.79, Z:-5.54 [[ 9.85897475e-01 1.67023844e-01 1.04501006e-02 4.19508093e+02] [-1.67016357e-01 9.85952841e-01 -1.59130578e-03 -7.47878453e+01] [-1.05690924e-02 -1.76473387e-04 9.99944130e-01 -5.53728119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.53, Y:-74.79, Z:-5.54 [[ 9.86248754e-01 1.64929172e-01 1.05718223e-02 4.19534874e+02] [-1.64921394e-01 9.86305401e-01 -1.60933495e-03 -7.47941689e+01] [-1.06924717e-02 -1.56315078e-04 9.99942822e-01 -5.53739208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.56, Y:-74.80, Z:-5.54 [[ 9.86553659e-01 1.63050507e-01 1.12432296e-02 4.19563099e+02] [-1.63041596e-01 9.86617713e-01 -1.71080489e-03 -7.48005376e+01] [-1.13717171e-02 -1.45313274e-04 9.99935329e-01 -5.53784625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.59, Y:-74.81, Z:-5.54 [[ 9.86800382e-01 1.61461547e-01 1.24569402e-02 4.19590880e+02] [-1.61450490e-01 9.86878994e-01 -1.89484576e-03 -7.48084628e+01] [-1.25994373e-02 -1.41344572e-04 9.99920614e-01 -5.53728008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.62, Y:-74.81, Z:-5.54 [[ 9.86872597e-01 1.61015998e-01 1.25030500e-02 4.19618768e+02] [-1.61004831e-01 9.86951787e-01 -1.90126695e-03 -7.48149672e+01] [-1.26460419e-02 -1.36743192e-04 9.99920026e-01 -5.53704744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.65, Y:-74.82, Z:-5.54 [[ 9.86953633e-01 1.60528090e-01 1.23797834e-02 4.19646872e+02] [-1.60517107e-01 9.87031264e-01 -1.88221473e-03 -7.48219361e+01] [-1.25213815e-02 -1.29508341e-04 9.99921596e-01 -5.53755973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.68, Y:-74.83, Z:-5.54 [[ 9.87125722e-01 1.59440438e-01 1.27104382e-02 4.19675629e+02] [-1.59428778e-01 9.87207543e-01 -1.93189989e-03 -7.48330344e+01] [-1.28558634e-02 -1.19381548e-04 9.99917353e-01 -5.53757005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.70, Y:-74.84, Z:-5.54 [[ 9.87263287e-01 1.58569793e-01 1.29160049e-02 4.19704794e+02] [-1.58557683e-01 9.87347765e-01 -1.96283076e-03 -7.48404228e+01] [-1.30638342e-02 -1.10101056e-04 9.99914658e-01 -5.53804734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.73, Y:-74.85, Z:-5.54 [[ 9.87439207e-01 1.57400113e-01 1.37483649e-02 4.19733116e+02] [-1.57386282e-01 9.87534908e-01 -2.08899991e-03 -7.48500158e+01] [-1.39057991e-02 -1.01043638e-04 9.99903305e-01 -5.53819987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.76, Y:-74.86, Z:-5.54 [[ 9.87465688e-01 1.57228799e-01 1.38064978e-02 4.19762493e+02] [-1.57214837e-01 9.87562198e-01 -2.09769127e-03 -7.48567584e+01] [-1.39645928e-02 -9.91881366e-05 9.99902485e-01 -5.53870528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.79, Y:-74.86, Z:-5.54 [[ 9.87397171e-01 1.57735905e-01 1.28922643e-02 4.19791086e+02] [-1.57723773e-01 9.87481329e-01 -1.95879867e-03 -7.48639003e+01] [-1.30398432e-02 -9.93043058e-05 9.99914973e-01 -5.53870282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.82, Y:-74.87, Z:-5.54 [[ 9.87129259e-01 1.59588801e-01 1.03556770e-02 4.19820924e+02] [-1.59581075e-01 9.87183572e-01 -1.57351118e-03 -7.48735391e+01] [-1.04740690e-02 -9.93111429e-05 9.99945141e-01 -5.54030269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.85, Y:-74.88, Z:-5.54 [[ 9.86949182e-01 1.60755596e-01 9.43131549e-03 4.19850963e+02] [-1.60749240e-01 9.86994239e-01 -1.43305747e-03 -7.48805572e+01] [-9.53902606e-03 -1.01721895e-04 9.99954497e-01 -5.54109497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.88, Y:-74.89, Z:-5.54 [[ 9.86835031e-01 1.61474564e-01 9.08768858e-03 4.19879685e+02] [-1.61468694e-01 9.86876869e-01 -1.38087706e-03 -7.48870825e+01] [-9.19140618e-03 -1.04679348e-04 9.99957753e-01 -5.54214016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.91, Y:-74.89, Z:-5.54 [[ 9.86868634e-01 1.61267142e-01 9.12190023e-03 4.19908148e+02] [-1.61261219e-01 9.86910785e-01 -1.38596911e-03 -7.48937385e+01] [-9.22601299e-03 -1.03239311e-04 9.99957434e-01 -5.54245394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.94, Y:-74.90, Z:-5.54 [[ 9.87086133e-01 1.59917422e-01 9.34798680e-03 4.19937401e+02] [-1.59911143e-01 9.87130391e-01 -1.42018083e-03 -7.49032002e+01] [-9.45479352e-03 -9.30064548e-05 9.99955298e-01 -5.54216120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.97, Y:-74.91, Z:-5.54 [[ 9.87099065e-01 1.59865777e-01 8.85264121e-03 4.19967517e+02] [-1.59860144e-01 9.87138757e-01 -1.34492609e-03 -7.49101704e+01] [-8.95379289e-03 -8.76092135e-05 9.99959910e-01 -5.54212568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.16576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:420.00, Y:-74.92, Z:-5.54 [[ 9.86589273e-01 1.63024593e-01 8.03672855e-03 4.19997708e+02] [-1.63020055e-01 9.86622000e-01 -1.22096961e-03 -7.49164456e+01] [-8.12826127e-03 -1.05552408e-04 9.99966960e-01 -5.54161096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.03, Y:-74.92, Z:-5.54 [[ 9.86130224e-01 1.65779419e-01 8.02281430e-03 4.20026835e+02] [-1.65774988e-01 9.86162851e-01 -1.21890112e-03 -7.49201106e+01] [-8.11387014e-03 -1.27986707e-04 9.99967074e-01 -5.54196778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.2257692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:420.06, Y:-74.92, Z:-5.54 [[ 9.85529058e-01 1.69323283e-01 7.88049131e-03 4.20056247e+02] [-1.69319121e-01 9.85560552e-01 -1.19723478e-03 -7.49229219e+01] [-7.96942109e-03 -1.54408198e-04 9.99968232e-01 -5.54195124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.09, Y:-74.92, Z:-5.54 [[ 9.84191790e-01 1.76929055e-01 7.91387056e-03 4.20086364e+02] [-1.76925104e-01 9.84223584e-01 -1.20212309e-03 -7.49209461e+01] [-8.00170854e-03 -2.17042698e-04 9.99967962e-01 -5.54135040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.2857692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:420.12, Y:-74.92, Z:-5.54 [[ 9.83540280e-01 1.80484009e-01 8.60471485e-03 4.20115635e+02] [-1.80479475e-01 9.83577883e-01 -1.30687142e-03 -7.49213788e+01] [-8.69927661e-03 -2.67613743e-04 9.99962125e-01 -5.54164421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.31576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:420.15, Y:-74.92, Z:-5.54 [[ 9.82421912e-01 1.86401999e-01 1.00738500e-02 4.20145770e+02] [-1.86396100e-01 9.82473488e-01 -1.52958777e-03 -7.49180960e+01] [-1.01824088e-02 -3.75025825e-04 9.99948088e-01 -5.54094463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3457692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:420.18, Y:-74.92, Z:-5.54 [[ 9.82064441e-01 1.88279916e-01 1.00053498e-02 4.20175479e+02] [-1.88274199e-01 9.82115329e-01 -1.51874021e-03 -7.49176891e+01] [-1.01123557e-02 -3.92248471e-04 9.99948792e-01 -5.54142048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.37576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:420.20, Y:-74.92, Z:-5.54 [[ 9.81857208e-01 1.89383260e-01 9.50813819e-03 4.20203444e+02] [-1.89378152e-01 9.81903169e-01 -1.44287573e-03 -7.49160471e+01] [-9.60932753e-03 -3.83935709e-04 9.99953756e-01 -5.54212951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:420.23, Y:-74.91, Z:-5.54 [[ 9.81753516e-01 1.89938628e-01 9.12971049e-03 4.20233971e+02] [-1.89933949e-01 9.81795894e-01 -1.38484033e-03 -7.49079451e+01] [-9.22654695e-03 -3.74470110e-04 9.99957364e-01 -5.54326621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.43576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:420.26, Y:-74.91, Z:-5.54 [[ 9.81875970e-01 1.89278489e-01 9.65569828e-03 4.20261375e+02] [-1.89273227e-01 9.81923369e-01 -1.46421616e-03 -7.49063078e+01] [-9.75830040e-03 -3.89886509e-04 9.99952311e-01 -5.54365298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4657692310001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:420.29, Y:-74.91, Z:-5.54 [[ 9.82068898e-01 1.88274857e-01 9.65701355e-03 4.20289534e+02] [-1.88269553e-01 9.82116303e-01 -1.46359808e-03 -7.49054743e+01] [-9.75986917e-03 -3.80767467e-04 9.99952299e-01 -5.54371379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.49576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:420.32, Y:-74.90, Z:-5.54 [[ 9.82936761e-01 1.83707720e-01 9.31655516e-03 4.20317703e+02] [-1.83702585e-01 9.82980859e-01 -1.41136807e-03 -7.48997070e+01] [-9.41727460e-03 -3.24189703e-04 9.99955604e-01 -5.54410229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5257692310001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:420.35, Y:-74.90, Z:-5.54 [[ 9.83562590e-01 1.80312020e-01 9.60241924e-03 4.20345934e+02] [-1.80306409e-01 9.83609417e-01 -1.45397295e-03 -7.48991958e+01] [-9.70719879e-03 -3.01304326e-04 9.99952839e-01 -5.54449403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.55576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:420.37, Y:-74.90, Z:-5.54 [[ 9.84307469e-01 1.76192165e-01 9.75338280e-03 4.20373495e+02] [-1.76186180e-01 9.84355754e-01 -1.47619138e-03 -7.48995327e+01] [-9.86089184e-03 -2.65385064e-04 9.99951345e-01 -5.54453431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5857692310001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:420.40, Y:-74.90, Z:-5.55 [[ 9.85095229e-01 1.71733714e-01 9.74273360e-03 4.20401522e+02] [-1.71727535e-01 9.85143382e-01 -1.47351198e-03 -7.49013091e+01] [-9.85104121e-03 -2.21546005e-04 9.99951453e-01 -5.54528910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.61576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:420.43, Y:-74.91, Z:-5.55 [[ 9.86746425e-01 1.61934287e-01 1.04297496e-02 4.20430111e+02] [-1.61926667e-01 9.86801535e-01 -1.57659277e-03 -7.49051396e+01] [-1.05473973e-02 -1.33157310e-04 9.99944366e-01 -5.54647720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6457692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:420.46, Y:-74.91, Z:-5.55 [[ 9.87569436e-01 1.56814657e-01 1.07597243e-02 4.20457657e+02] [-1.56806249e-01 9.87628046e-01 -1.62595854e-03 -7.49107612e+01] [-1.08815796e-02 -8.14450474e-05 9.99940791e-01 -5.54707858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.67576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:420.49, Y:-74.92, Z:-5.55 [[ 9.88303132e-01 1.52149754e-01 1.03620672e-02 4.20486017e+02] [-1.52141705e-01 9.88357451e-01 -1.56525941e-03 -7.49168444e+01] [-1.04795802e-02 -2.95518038e-05 9.99945087e-01 -5.54718804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.70576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:420.51, Y:-74.93, Z:-5.55 [[ 9.89383327e-01 1.45042254e-01 9.13107676e-03 4.20512357e+02] [-1.45035704e-01 9.89425461e-01 -1.37899454e-03 -7.49254813e+01] [-9.23453231e-03 4.00220579e-05 9.99957360e-01 -5.54807735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.73576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:420.54, Y:-74.93, Z:-5.55 [[ 9.89819907e-01 1.42069162e-01 8.53841373e-03 4.20540121e+02] [-1.42063329e-01 9.89856732e-01 -1.28895364e-03 -7.49323816e+01] [-8.63492687e-03 6.28364920e-05 9.99962716e-01 -5.54817514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76576923100004 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:420.57, Y:-74.94, Z:-5.55 [[ 9.90404472e-01 1.38005617e-01 7.30966061e-03 4.20567481e+02] [-1.38001233e-01 9.90431443e-01 -1.10315076e-03 -7.49427585e+01] [-7.39195870e-03 8.38232663e-05 9.99972676e-01 -5.54780484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.79576923100007 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:420.59, Y:-74.95, Z:-5.55 [[ 9.90547246e-01 1.37017204e-01 6.51449749e-03 4.20594723e+02] [-1.37013701e-01 9.90568665e-01 -9.83089400e-04 -7.49496108e+01] [-6.58775724e-03 8.12210856e-05 9.99978297e-01 -5.54814313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:420.62, Y:-74.96, Z:-5.55 [[ 9.90618292e-01 1.36521824e-01 6.09843917e-03 4.20623246e+02] [-1.36518747e-01 9.90637060e-01 -9.19935704e-04 -7.49569524e+01] [-6.16693115e-03 7.87538611e-05 9.99980981e-01 -5.54773138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.85576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:420.65, Y:-74.97, Z:-5.55 [[ 9.90632109e-01 1.36333970e-01 7.81491316e-03 4.20651843e+02] [-1.36328917e-01 9.90662929e-01 -1.17827595e-03 -7.49673511e+01] [-7.90258379e-03 1.01839343e-04 9.99968769e-01 -5.54723213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.88576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:420.68, Y:-74.97, Z:-5.55 [[ 9.90619582e-01 1.36350621e-01 9.01949782e-03 4.20680332e+02] [-1.36343893e-01 9.90660635e-01 -1.35959221e-03 -7.49743158e+01] [-9.12064268e-03 1.17085217e-04 9.99958399e-01 -5.54790818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.91576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:420.71, Y:-74.98, Z:-5.55 [[ 9.90609770e-01 1.36388075e-01 9.51717197e-03 4.20709096e+02] [-1.36380587e-01 9.90655479e-01 -1.43451080e-03 -7.49807491e+01] [-9.62388872e-03 1.23082919e-04 9.99953682e-01 -5.54775575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.94576923100004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:420.74, Y:-74.99, Z:-5.55 [[ 9.90630108e-01 1.36302344e-01 8.58253094e-03 4.20738534e+02] [-1.36296253e-01 9.90667280e-01 -1.29339441e-03 -7.49887937e+01] [-8.67872527e-03 1.11508643e-04 9.99962333e-01 -5.54767357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.9757692310001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:420.77, Y:-74.99, Z:-5.55 [[ 9.90604410e-01 1.36522781e-01 8.02702517e-03 4.20767584e+02] [-1.36517460e-01 9.90636926e-01 -1.20972599e-03 -7.49944693e+01] [-8.11702270e-03 1.02530815e-04 9.99967051e-01 -5.54795126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.00576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:420.80, Y:-75.00, Z:-5.55 [[ 9.90495209e-01 1.37299345e-01 8.25414778e-03 4.20797235e+02] [-1.37293746e-01 9.90529596e-01 -1.24388757e-03 -7.49997715e+01] [-8.34676262e-03 9.88218074e-05 9.99965160e-01 -5.54788800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0357692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:420.83, Y:-75.01, Z:-5.55 [[ 9.90351592e-01 1.38265586e-01 9.29258576e-03 4.20826672e+02] [-1.38258535e-01 9.90395182e-01 -1.40014118e-03 -7.50052044e+01] [-9.39692351e-03 1.01852756e-04 9.99955843e-01 -5.54771807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.06576923100005 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:420.86, Y:-75.01, Z:-5.55 [[ 9.90015716e-01 1.40503625e-01 1.12966218e-02 4.20856227e+02] [-1.40493352e-01 9.90080159e-01 -1.70177760e-03 -7.50114505e+01] [-1.14236671e-02 9.76862962e-05 9.99934743e-01 -5.54715637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0957692310001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:420.89, Y:-75.02, Z:-5.55 [[ 9.89902073e-01 1.41278938e-01 1.15822454e-02 4.20885823e+02] [-1.41268193e-01 9.89969824e-01 -1.74480913e-03 -7.50161985e+01] [-1.17125782e-02 9.09872937e-05 9.99931401e-01 -5.54769775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.12576923100005 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:420.92, Y:-75.02, Z:-5.55 [[ 9.89900444e-01 1.41290348e-01 1.15822667e-02 4.20916475e+02] [-1.41279605e-01 9.89968196e-01 -1.74466752e-03 -7.50208224e+01] [-1.17125804e-02 9.07090780e-05 9.99931401e-01 -5.54807096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1557692310001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:420.95, Y:-75.03, Z:-5.55 [[ 9.89725947e-01 1.42544830e-01 1.11140096e-02 4.20947023e+02] [-1.42535016e-01 9.89788344e-01 -1.67426740e-03 -7.50255946e+01] [-1.12391754e-02 7.29303439e-05 9.99936836e-01 -5.54941524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.18576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:420.98, Y:-75.03, Z:-5.55 [[ 9.89693315e-01 1.42792020e-01 1.08435202e-02 4.20976521e+02] [-1.42782693e-01 9.89752714e-01 -1.63353199e-03 -7.50298738e+01] [-1.09656589e-02 6.84286801e-05 9.99939873e-01 -5.55022806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2157692310001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:421.01, Y:-75.03, Z:-5.55 [[ 9.89754620e-01 1.42374400e-01 1.07388658e-02 4.21006959e+02] [-1.42365229e-01 9.89812874e-01 -1.61762832e-03 -7.50340457e+01] [-1.08597765e-02 7.22140199e-05 9.99941028e-01 -5.55121514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.24576923100005 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:421.04, Y:-75.04, Z:-5.55 [[ 9.89963846e-01 1.40920189e-01 1.06341035e-02 4.21036780e+02] [-1.40911111e-01 9.90020956e-01 -1.60184766e-03 -7.50379751e+01] [-1.07537180e-02 8.73079231e-05 9.99942173e-01 -5.55105660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2757692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:421.07, Y:-75.04, Z:-5.55 [[ 9.90009921e-01 1.40577587e-01 1.08765370e-02 4.21066121e+02] [-1.40568071e-01 9.90069661e-01 -1.63837807e-03 -7.50418812e+01] [-1.09988485e-02 9.31167259e-05 9.99939507e-01 -5.55098772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.30576923100006 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:421.10, Y:-75.05, Z:-5.55 [[ 9.90004995e-01 1.40618485e-01 1.07958933e-02 4.21096209e+02] [-1.40609113e-01 9.90063853e-01 -1.62609344e-03 -7.50454780e+01] [-1.09172826e-02 9.18396399e-05 9.99940400e-01 -5.55051550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3357692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:421.13, Y:-75.05, Z:-5.55 [[ 9.89767450e-01 1.42267876e-01 1.09656500e-02 4.21125307e+02] [-1.42258308e-01 9.89828190e-01 -1.65165149e-03 -7.50476407e+01] [-1.10890865e-02 7.47960667e-05 9.99938511e-01 -5.55008438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.36576923100006 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:421.15, Y:-75.05, Z:-5.55 [[ 9.89626864e-01 1.43240838e-01 1.09878480e-02 4.21154843e+02] [-1.43231290e-01 9.89687859e-01 -1.65515615e-03 -7.50506061e+01] [-1.11116258e-02 6.41833438e-05 9.99938262e-01 -5.55056667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3957692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:421.19, Y:-75.05, Z:-5.55 [[ 9.89380529e-01 1.45032127e-01 9.58385975e-03 4.21185505e+02] [-1.45024949e-01 9.89426946e-01 -1.44341588e-03 -7.50534634e+01] [-9.69187076e-03 3.81887939e-05 9.99953032e-01 -5.55195850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.42576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:421.21, Y:-75.06, Z:-5.55 [[ 9.89324671e-01 1.45470112e-01 8.66843139e-03 4.21214583e+02] [-1.45464257e-01 9.89362646e-01 -1.30558408e-03 -7.50569966e+01] [-8.76614568e-03 3.06996153e-05 9.99961576e-01 -5.55247665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.45576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:421.24, Y:-75.06, Z:-5.55 [[ 9.89269633e-01 1.45858449e-01 8.42060556e-03 4.21244042e+02] [-1.45852938e-01 9.89305470e-01 -1.26820003e-03 -7.50610922e+01] [-8.51552883e-03 2.64217228e-05 9.99963742e-01 -5.55249920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.48576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:421.27, Y:-75.07, Z:-5.55 [[ 9.89184481e-01 1.46359774e-01 9.63734719e-03 4.21272479e+02] [-1.46352582e-01 9.89231427e-01 -1.45120019e-03 -7.50656302e+01] [-9.74596405e-03 2.50540638e-05 9.99952507e-01 -5.55145645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.51576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:421.30, Y:-75.07, Z:-5.55 [[ 9.89260239e-01 1.45813857e-01 1.01241278e-02 4.21301354e+02] [-1.45805895e-01 9.89312043e-01 -1.52408994e-03 -7.50706991e+01] [-1.02381550e-02 3.15640708e-05 9.99947588e-01 -5.55142968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.54576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:421.33, Y:-75.08, Z:-5.55 [[ 9.89468877e-01 1.44349494e-01 1.07034761e-02 4.21330781e+02] [-1.44340513e-01 9.89526766e-01 -1.61101204e-03 -7.50761763e+01] [-1.08239248e-02 4.91010538e-05 9.99941418e-01 -5.55221546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.57576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:421.36, Y:-75.08, Z:-5.55 [[ 9.89403286e-01 1.44795282e-01 1.07454273e-02 4.21360099e+02] [-1.44786258e-01 9.89461634e-01 -1.61719396e-03 -7.50813559e+01] [-1.08663501e-02 4.42668124e-05 9.99940958e-01 -5.55277847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.60576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:421.39, Y:-75.09, Z:-5.55 [[ 9.89252006e-01 1.45857155e-01 1.03033081e-02 4.21389930e+02] [-1.45848916e-01 9.89305660e-01 -1.55051744e-03 -7.50862872e+01] [-1.04192751e-02 3.11261714e-05 9.99945717e-01 -5.55300588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:421.42, Y:-75.09, Z:-5.55 [[ 9.88713366e-01 1.49598088e-01 8.14202355e-03 4.21419245e+02] [-1.49593070e-01 9.88746890e-01 -1.22531936e-03 -7.50910673e+01] [-8.23370590e-03 -6.50067258e-06 9.99966102e-01 -5.55310722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:421.45, Y:-75.10, Z:-5.55 [[ 9.88414655e-01 1.51563937e-01 8.05252700e-03 4.21448938e+02] [-1.51559095e-01 9.88447456e-01 -1.21179397e-03 -7.50951021e+01] [-8.14316409e-03 -2.26787842e-05 9.99966844e-01 -5.55287429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.69576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:421.48, Y:-75.10, Z:-5.55 [[ 9.88077167e-01 1.53698988e-01 8.95170949e-03 4.21476986e+02] [-1.53693093e-01 9.88117715e-01 -1.34689518e-03 -7.50990715e+01] [-9.05235916e-03 -4.49795383e-05 9.99959026e-01 -5.55283067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.7257692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:421.51, Y:-75.10, Z:-5.55 [[ 9.87460166e-01 1.57391423e-01 1.22621499e-02 4.21505962e+02] [-1.57380653e-01 9.87536292e-01 -1.84438658e-03 -7.51027154e+01] [-1.23996087e-02 -1.08566884e-04 9.99923116e-01 -5.55253849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.75576923100004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:421.53, Y:-75.11, Z:-5.55 [[ 9.87191487e-01 1.58959719e-01 1.35932328e-02 4.21534939e+02] [-1.58946643e-01 9.87285059e-01 -2.04386621e-03 -7.51056122e+01] [-1.37452880e-02 -1.42911402e-04 9.99905519e-01 -5.55278239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.7857692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:421.56, Y:-75.11, Z:-5.55 [[ 9.86934274e-01 1.60543942e-01 1.36521370e-02 4.21563464e+02] [-1.60530911e-01 9.87028680e-01 -2.05220536e-03 -7.51079387e+01] [-1.38045199e-02 -1.66198186e-04 9.99904699e-01 -5.55321007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.81576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:421.59, Y:-75.11, Z:-5.55 [[ 9.86739636e-01 1.61826003e-01 1.25393917e-02 4.21592290e+02] [-1.61815119e-01 9.86819292e-01 -1.88450298e-03 -7.51102105e+01] [-1.26790752e-02 -1.69549367e-04 9.99919603e-01 -5.55367185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.62, Y:-75.11, Z:-5.56 [[ 9.86574296e-01 1.62999960e-01 1.01079597e-02 4.21620908e+02] [-1.62992951e-01 9.86626064e-01 -1.51883186e-03 -7.51108177e+01] [-1.02203461e-02 -1.49085712e-04 9.99947760e-01 -5.55563992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.87576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:421.65, Y:-75.11, Z:-5.56 [[ 9.86588669e-01 1.62932476e-01 9.78806495e-03 4.21648696e+02] [-1.62925906e-01 9.86637212e-01 -1.47031983e-03 -7.51136129e+01] [-9.89683196e-03 -1.44128458e-04 9.99951015e-01 -5.55640059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:421.68, Y:-75.12, Z:-5.56 [[ 9.86811748e-01 1.61550092e-01 1.02049778e-02 4.21676089e+02] [-1.61542883e-01 9.86864504e-01 -1.53228834e-03 -7.51155920e+01] [-1.03184717e-02 -1.36461408e-04 9.99946754e-01 -5.55672584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.93576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:421.70, Y:-75.12, Z:-5.56 [[ 9.86946240e-01 1.60736726e-01 1.00411749e-02 4.21704412e+02] [-1.60729711e-01 9.86997309e-01 -1.50700983e-03 -7.51190070e+01] [-1.01528444e-02 -1.26577447e-04 9.99948451e-01 -5.55706898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9657692310001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:421.73, Y:-75.12, Z:-5.56 [[ 9.87045891e-01 1.60153189e-01 9.55846899e-03 4.21732776e+02] [-1.60146809e-01 9.87092165e-01 -1.43413701e-03 -7.51222501e+01] [-9.66477146e-03 -1.15199261e-04 9.99953288e-01 -5.55728142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.99576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:421.76, Y:-75.12, Z:-5.56 [[ 9.87167115e-01 1.59393563e-01 9.73545376e-03 4.21761116e+02] [-1.59386912e-01 9.87215113e-01 -1.46021056e-03 -7.51240179e+01] [-9.84373525e-03 -1.10232069e-04 9.99951543e-01 -5.55852800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0257692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:421.79, Y:-75.13, Z:-5.56 [[ 9.87207357e-01 1.59134496e-01 9.89170183e-03 4.21789562e+02] [-1.59127624e-01 9.87256907e-01 -1.48297992e-03 -7.51268436e+01] [-1.00016442e-02 -1.10034314e-04 9.99949976e-01 -5.55926559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.05576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:421.82, Y:-75.13, Z:-5.56 [[ 9.87197321e-01 1.59191253e-01 9.97973433e-03 4.21817287e+02] [-1.59184266e-01 9.87247756e-01 -1.49569498e-03 -7.51296746e+01] [-1.00905719e-02 -1.12070606e-04 9.99949083e-01 -5.55929521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0857692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:421.85, Y:-75.13, Z:-5.56 [[ 9.87086749e-01 1.59921337e-01 9.21500254e-03 4.21845772e+02] [-1.59915416e-01 9.87129755e-01 -1.38056072e-03 -7.51305119e+01] [-9.31718432e-03 -1.10887769e-04 9.99956588e-01 -5.55888468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.11576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:421.87, Y:-75.13, Z:-5.56 [[ 9.87056991e-01 1.60163952e-01 8.12429465e-03 4.21874414e+02] [-1.60159362e-01 9.87090421e-01 -1.21668962e-03 -7.51326729e+01] [-8.21428324e-03 -1.00239853e-04 9.99966257e-01 -5.55914161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1457692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:421.90, Y:-75.13, Z:-5.56 [[ 9.87086232e-01 1.60009753e-01 7.59269518e-03 4.21903583e+02] [-1.60005742e-01 9.87115429e-01 -1.13673811e-03 -7.51346144e+01] [-7.67675575e-03 -9.28162916e-05 9.99970529e-01 -5.56012235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.93, Y:-75.13, Z:-5.56 [[ 9.87162349e-01 1.59520906e-01 7.97358089e-03 4.21931230e+02] [-1.59516469e-01 9.87194546e-01 -1.19338437e-03 -7.51346598e+01] [-8.06184532e-03 -9.38533489e-05 9.99967498e-01 -5.56091068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.20576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:421.96, Y:-75.14, Z:-5.56 [[ 9.87242371e-01 1.58998801e-01 8.47834751e-03 4.21959660e+02] [-1.58993771e-01 9.87278771e-01 -1.26831960e-03 -7.51372117e+01] [-8.57215381e-03 -9.58655902e-05 9.99963254e-01 -5.56102833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.99, Y:-75.14, Z:-5.56 [[ 9.87696051e-01 1.56146337e-01 8.65062272e-03 4.21987446e+02] [-1.56140995e-01 9.87733930e-01 -1.29371035e-03 -7.51386571e+01] [-8.74652171e-03 -7.29242327e-05 9.99961746e-01 -5.56113949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:422.02, Y:-75.14, Z:-5.56 [[ 9.88060080e-01 1.53791951e-01 9.23657303e-03 4.22015511e+02] [-1.53785764e-01 9.88103250e-01 -1.38063570e-03 -7.51426476e+01] [-9.33901849e-03 -5.63024156e-05 9.99956389e-01 -5.56212579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.29576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:422.04, Y:-75.15, Z:-5.56 [[ 9.88534058e-01 1.50655076e-01 1.01716878e-02 4.22044246e+02] [-1.50647413e-01 9.88586388e-01 -1.51985869e-03 -7.51478681e+01] [-1.02845665e-02 -2.99063725e-05 9.99947112e-01 -5.56305279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.07, Y:-75.15, Z:-5.56 [[ 9.89064508e-01 1.47058756e-01 1.11857784e-02 4.22071454e+02] [-1.47049265e-01 9.89127758e-01 -1.67078837e-03 -7.51539802e+01] [-1.13098680e-02 7.65697950e-06 9.99936041e-01 -5.56375095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.10, Y:-75.16, Z:-5.56 [[ 9.90011426e-01 1.40497026e-01 1.17457227e-02 4.22099361e+02] [-1.40486107e-01 9.90081097e-01 -1.75367084e-03 -7.51648304e+01] [-1.18756035e-02 8.60433194e-05 9.99929479e-01 -5.56410687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.38576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:422.13, Y:-75.18, Z:-5.56 [[ 9.90606258e-01 1.36444781e-01 9.05884692e-03 4.22126353e+02] [-1.36438118e-01 9.90647673e-01 -1.35239542e-03 -7.51764891e+01] [-9.15865291e-03 1.03719347e-04 9.99958053e-01 -5.56446155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.41576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:422.15, Y:-75.18, Z:-5.57 [[ 9.90729576e-01 1.35622210e-01 7.84369179e-03 4.22154708e+02] [-1.35617191e-01 9.90760620e-01 -1.17071419e-03 -7.51845153e+01] [-7.92999579e-03 9.61217271e-05 9.99968552e-01 -5.56513736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.44576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:422.18, Y:-75.19, Z:-5.57 [[ 9.90671290e-01 1.36074545e-01 7.35614160e-03 4.22182352e+02] [-1.36070144e-01 9.90698597e-01 -1.09784167e-03 -7.51923434e+01] [-7.43710747e-03 8.66489736e-05 9.99972341e-01 -5.56561876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.4757692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:422.21, Y:-75.20, Z:-5.57 [[ 9.90339879e-01 1.38450152e-01 7.64722765e-03 4.22210780e+02] [-1.38445469e-01 9.90369401e-01 -1.14094638e-03 -7.52003715e+01] [-7.73154446e-03 7.12006878e-05 9.99970109e-01 -5.56520851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:422.24, Y:-75.21, Z:-5.56 [[ 9.89082921e-01 1.47056229e-01 9.45733804e-03 4.22238577e+02] [-1.47049461e-01 9.89128134e-01 -1.41078130e-03 -7.52096378e+01] [-9.56198331e-03 4.68322210e-06 9.99954283e-01 -5.56397761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.27, Y:-75.21, Z:-5.56 [[ 9.87319193e-01 1.58481946e-01 9.18064173e-03 4.22266212e+02] [-1.58476065e-01 9.87361870e-01 -1.36912678e-03 -7.52137900e+01] [-9.28159746e-03 -1.03146827e-04 9.99956920e-01 -5.56467372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.56576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:422.29, Y:-75.22, Z:-5.57 [[ 9.86422375e-01 1.64021405e-01 8.23876939e-03 4.22294847e+02] [-1.64016866e-01 9.86456770e-01 -1.22823151e-03 -7.52165624e+01] [-8.32864610e-03 -1.39742089e-04 9.99965306e-01 -5.56588489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.32, Y:-75.22, Z:-5.57 [[ 9.85583436e-01 1.69035129e-01 7.23988890e-03 4.22322253e+02] [-1.69031761e-01 9.85610014e-01 -1.07908068e-03 -7.52190767e+01] [-7.31810954e-03 -1.60247128e-04 9.99973209e-01 -5.56723062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.35, Y:-75.22, Z:-5.57 [[ 9.84248187e-01 1.76601116e-01 8.21902056e-03 4.22350916e+02] [-1.76597044e-01 9.84282472e-01 -1.22434989e-03 -7.52199527e+01] [-8.30605944e-03 -2.46390569e-04 9.99965474e-01 -5.56726768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.38, Y:-75.22, Z:-5.57 [[ 9.83822709e-01 1.78896047e-01 9.43828204e-03 4.22378863e+02] [-1.78890788e-01 9.83867934e-01 -1.40545989e-03 -7.52214281e+01] [-9.53745426e-03 -3.05698348e-04 9.99954471e-01 -5.56649522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.68576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:422.41, Y:-75.22, Z:-5.57 [[ 9.83474911e-01 1.80754853e-01 1.02363432e-02 4.22407900e+02] [-1.80748774e-01 9.83528118e-01 -1.52360165e-03 -7.52223952e+01] [-1.03431298e-02 -3.51782489e-04 9.99946447e-01 -5.56657230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7157692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:422.44, Y:-75.22, Z:-5.57 [[ 9.83234925e-01 1.82070277e-01 9.97482286e-03 4.22437171e+02] [-1.82064576e-01 9.83285456e-01 -1.48421547e-03 -7.52226749e+01] [-1.00783298e-02 -3.56729414e-04 9.99949149e-01 -5.56721722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.74576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:422.47, Y:-75.22, Z:-5.57 [[ 9.82796047e-01 1.84496685e-01 8.53838940e-03 4.22465915e+02] [-1.84492601e-01 9.82833082e-01 -1.27023476e-03 -7.52184147e+01] [-8.62616567e-03 -3.26887974e-04 9.99962741e-01 -5.56890918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.49, Y:-75.22, Z:-5.57 [[ 9.82544823e-01 1.85844181e-01 8.22264629e-03 4.22494088e+02] [-1.85840446e-01 9.82579174e-01 -1.22270735e-03 -7.52174197e+01] [-8.30663405e-03 -3.26735477e-04 9.99965446e-01 -5.56932749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.80576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:422.52, Y:-75.21, Z:-5.57 [[ 9.82124552e-01 1.88041472e-01 8.47164718e-03 4.22522923e+02] [-1.88037595e-01 9.82161024e-01 -1.25911205e-03 -7.52114951e+01] [-8.55728695e-03 -3.56383295e-04 9.99963322e-01 -5.56882879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.55, Y:-75.21, Z:-5.57 [[ 9.81994207e-01 1.88716449e-01 8.57199349e-03 4.22550732e+02] [-1.88712509e-01 9.82031551e-01 -1.27343393e-03 -7.52104102e+01] [-8.65828599e-03 -3.67137661e-04 9.99962449e-01 -5.56927238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.86576923100006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:422.58, Y:-75.21, Z:-5.57 [[ 9.81946949e-01 1.88967531e-01 8.45351591e-03 4.22579615e+02] [-1.88963716e-01 9.81983268e-01 -1.25509169e-03 -7.52095051e+01] [-8.53838276e-03 -3.64974321e-04 9.99963481e-01 -5.56949698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.61, Y:-75.20, Z:-5.57 [[ 9.82104919e-01 1.88168138e-01 7.91701510e-03 4.22609063e+02] [-1.88164769e-01 9.82136772e-01 -1.17493348e-03 -7.52032454e+01] [-7.99667670e-03 -3.35795365e-04 9.99967970e-01 -5.57016187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:422.64, Y:-75.20, Z:-5.57 [[ 9.82303308e-01 1.87121694e-01 8.10453690e-03 4.22637470e+02] [-1.87118134e-01 9.82336683e-01 -1.20216296e-03 -7.52018326e+01] [-8.18633466e-03 -3.35617171e-04 9.99966435e-01 -5.57064337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.95576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:422.66, Y:-75.20, Z:-5.57 [[ 9.82585159e-01 1.85613877e-01 8.59618189e-03 4.22664637e+02] [-1.85609819e-01 9.82622700e-01 -1.27446197e-03 -7.52004975e+01] [-8.68336129e-03 -3.43268352e-04 9.99962240e-01 -5.57119318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.98576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:422.69, Y:-75.20, Z:-5.57 [[ 9.83312857e-01 1.81716704e-01 8.65240150e-03 4.22693910e+02] [-1.81712449e-01 9.83350875e-01 -1.28199635e-03 -7.51961805e+01] [-8.74130674e-03 -3.11645573e-04 9.99961745e-01 -5.57159166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.01576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:422.72, Y:-75.20, Z:-5.57 [[ 9.83323380e-01 1.81659753e-01 8.65247518e-03 4.22722113e+02] [-1.81655500e-01 9.83361397e-01 -1.28149888e-03 -7.52002238e+01] [-8.74130685e-03 -3.11641892e-04 9.99961745e-01 -5.57193471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.75, Y:-75.20, Z:-5.57 [[ 9.83808398e-01 1.79006886e-01 8.80745291e-03 4.22749643e+02] [-1.79002378e-01 9.83847777e-01 -1.30399057e-03 -7.52006312e+01] [-8.89861626e-03 -2.93678138e-04 9.99960363e-01 -5.57246663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.78, Y:-75.20, Z:-5.57 [[ 9.84730850e-01 1.73875038e-01 8.52194675e-03 4.22778199e+02] [-1.73870631e-01 9.84767695e-01 -1.26100943e-03 -7.51990116e+01] [-8.61139592e-03 -2.39961372e-04 9.99962892e-01 -5.57305464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.81, Y:-75.20, Z:-5.57 [[ 9.85137634e-01 1.71535401e-01 8.91343191e-03 4.22805255e+02] [-1.71530489e-01 9.85177930e-01 -1.31830373e-03 -7.52010053e+01] [-9.00745215e-03 -2.30214722e-04 9.99959406e-01 -5.57339402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:422.83, Y:-75.20, Z:-5.57 [[ 9.85562692e-01 1.69009806e-01 1.00928888e-02 4.22832937e+02] [-1.69003387e-01 9.85614341e-01 -1.49176653e-03 -7.52031456e+01] [-1.01998191e-02 -2.35502955e-04 9.99947953e-01 -5.57377335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.86, Y:-75.21, Z:-5.57 [[ 9.85894387e-01 1.66984684e-01 1.13301807e-02 4.22861033e+02] [-1.66976471e-01 9.85959460e-01 -1.67372090e-03 -7.52057537e+01] [-1.14505846e-02 -2.41761543e-04 9.99934411e-01 -5.57393652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.19576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:422.89, Y:-75.21, Z:-5.57 [[ 9.86285300e-01 1.64602189e-01 1.21419076e-02 4.22888792e+02] [-1.64592588e-01 9.86360008e-01 -1.79268229e-03 -7.52068290e+01] [-1.22713715e-02 -2.30371806e-04 9.99924677e-01 -5.57458579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.92, Y:-75.21, Z:-5.58 [[ 9.86270634e-01 1.64710923e-01 1.18552871e-02 4.22915185e+02] [-1.64701788e-01 9.86341858e-01 -1.74951219e-03 -7.52094155e+01] [-1.19815297e-02 -2.27094478e-04 9.99928193e-01 -5.57540090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.25576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:422.94, Y:-75.21, Z:-5.58 [[ 9.85852268e-01 1.67355950e-01 9.34304275e-03 4.22942320e+02] [-1.67350401e-01 9.85896518e-01 -1.37818583e-03 -7.52116759e+01] [-9.44192092e-03 -2.04874324e-04 9.99955403e-01 -5.57609156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.2857692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:422.97, Y:-75.21, Z:-5.58 [[ 9.85640464e-01 1.68647676e-01 8.41647656e-03 4.22969998e+02] [-1.68643225e-01 9.85676378e-01 -1.24085861e-03 -7.52143431e+01] [-8.50519006e-03 -1.96341296e-04 9.99963811e-01 -5.57694481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.31576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:423.00, Y:-75.22, Z:-5.58 [[ 9.85340154e-01 1.70400515e-01 8.27318049e-03 4.22996846e+02] [-1.70396280e-01 9.85374863e-01 -1.21919015e-03 -7.52168519e+01] [-8.35993473e-03 -2.08402173e-04 9.99965033e-01 -5.57760048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.03, Y:-75.22, Z:-5.58 [[ 9.85359658e-01 1.70299485e-01 8.02680860e-03 4.23025001e+02] [-1.70295502e-01 9.85392330e-01 -1.18219186e-03 -7.52208283e+01] [-8.11088230e-03 -2.02045236e-04 9.99967086e-01 -5.57801313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.05, Y:-75.22, Z:-5.58 [[ 9.85712719e-01 1.68304945e-01 6.62431152e-03 4.23051431e+02] [-1.68302188e-01 9.85734965e-01 -9.75367121e-04 -7.52236241e+01] [-6.69397459e-03 -1.53454347e-04 9.99977583e-01 -5.57904374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.08, Y:-75.23, Z:-5.58 [[ 9.86035546e-01 1.66390184e-01 6.94321474e-03 4.23079543e+02] [-1.66387114e-01 9.86059980e-01 -1.02162349e-03 -7.52275655e+01] [-7.01641431e-03 -1.47904388e-04 9.99975374e-01 -5.57988467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.43576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.11, Y:-75.23, Z:-5.58 [[ 9.86265836e-01 1.64988171e-01 7.65539048e-03 4.23107288e+02] [-1.64984401e-01 9.86295534e-01 -1.12580226e-03 -7.52318897e+01] [-7.73622150e-03 -1.52679704e-04 9.99970063e-01 -5.57949432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4657692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:423.13, Y:-75.23, Z:-5.58 [[ 9.86375361e-01 1.64226107e-01 9.66611144e-03 4.23134407e+02] [-1.64220068e-01 9.86422704e-01 -1.42060199e-03 -7.52341924e+01] [-9.76817172e-03 -1.86122684e-04 9.99952273e-01 -5.57861777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.16, Y:-75.24, Z:-5.58 [[ 9.86167269e-01 1.65426913e-01 1.03948704e-02 4.23162130e+02] [-1.65420006e-01 9.86222029e-01 -1.52674336e-03 -7.52363098e+01] [-1.05042146e-02 -2.13895192e-04 9.99944806e-01 -5.57799762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.19, Y:-75.24, Z:-5.58 [[ 9.85601479e-01 1.68780008e-01 1.01505666e-02 4.23190514e+02] [-1.68773607e-01 9.85653717e-01 -1.49015105e-03 -7.52358461e+01] [-1.02564514e-02 -2.44452649e-04 9.99947371e-01 -5.57891852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.55576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.22, Y:-75.24, Z:-5.58 [[ 9.85427341e-01 1.69854138e-01 9.08449824e-03 4.23217827e+02] [-1.69849062e-01 9.85469187e-01 -1.33311351e-03 -7.52378963e+01] [-9.17892795e-03 -2.29306999e-04 9.99957846e-01 -5.58008907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.25, Y:-75.24, Z:-5.58 [[ 9.85581790e-01 1.68927772e-01 9.58871476e-03 4.23245488e+02] [-1.68922081e-01 9.85628405e-01 -1.40624320e-03 -7.52376591e+01] [-9.68846317e-03 -2.33777953e-04 9.99953038e-01 -5.58092558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.27, Y:-75.24, Z:-5.58 [[ 9.85945276e-01 1.66685679e-01 1.13047853e-02 4.23273761e+02] [-1.66677634e-01 9.86010051e-01 -1.65678369e-03 -7.52396904e+01] [-1.14227941e-02 -2.50756808e-04 9.99934726e-01 -5.58058656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6457692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:423.30, Y:-75.24, Z:-5.58 [[ 9.86409511e-01 1.63831573e-01 1.24696492e-02 4.23301712e+02] [-1.63821568e-01 9.86488296e-01 -1.82652332e-03 -7.52427156e+01] [-1.26004051e-02 -2.41097507e-04 9.99920583e-01 -5.58042426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.67576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:423.33, Y:-75.25, Z:-5.58 [[ 9.87358194e-01 1.58219232e-01 9.51165179e-03 4.23329642e+02] [-1.58213155e-01 9.87403999e-01 -1.39277081e-03 -7.52475765e+01] [-9.61220615e-03 -1.29704764e-04 9.99953793e-01 -5.58170779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.70576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:423.36, Y:-75.25, Z:-5.58 [[ 9.87825666e-01 1.55360011e-01 7.98248455e-03 4.23356532e+02] [-1.55355639e-01 9.87857915e-01 -1.16864303e-03 -7.52521138e+01] [-8.06712094e-03 -8.57084053e-05 9.99967457e-01 -5.58259365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.38, Y:-75.26, Z:-5.58 [[ 9.88432746e-01 1.51377985e-01 9.24185735e-03 4.23383652e+02] [-1.51371965e-01 9.88475949e-01 -1.35142102e-03 -7.52557484e+01] [-9.33992910e-03 -6.31693186e-05 9.99956380e-01 -5.58196232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:423.41, Y:-75.26, Z:-5.58 [[ 9.88492447e-01 1.50886711e-01 1.07648780e-02 4.23411546e+02] [-1.50878527e-01 9.88551059e-01 -1.57304680e-03 -7.52602281e+01] [-1.08789834e-02 -6.92440574e-05 9.99940820e-01 -5.58132087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.44, Y:-75.27, Z:-5.58 [[ 9.88248185e-01 1.52347468e-01 1.24809045e-02 4.23438199e+02] [-1.52336596e-01 9.88326990e-01 -1.82275324e-03 -7.52675577e+01] [-1.26129066e-02 -9.99659273e-05 9.99920449e-01 -5.58119877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.47, Y:-75.27, Z:-5.58 [[ 9.88083652e-01 1.53499808e-01 1.13360714e-02 4.23466094e+02] [-1.53490929e-01 9.88148672e-01 -1.65428568e-03 -7.52729411e+01] [-1.14556564e-02 -1.05411496e-04 9.99934376e-01 -5.58146069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.49, Y:-75.28, Z:-5.58 [[ 9.88001056e-01 1.54150719e-01 9.56397744e-03 4.23492178e+02] [-1.54144435e-01 9.88047340e-01 -1.39516089e-03 -7.52775636e+01] [-9.66472752e-03 -9.58134697e-05 9.99953291e-01 -5.58254205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.52, Y:-75.28, Z:-5.58 [[ 9.88029691e-01 1.54054009e-01 8.04314415e-03 4.23518267e+02] [-1.54049566e-01 9.88062425e-01 -1.17279664e-03 -7.52845347e+01] [-8.12780254e-03 -8.02849589e-05 9.99966966e-01 -5.58329631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.54, Y:-75.29, Z:-5.58 [[ 9.88192625e-01 1.52929706e-01 9.37234944e-03 4.23544644e+02] [-1.52923632e-01 9.88237066e-01 -1.36566997e-03 -7.52906361e+01] [-9.47095462e-03 -8.37087217e-05 9.99955146e-01 -5.58320934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.57, Y:-75.30, Z:-5.58 [[ 9.88704970e-01 1.49314322e-01 1.29505364e-02 4.23572109e+02] [-1.49302430e-01 9.88789780e-01 -1.88565965e-03 -7.52983069e+01] [-1.30869141e-02 -6.91854941e-05 9.99914360e-01 -5.58296493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.60, Y:-75.30, Z:-5.58 [[ 9.88957641e-01 1.47606546e-01 1.32322434e-02 4.23599988e+02] [-1.47593992e-01 9.89046159e-01 -1.92573362e-03 -7.53041967e+01] [-1.33715504e-02 -4.85306495e-05 9.99910596e-01 -5.58379146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.00576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.63, Y:-75.31, Z:-5.58 [[ 9.89194706e-01 1.46092230e-01 1.22839026e-02 4.23626569e+02] [-1.46081304e-01 9.89270974e-01 -1.78691858e-03 -7.53098819e+01] [-1.24131632e-02 -2.68381030e-05 9.99922953e-01 -5.58450768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.65, Y:-75.32, Z:-5.59 [[ 9.89547501e-01 1.43884813e-01 9.63864192e-03 4.23653718e+02] [-1.43877987e-01 9.89594442e-01 -1.40151627e-03 -7.53182949e+01] [-9.74000339e-03 7.85268251e-08 9.99952565e-01 -5.58545106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.68, Y:-75.32, Z:-5.59 [[ 9.89654016e-01 1.43145600e-01 9.70906277e-03 4.23681661e+02] [-1.43138645e-01 9.89701641e-01 -1.41108806e-03 -7.53232858e+01] [-9.81106640e-03 6.74687686e-06 9.99951870e-01 -5.58515208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.71, Y:-75.33, Z:-5.58 [[ 9.89656638e-01 1.43079267e-01 1.03952815e-02 4.23709098e+02] [-1.43071299e-01 9.89711232e-01 -1.51001613e-03 -7.53277252e+01] [-1.05043788e-02 7.13106565e-06 9.99944827e-01 -5.58499260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.12576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.74, Y:-75.33, Z:-5.58 [[ 9.89397286e-01 1.44800880e-01 1.12123064e-02 4.23735613e+02] [-1.44791731e-01 9.89460815e-01 -1.62781906e-03 -7.53328095e+01] [-1.13298475e-02 -1.28894978e-05 9.99935815e-01 -5.58486305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.76, Y:-75.34, Z:-5.59 [[ 9.89245722e-01 1.45840790e-01 1.11069731e-02 4.23761761e+02] [-1.45831887e-01 9.89308073e-01 -1.61161420e-03 -7.53374848e+01] [-1.12232573e-02 -2.54683944e-05 9.99937017e-01 -5.58523371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.18576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.79, Y:-75.34, Z:-5.59 [[ 9.89143775e-01 1.46539149e-01 1.09940659e-02 4.23789168e+02] [-1.46530483e-01 9.89204871e-01 -1.59402409e-03 -7.53418017e+01] [-1.11089705e-02 -3.42467692e-05 9.99938293e-01 -5.58551889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2157692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.82, Y:-75.35, Z:-5.59 [[ 9.89212774e-01 1.46088132e-01 1.07863916e-02 4.23816158e+02] [-1.46079771e-01 9.89271579e-01 -1.56316601e-03 -7.53462437e+01] [-1.08990306e-02 -2.93698281e-05 9.99940603e-01 -5.58567876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.24576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.84, Y:-75.35, Z:-5.59 [[ 9.89352894e-01 1.45134201e-01 1.08127080e-02 4.23844130e+02] [-1.45125753e-01 9.89411979e-01 -1.56605935e-03 -7.53506456e+01] [-1.09255116e-02 -1.98170447e-05 9.99940315e-01 -5.58670903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.87, Y:-75.36, Z:-5.59 [[ 9.89455735e-01 1.44436745e-01 1.07412409e-02 4.23872119e+02] [-1.44428375e-01 9.89514036e-01 -1.55494613e-03 -7.53557989e+01] [-1.08532000e-02 -1.27896079e-05 9.99941102e-01 -5.58763890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.90, Y:-75.36, Z:-5.59 [[ 9.89495230e-01 1.44218308e-01 1.00134421e-02 4.23898744e+02] [-1.44211030e-01 9.89545896e-01 -1.44893264e-03 -7.53599095e+01] [-1.01177232e-02 -1.03368644e-05 9.99948814e-01 -5.58819337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.93, Y:-75.36, Z:-5.59 [[ 9.89703924e-01 1.42883829e-01 8.38779191e-03 4.23925904e+02] [-1.42878679e-01 9.89739466e-01 -1.21314783e-03 -7.53638187e+01] [-8.47506789e-03 2.22054022e-06 9.99964086e-01 -5.58836162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.36576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.95, Y:-75.37, Z:-5.59 [[ 9.89855876e-01 1.41845537e-01 8.07390558e-03 4.23953906e+02] [-1.41840736e-01 9.89888804e-01 -1.16705506e-03 -7.53670149e+01] [-8.15781029e-03 1.00075970e-05 9.99966724e-01 -5.58832604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3957692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:423.98, Y:-75.37, Z:-5.59 [[ 9.89945972e-01 1.41208742e-01 8.18924866e-03 4.23980340e+02] [-1.41203786e-01 9.89979844e-01 -1.18316907e-03 -7.53699299e+01] [-8.27426492e-03 1.49205405e-05 9.99965768e-01 -5.58863789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.01, Y:-75.37, Z:-5.59 [[ 9.89987633e-01 1.40851380e-01 9.23992263e-03 4.24008443e+02] [-1.40845064e-01 9.90030751e-01 -1.33403716e-03 -7.53718104e+01] [-9.33570852e-03 1.92827996e-05 9.99956421e-01 -5.58869730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.04, Y:-75.37, Z:-5.59 [[ 9.89924322e-01 1.41268705e-01 9.64313177e-03 4.24035516e+02] [-1.41261852e-01 9.89971289e-01 -1.39154103e-03 -7.53744617e+01] [-9.74300479e-03 1.53136593e-05 9.99952536e-01 -5.58881347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.06, Y:-75.37, Z:-5.59 [[ 9.89741845e-01 1.42533676e-01 9.75863993e-03 4.24062481e+02] [-1.42526727e-01 9.89789953e-01 -1.40743031e-03 -7.53738884e+01] [-9.85960997e-03 2.12566939e-06 9.99951393e-01 -5.58846313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.09, Y:-75.37, Z:-5.59 [[ 9.89690061e-01 1.42829831e-01 1.06406305e-02 4.24089594e+02] [-1.42821600e-01 9.89747260e-01 -1.53336061e-03 -7.53749008e+01] [-1.07505445e-02 -2.16012320e-06 9.99942211e-01 -5.58838650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.12, Y:-75.38, Z:-5.59 [[ 9.89649783e-01 1.43020046e-01 1.17716790e-02 4.24116890e+02] [-1.43010002e-01 9.89719792e-01 -1.69495990e-03 -7.53754987e+01] [-1.18930769e-02 -6.05115201e-06 9.99929275e-01 -5.58928271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.14, Y:-75.38, Z:-5.59 [[ 9.89742386e-01 1.42394174e-01 1.15718982e-02 4.24144362e+02] [-1.42384439e-01 9.89810032e-01 -1.66498788e-03 -7.53781894e+01] [-1.16910655e-02 2.50841433e-07 9.99931657e-01 -5.58951781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.17, Y:-75.38, Z:-5.59 [[ 9.89855292e-01 1.41664324e-01 1.08499424e-02 4.24170792e+02] [-1.41655730e-01 9.89914754e-01 -1.56041600e-03 -7.53804978e+01] [-1.09615733e-02 7.62952881e-06 9.99939920e-01 -5.59010226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.20, Y:-75.38, Z:-5.59 [[ 9.90058919e-01 1.40381870e-01 8.73314067e-03 4.24198977e+02] [-1.40376257e-01 9.90097435e-01 -1.25543575e-03 -7.53810242e+01] [-8.82290059e-03 1.70297625e-05 9.99961077e-01 -5.59094642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.23, Y:-75.38, Z:-5.59 [[ 9.90050885e-01 1.40341880e-01 1.01687059e-02 4.24226377e+02] [-1.40334277e-01 9.90103104e-01 -1.46094957e-03 -7.53819831e+01] [-1.02730997e-02 1.93964172e-05 9.99947230e-01 -5.59084838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.25, Y:-75.38, Z:-5.59 [[ 9.89992345e-01 1.40660407e-01 1.13932728e-02 4.24254496e+02] [-1.40650896e-01 9.90057902e-01 -1.63580111e-03 -7.53839801e+01] [-1.15100923e-02 1.69565438e-05 9.99933757e-01 -5.59017985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.28, Y:-75.38, Z:-5.59 [[ 9.89935812e-01 1.41027506e-01 1.17613874e-02 4.24281961e+02] [-1.41017407e-01 9.90005678e-01 -1.68777058e-03 -7.53847718e+01] [-1.18818624e-02 1.22241830e-05 9.99929408e-01 -5.58976906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.31, Y:-75.39, Z:-5.59 [[ 9.90058940e-01 1.40210158e-01 1.11537942e-02 4.24309748e+02] [-1.40201034e-01 9.90121766e-01 -1.59967953e-03 -7.53878934e+01] [-1.12679057e-02 2.00035448e-05 9.99936515e-01 -5.59028514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.34, Y:-75.39, Z:-5.59 [[ 9.90410813e-01 1.37762034e-01 1.03944290e-02 4.24336554e+02] [-1.37753982e-01 9.90465355e-01 -1.49010121e-03 -7.53926664e+01] [-1.05006012e-02 4.39383582e-05 9.99944866e-01 -5.59161854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.36, Y:-75.40, Z:-5.59 [[ 9.90687031e-01 1.35767477e-01 1.03150173e-02 4.24364176e+02] [-1.35759449e-01 9.90740727e-01 -1.47784660e-03 -7.53981911e+01] [-1.04201513e-02 6.37223937e-05 9.99945707e-01 -5.59279248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.39, Y:-75.40, Z:-5.59 [[ 9.91060484e-01 1.33049774e-01 9.84246011e-03 4.24391774e+02] [-1.33042337e-01 9.91109353e-01 -1.40948417e-03 -7.54044624e+01] [-9.94248582e-03 8.74201691e-05 9.99950568e-01 -5.59363336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.42, Y:-75.41, Z:-5.59 [[ 9.91432490e-01 1.30303943e-01 9.08298123e-03 4.24419505e+02] [-1.30297499e-01 9.91474090e-01 -1.30014780e-03 -7.54108137e+01] [-9.17495493e-03 1.05519031e-04 9.99957904e-01 -5.59417060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.45, Y:-75.42, Z:-5.59 [[ 9.91973372e-01 1.26200020e-01 7.89842023e-03 4.24445859e+02] [-1.26195020e-01 9.92004808e-01 -1.13018562e-03 -7.54185160e+01] [-7.97790030e-03 1.24372739e-04 9.99968168e-01 -5.59351856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.47, Y:-75.42, Z:-5.59 [[ 9.91980535e-01 1.26143695e-01 7.89852452e-03 4.24474080e+02] [-1.26138699e-01 9.92011972e-01 -1.12945619e-03 -7.54224190e+01] [-7.97790467e-03 1.24088949e-04 9.99968168e-01 -5.59386164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.50, Y:-75.43, Z:-5.59 [[ 9.92105031e-01 1.25186973e-01 7.47190783e-03 4.24501352e+02] [-1.25182478e-01 9.92133160e-01 -1.06810782e-03 -7.54303739e+01] [-7.54684071e-03 1.24323210e-04 9.99971514e-01 -5.59382343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.53, Y:-75.44, Z:-5.59 [[ 9.92035922e-01 1.25733295e-01 7.47454411e-03 4.24527484e+02] [-1.25728816e-01 9.92064073e-01 -1.06801396e-03 -7.54370980e+01] [-7.54951159e-03 1.19742631e-04 9.99971495e-01 -5.59435650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.55, Y:-75.44, Z:-5.59 [[ 9.91979642e-01 1.26162433e-01 7.70911129e-03 4.24554650e+02] [-1.26157687e-01 9.92009590e-01 -1.10082946e-03 -7.54434697e+01] [-7.78639565e-03 1.19436762e-04 9.99969678e-01 -5.59460985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.58, Y:-75.45, Z:-5.59 [[ 9.91889355e-01 1.26815031e-01 8.57056491e-03 4.24581603e+02] [-1.26809195e-01 9.91926374e-01 -1.22311844e-03 -7.54526263e+01] [-8.65647918e-03 1.26371725e-04 9.99962524e-01 -5.59453890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.61, Y:-75.46, Z:-5.59 [[ 9.91893524e-01 1.26760173e-01 8.89358961e-03 4.24609705e+02] [-1.26753892e-01 9.91933386e-01 -1.26864746e-03 -7.54596124e+01] [-8.98266242e-03 1.31066103e-04 9.99959646e-01 -5.59459596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.64, Y:-75.47, Z:-5.60 [[ 9.92087001e-01 1.25209412e-01 9.27287683e-03 4.24637116e+02] [-1.25202520e-01 9.92130324e-01 -1.32230858e-03 -7.54690468e+01] [-9.36546778e-03 1.50857608e-04 9.99956132e-01 -5.59554708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.66, Y:-75.48, Z:-5.60 [[ 9.92190735e-01 1.24423722e-01 8.73406260e-03 4.24664599e+02] [-1.24417580e-01 9.92229165e-01 -1.24514573e-03 -7.54753731e+01] [-8.82111730e-03 1.48751127e-04 9.99961082e-01 -5.59544002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.69, Y:-75.48, Z:-5.60 [[ 9.92212626e-01 1.24253504e-01 8.67020812e-03 4.24692723e+02] [-1.24247450e-01 9.92250495e-01 -1.23552442e-03 -7.54814444e+01] [-8.75653653e-03 1.48651683e-04 9.99961650e-01 -5.59588544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.72, Y:-75.49, Z:-5.60 [[ 9.92176664e-01 1.24534216e-01 8.75762266e-03 4.24720372e+02] [-1.24528054e-01 9.92215303e-01 -1.24761409e-03 -7.54878071e+01] [-8.84481786e-03 1.47283879e-04 9.99960873e-01 -5.59556153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.75, Y:-75.50, Z:-5.60 [[ 9.91975043e-01 1.25988782e-01 1.05991060e-02 4.24747724e+02] [-1.25979846e-01 9.92031653e-01 -1.50919871e-03 -7.54975473e+01] [-1.07047907e-02 1.61813716e-04 9.99942689e-01 -5.59580955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.77, Y:-75.51, Z:-5.60 [[ 9.91800125e-01 1.27270904e-01 1.16029497e-02 4.24774360e+02] [-1.27260290e-01 9.91867981e-01 -1.65156428e-03 -7.55069263e+01] [-1.17187904e-02 1.61426914e-04 9.99931320e-01 -5.59635265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.80, Y:-75.51, Z:-5.60 [[ 9.91789197e-01 1.27394667e-01 1.11707898e-02 4.24801696e+02] [-1.27384844e-01 9.91852093e-01 -1.58944999e-03 -7.55133647e+01] [-1.12822587e-02 1.53410023e-04 9.99936342e-01 -5.59699899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.83, Y:-75.52, Z:-5.60 [[ 9.91780583e-01 1.27493355e-01 1.08037246e-02 4.24830250e+02] [-1.27484179e-01 9.91839414e-01 -1.53662979e-03 -7.55207954e+01] [-1.09114700e-02 1.46695616e-04 9.99940457e-01 -5.59770522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.86, Y:-75.53, Z:-5.60 [[ 9.91651940e-01 1.28508647e-01 1.05810219e-02 4.24856431e+02] [-1.28499908e-01 9.91708380e-01 -1.50451138e-03 -7.55327532e+01] [-1.06866308e-02 1.32291281e-04 9.99942888e-01 -5.59882056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.88, Y:-75.54, Z:-5.60 [[ 9.91517353e-01 1.29553915e-01 1.04461781e-02 4.24884119e+02] [-1.29545461e-01 9.91572372e-01 -1.48475634e-03 -7.55410477e+01] [-1.05504976e-02 1.18906720e-04 9.99944335e-01 -5.59934026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.91, Y:-75.55, Z:-5.60 [[ 9.90977908e-01 1.33724279e-01 8.97794317e-03 4.24911457e+02] [-1.33718209e-01 9.91018574e-01 -1.27574810e-03 -7.55517776e+01] [-9.06790693e-03 6.37237013e-05 9.99958884e-01 -5.59871527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.94, Y:-75.56, Z:-5.60 [[ 9.90585914e-01 1.36629428e-01 8.48208815e-03 4.24938487e+02] [-1.36624119e-01 9.90622228e-01 -1.20497932e-03 -7.55580812e+01] [-8.56718069e-03 3.47777258e-05 9.99963300e-01 -5.59898345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.97, Y:-75.56, Z:-5.60 [[ 9.90157326e-01 1.39711989e-01 8.30843711e-03 4.24966515e+02] [-1.39707008e-01 9.90192183e-01 -1.17984472e-03 -7.55640228e+01] [-8.39178794e-03 7.48500596e-06 9.99964788e-01 -5.59954758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.99, Y:-75.57, Z:-5.60 [[ 9.89125343e-01 1.46838054e-01 8.34513632e-03 4.24993259e+02] [-1.46833285e-01 9.89160545e-01 -1.18468617e-03 -7.55717738e+01] [-8.42863660e-03 -5.35406640e-05 9.99964477e-01 -5.60013148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.02, Y:-75.58, Z:-5.60 [[ 9.88228087e-01 1.52804834e-01 7.47863535e-03 4.25020850e+02] [-1.52801177e-01 9.88256381e-01 -1.06129162e-03 -7.55779317e+01] [-7.55297959e-03 -9.39461008e-05 9.99971471e-01 -5.59986318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.05, Y:-75.58, Z:-5.60 [[ 9.87855581e-01 1.55208682e-01 7.18447392e-03 4.25048835e+02] [-1.55205374e-01 9.87881700e-01 -1.01912602e-03 -7.55821891e+01] [-7.25558752e-03 -1.08319631e-04 9.99973672e-01 -5.60055993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.08, Y:-75.59, Z:-5.60 [[ 9.87475753e-01 1.57604328e-01 7.24654653e-03 4.25076287e+02] [-1.57601030e-01 9.87502334e-01 -1.02752846e-03 -7.55865547e+01] [-7.31792455e-03 -1.27403757e-04 9.99973216e-01 -5.60125409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.11, Y:-75.59, Z:-5.60 [[ 9.86665592e-01 1.62558747e-01 8.10326666e-03 4.25105082e+02] [-1.62554795e-01 9.86698850e-01 -1.14836801e-03 -7.55903917e+01] [-8.18216116e-03 -1.84169655e-04 9.99966509e-01 -5.60087740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.13, Y:-75.59, Z:-5.60 [[ 9.86263911e-01 1.64976629e-01 8.13692077e-03 4.25132428e+02] [-1.64972728e-01 9.86297455e-01 -1.15289360e-03 -7.55926548e+01] [-8.21562475e-03 -2.05312671e-04 9.99966230e-01 -5.60085365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.16, Y:-75.59, Z:-5.60 [[ 9.85693405e-01 1.68354171e-01 8.08612699e-03 4.25160515e+02] [-1.68350438e-01 9.85726544e-01 -1.14501299e-03 -7.55915844e+01] [-8.16347772e-03 -2.32671271e-04 9.99966651e-01 -5.60058506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.19, Y:-75.59, Z:-5.60 [[ 9.85616361e-01 1.68785999e-01 8.46609667e-03 4.25188034e+02] [-1.68781927e-01 9.85652690e-01 -1.19825256e-03 -7.55935461e+01] [-8.54687921e-03 -2.47906788e-04 9.99963444e-01 -5.60143561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.22, Y:-75.60, Z:-5.60 [[ 9.85636477e-01 1.68641841e-01 8.98136848e-03 4.25215837e+02] [-1.68637259e-01 9.85677361e-01 -1.27050982e-03 -7.55964890e+01] [-9.06699270e-03 -2.62332538e-04 9.99958860e-01 -5.60223672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.24, Y:-75.60, Z:-5.60 [[ 9.85912359e-01 1.66969078e-01 9.90692536e-03 4.25243037e+02] [-1.66963424e-01 9.85962095e-01 -1.40087422e-03 -7.55980583e+01] [-1.00017556e-02 -2.72954978e-04 9.99949944e-01 -5.60256139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.27, Y:-75.60, Z:-5.60 [[ 9.86168227e-01 1.65455887e-01 9.82741262e-03 4.25270494e+02] [-1.65450256e-01 9.86217159e-01 -1.38885710e-03 -7.56010313e+01] [-9.92175754e-03 -2.56301196e-04 9.99950745e-01 -5.60307102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.30, Y:-75.60, Z:-5.60 [[ 9.86950805e-01 1.60773963e-01 8.93542135e-03 4.25298261e+02] [-1.60769120e-01 9.86991234e-01 -1.26230144e-03 -7.56036017e+01] [-9.02212775e-03 -1.90710409e-04 9.99959282e-01 -5.60359067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.33, Y:-75.61, Z:-5.60 [[ 9.87372670e-01 1.58153640e-01 9.09048848e-03 4.25326697e+02] [-1.58148523e-01 9.87414501e-01 -1.28355454e-03 -7.56073458e+01] [-9.17907897e-03 -1.70300657e-04 9.99957857e-01 -5.60370330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.35, Y:-75.61, Z:-5.60 [[ 9.87733804e-01 1.55863257e-01 9.41152563e-03 4.25354104e+02] [-1.55857673e-01 9.87778630e-01 -1.32846287e-03 -7.56108767e+01] [-9.50356244e-03 -1.54690792e-04 9.99954828e-01 -5.60366803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.38, Y:-75.61, Z:-5.60 [[ 9.88112030e-01 1.53505733e-01 8.40274524e-03 4.25381897e+02] [-1.53466706e-01 9.88140600e-01 -5.11128371e-03 -7.56127918e+01] [-9.08770507e-03 3.76097929e-03 9.99951633e-01 -5.60298392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.41, Y:-75.62, Z:-5.60 [[ 9.88698852e-01 1.49452067e-01 1.17753956e-02 4.25408708e+02] [-1.49488381e-01 9.88760896e-01 2.26158534e-03 -7.56182560e+01] [-1.13050521e-02 -3.99631166e-03 9.99928110e-01 -5.60367756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.44, Y:-75.62, Z:-5.60 [[ 9.88955192e-01 1.47761124e-01 1.15878697e-02 4.25437340e+02] [-1.47752113e-01 9.89023074e-01 -1.63461602e-03 -7.56203661e+01] [-1.17022033e-02 -9.55702396e-05 9.99931522e-01 -5.60385113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.47, Y:-75.62, Z:-5.60 [[ 9.89312050e-01 1.45410237e-01 1.08412059e-02 4.25465968e+02] [-1.45402214e-01 9.89371446e-01 -1.52882404e-03 -7.56248892e+01] [-1.09482862e-02 -6.38512880e-05 9.99940064e-01 -5.60412108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.49, Y:-75.63, Z:-5.60 [[ 9.89427607e-01 1.44679423e-01 1.00436871e-02 4.25493518e+02] [-1.44672503e-01 9.89478581e-01 -1.41594188e-03 -7.56297706e+01] [-1.01428709e-02 -5.20733614e-05 9.99948558e-01 -5.60482739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.52, Y:-75.64, Z:-5.61 [[ 9.89555563e-01 1.43837584e-01 9.51505255e-03 4.25521990e+02] [-1.43831340e-01 9.89601307e-01 -1.34085581e-03 -7.56353566e+01] [-9.60897391e-03 -4.17114332e-05 9.99953832e-01 -5.60544716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.55, Y:-75.64, Z:-5.61 [[ 9.89995734e-01 1.40834304e-01 8.61081196e-03 4.25550325e+02] [-1.40829080e-01 9.90033181e-01 -1.21308590e-03 -7.56430505e+01] [-8.69583366e-03 -1.17028651e-05 9.99962190e-01 -5.60658033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.58, Y:-75.65, Z:-5.61 [[ 9.90276908e-01 1.38879598e-01 8.00639510e-03 4.25577772e+02] [-1.38875020e-01 9.90309274e-01 -1.12762130e-03 -7.56488899e+01] [-8.08541091e-03 4.76905273e-06 9.99967313e-01 -5.60763614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.61, Y:-75.65, Z:-5.61 [[ 9.90572009e-01 1.36785691e-01 7.53457664e-03 4.25605137e+02] [-1.36781580e-01 9.90600663e-01 -1.06073845e-03 -7.56549030e+01] [-7.60885046e-03 2.01465211e-05 9.99971052e-01 -5.60831355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.63, Y:-75.66, Z:-5.61 [[ 9.90950246e-01 1.34008145e-01 7.70891930e-03 4.25632753e+02] [-1.34003762e-01 9.90980230e-01 -1.08467609e-03 -7.56630921e+01] [-7.78474205e-03 4.18358517e-05 9.99969698e-01 -5.60777294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.66, Y:-75.67, Z:-5.61 [[ 9.90918453e-01 1.34200520e-01 8.41669057e-03 4.25661429e+02] [-1.34195304e-01 9.90954196e-01 -1.18396739e-03 -7.56686966e+01] [-8.49944387e-03 4.37347845e-05 9.99963878e-01 -5.60723263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.69, Y:-75.67, Z:-5.61 [[ 9.90390292e-01 1.37994180e-01 9.20193512e-03 4.25688701e+02] [-1.37988114e-01 9.90433040e-01 -1.29398905e-03 -7.56744537e+01] [-9.29246353e-03 1.17965271e-05 9.99956824e-01 -5.60549567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.72, Y:-75.68, Z:-5.61 [[ 9.89980886e-01 1.40888363e-01 9.39755687e-03 4.25716353e+02] [-1.40882172e-01 9.90025489e-01 -1.32087732e-03 -7.56787405e+01] [-9.48991708e-03 -1.63049293e-05 9.99954970e-01 -5.60563758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.75, Y:-75.68, Z:-5.61 [[ 9.89114381e-01 1.46824808e-01 9.75793158e-03 4.25745015e+02] [-1.46818427e-01 9.89162509e-01 -1.37091754e-03 -7.56824961e+01] [-9.85346479e-03 -7.66499172e-05 9.99951450e-01 -5.60575019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.77, Y:-75.69, Z:-5.61 [[ 9.88837497e-01 1.48670610e-01 9.87186968e-03 4.25772658e+02] [-1.48664177e-01 9.88886768e-01 -1.38647385e-03 -7.56855088e+01] [-9.96828922e-03 -9.65960458e-05 9.99950311e-01 -5.60592350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.80, Y:-75.69, Z:-5.61 [[ 9.88655989e-01 1.49846589e-01 1.02633322e-02 4.25800893e+02] [-1.49839705e-01 9.88709253e-01 -1.44072551e-03 -7.56885112e+01] [-1.03633394e-02 -1.13472773e-04 9.99946293e-01 -5.60660961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.83, Y:-75.69, Z:-5.61 [[ 9.88594129e-01 1.50233555e-01 1.05606791e-02 4.25829218e+02] [-1.50226295e-01 9.88650527e-01 -1.48196425e-03 -7.56916071e+01] [-1.06634617e-02 -1.21430537e-04 9.99943136e-01 -5.60667284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.86, Y:-75.70, Z:-5.61 [[ 9.88881670e-01 1.48317221e-01 1.07258747e-02 4.25856627e+02] [-1.48309624e-01 9.88939832e-01 -1.50463774e-03 -7.56956276e+01] [-1.08304084e-02 -1.02841761e-04 9.99941344e-01 -5.60748399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.89, Y:-75.70, Z:-5.61 [[ 9.89190323e-01 1.46280155e-01 1.02284260e-02 4.25885363e+02] [-1.46273144e-01 9.89243201e-01 -1.43419741e-03 -7.56996745e+01] [-1.03281955e-02 -7.74498295e-05 9.99946660e-01 -5.60787047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.92, Y:-75.70, Z:-5.61 [[ 9.89765272e-01 1.42358478e-01 9.93835464e-03 4.25915095e+02] [-1.42351666e-01 9.89815166e-01 -1.39302098e-03 -7.57038362e+01] [-1.00354425e-02 -3.59775532e-05 9.99949643e-01 -5.60794083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.94, Y:-75.71, Z:-5.61 [[ 9.89954939e-01 1.41005070e-01 1.03338983e-02 4.25943839e+02] [-1.40997635e-01 9.90008874e-01 -1.44820562e-03 -7.57077864e+01] [-1.04348553e-02 -2.33969148e-05 9.99945555e-01 -5.60778043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.97, Y:-75.71, Z:-5.61 [[ 9.90025303e-01 1.40486982e-01 1.06446330e-02 4.25972419e+02] [-1.40479065e-01 9.90082526e-01 -1.49149787e-03 -7.57115628e+01] [-1.07486011e-02 -1.87274659e-05 9.99942232e-01 -5.60761388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.00, Y:-75.71, Z:-5.61 [[ 9.89839780e-01 1.41823149e-01 1.01687582e-02 4.26000739e+02] [-1.41816000e-01 9.89892011e-01 -1.42436625e-03 -7.57141560e+01] [-1.02679806e-02 -3.21982357e-05 9.99947282e-01 -5.60796577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.03, Y:-75.72, Z:-5.61 [[ 9.89639645e-01 1.43254112e-01 9.57250045e-03 4.26029346e+02] [-1.43247848e-01 9.89685939e-01 -1.34042494e-03 -7.57169264e+01] [-9.66579048e-03 -4.47024268e-05 9.99953284e-01 -5.60817778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.06, Y:-75.72, Z:-5.61 [[ 9.89265812e-01 1.45846021e-01 9.06040374e-03 4.26057720e+02] [-1.45840522e-01 9.89307300e-01 -1.26831218e-03 -7.57189404e+01] [-9.14850184e-03 -6.66761333e-05 9.99958149e-01 -5.60909608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.09, Y:-75.72, Z:-5.61 [[ 9.89143796e-01 1.46696958e-01 8.63448554e-03 4.26085505e+02] [-1.46691999e-01 9.89181479e-01 -1.20834912e-03 -7.57221599e+01] [-8.71833431e-03 -7.13789031e-05 9.99961992e-01 -5.60920967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.11, Y:-75.73, Z:-5.61 [[ 9.89054203e-01 1.47306334e-01 8.52212777e-03 4.26113875e+02] [-1.47301531e-01 9.89090915e-01 -1.19201527e-03 -7.57254336e+01] [-8.60475056e-03 -7.63547537e-05 9.99962976e-01 -5.61010117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.14, Y:-75.73, Z:-5.61 [[ 9.88991449e-01 1.47746008e-01 8.18720448e-03 4.26141946e+02] [-1.47741593e-01 9.89025334e-01 -1.14482628e-03 -7.57279484e+01] [-8.26649616e-03 -7.73672262e-05 9.99965829e-01 -5.60966543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:426.17, Y:-75.73, Z:-5.61 [[ 9.88920370e-01 1.48223574e-01 8.14090851e-03 4.26169311e+02] [-1.48219229e-01 9.88953874e-01 -1.13784681e-03 -7.57304230e+01] [-8.21963873e-03 -8.13992962e-05 9.99966215e-01 -5.61011921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.20, Y:-75.73, Z:-5.61 [[ 9.88603868e-01 1.50343120e-01 7.70316515e-03 4.26198276e+02] [-1.50339298e-01 9.88633874e-01 -1.07617178e-03 -7.57306978e+01] [-7.77740503e-03 -9.41808620e-05 9.99969751e-01 -5.61094862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.23, Y:-75.73, Z:-5.61 [[ 9.88609288e-01 1.50307473e-01 7.70322407e-03 4.26227335e+02] [-1.50303653e-01 9.88639295e-01 -1.07574979e-03 -7.57346696e+01] [-7.77740325e-03 -9.43264807e-05 9.99969751e-01 -5.61130182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.26, Y:-75.74, Z:-5.61 [[ 9.88382154e-01 1.51810318e-01 7.37196140e-03 4.26256228e+02] [-1.51806863e-01 9.88409640e-01 -1.02929246e-03 -7.57365181e+01] [-7.44277494e-03 -1.01780032e-04 9.99972297e-01 -5.61189907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.29, Y:-75.74, Z:-5.61 [[ 9.87857140e-01 1.55169335e-01 7.79414312e-03 4.26285229e+02] [-1.55165580e-01 9.87887878e-01 -1.08782233e-03 -7.57356655e+01] [-7.86853618e-03 -1.34769680e-04 9.99969034e-01 -5.61150852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.31, Y:-75.74, Z:-5.61 [[ 9.87629678e-01 1.56671534e-01 6.45359923e-03 4.26312885e+02] [-1.56668993e-01 9.87650756e-01 -9.00508674e-04 -7.57373537e+01] [-6.51498624e-03 -1.21709802e-04 9.99978770e-01 -5.61109193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.34, Y:-75.74, Z:-5.61 [[ 9.87496756e-01 1.57408128e-01 8.53453870e-03 4.26341069e+02] [-1.57403717e-01 9.87533621e-01 -1.19035892e-03 -7.57387763e+01] [-8.61551607e-03 -1.67892538e-04 9.99962872e-01 -5.61127787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.37, Y:-75.74, Z:-5.61 [[ 9.87764929e-01 1.55770542e-01 7.48219764e-03 4.26369365e+02] [-1.55767108e-01 9.87793258e-01 -1.04311461e-03 -7.57390578e+01] [-7.55335091e-03 -1.35128257e-04 9.99971464e-01 -5.61205691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.40, Y:-75.74, Z:-5.61 [[ 9.88080390e-01 1.53791678e-01 6.72778067e-03 4.26397884e+02] [-1.53788859e-01 9.88103288e-01 -9.37482974e-04 -7.57415163e+01] [-6.79191928e-03 -1.08349168e-04 9.99976929e-01 -5.61328570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.43, Y:-75.74, Z:-5.61 [[ 9.88786040e-01 1.49167721e-01 7.15249587e-03 4.26425569e+02] [-1.49164415e-01 9.88811905e-01 -9.96368595e-04 -7.57435145e+01] [-7.22109911e-03 -8.17025091e-05 9.99973924e-01 -5.61394712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.45, Y:-75.75, Z:-5.61 [[ 9.89151739e-01 1.46666286e-01 8.23640387e-03 4.26453438e+02] [-1.46661822e-01 9.89186027e-01 -1.14669662e-03 -7.57466145e+01] [-8.31551735e-03 -7.37090417e-05 9.99965423e-01 -5.61362311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.48, Y:-75.75, Z:-5.61 [[ 9.89433250e-01 1.44687905e-01 9.34100644e-03 4.26481577e+02] [-1.44682082e-01 9.89477340e-01 -1.29980422e-03 -7.57505245e+01] [-9.43078015e-03 -6.54067470e-05 9.99955527e-01 -5.61313734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.51, Y:-75.75, Z:-5.61 [[ 9.89719863e-01 1.42698904e-01 9.57165894e-03 4.26508813e+02] [-1.42692700e-01 9.89766144e-01 -1.33146157e-03 -7.57546456e+01] [-9.66370207e-03 -4.80318952e-05 9.99953304e-01 -5.61358756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.54, Y:-75.76, Z:-5.61 [[ 9.90082700e-01 1.40225926e-01 8.54032939e-03 4.26537570e+02] [-1.40220899e-01 9.90119533e-01 -1.18753412e-03 -7.57600570e+01] [-8.62247001e-03 -2.17756831e-05 9.99962826e-01 -5.61430573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.57, Y:-75.76, Z:-5.62 [[ 9.90138609e-01 1.39808951e-01 8.88779831e-03 4.26566111e+02] [-1.39803494e-01 9.90178497e-01 -1.23541532e-03 -7.57643851e+01] [-8.97322890e-03 -1.93128510e-05 9.99959740e-01 -5.61532811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.59, Y:-75.77, Z:-5.61 [[ 9.90212446e-01 1.39174514e-01 1.04769472e-02 4.26593540e+02] [-1.39166901e-01 9.90267870e-01 -1.45573930e-03 -7.57694757e+01] [-1.05775860e-02 -1.65531064e-05 9.99944056e-01 -5.61494267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.62, Y:-75.77, Z:-5.61 [[ 9.90274506e-01 1.38732984e-01 1.04671918e-02 4.26622252e+02] [-1.38725367e-01 9.90329823e-01 -1.45376220e-03 -7.57749934e+01] [-1.05676569e-02 -1.24413768e-05 9.99944161e-01 -5.61459029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.65, Y:-75.78, Z:-5.61 [[ 9.90334375e-01 1.38350494e-01 9.84716863e-03 4.26649613e+02] [-1.38343738e-01 9.90383330e-01 -1.36725224e-03 -7.57806946e+01] [-9.94163168e-03 -8.25722814e-06 9.99950581e-01 -5.61490370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.68, Y:-75.79, Z:-5.62 [[ 9.90431510e-01 1.37744682e-01 8.47507723e-03 4.26677485e+02] [-1.37739659e-01 9.90467770e-01 -1.17631130e-03 -7.57862684e+01] [-8.55632147e-03 -2.29847249e-06 9.99963394e-01 -5.61544179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.71, Y:-75.79, Z:-5.62 [[ 9.90607503e-01 1.36627230e-01 5.45666026e-03 4.26705398e+02] [-1.36625131e-01 9.90622532e-01 -7.57331650e-04 -7.57937547e+01] [-5.50896273e-03 4.70149344e-06 9.99984826e-01 -5.61649648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.73, Y:-75.80, Z:-5.62 [[ 9.90624198e-01 1.36485554e-01 5.94910078e-03 4.26732744e+02] [-1.36483058e-01 9.90642061e-01 -8.25407050e-04 -7.57988569e+01] [-6.00608560e-03 5.71673105e-06 9.99981963e-01 -5.61683029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.76, Y:-75.80, Z:-5.62 [[ 9.90603082e-01 1.36556678e-01 7.60319883e-03 4.26761526e+02] [-1.36552609e-01 9.90632260e-01 -1.05419650e-03 -7.58038028e+01] [-7.67593161e-03 6.05367281e-06 9.99970540e-01 -5.61653937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.79, Y:-75.81, Z:-5.62 [[ 9.90395621e-01 1.37913695e-01 9.81460982e-03 4.26788818e+02] [-1.37906987e-01 9.90444250e-01 -1.36020424e-03 -7.58093438e+01] [-9.90841466e-03 -6.36295315e-06 9.99950910e-01 -5.61518069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.82, Y:-75.81, Z:-5.62 [[ 9.90223096e-01 1.39183929e-01 9.27657050e-03 4.26817779e+02] [-1.39177997e-01 9.90266547e-01 -1.28508584e-03 -7.58139580e+01] [-9.36514073e-03 -1.85728305e-05 9.99956146e-01 -5.61546203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.85, Y:-75.82, Z:-5.62 [[ 9.89816468e-01 1.42214440e-01 6.19780562e-03 4.26845126e+02] [-1.42211852e-01 9.89835871e-01 -8.58546143e-04 -7.58181054e+01] [-6.25690799e-03 -3.15983069e-05 9.99980425e-01 -5.61725886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.87, Y:-75.82, Z:-5.62 [[ 9.89623952e-01 1.43587491e-01 5.20250487e-03 4.26873061e+02] [-1.43585687e-01 9.89637626e-01 -7.20490775e-04 -7.58214767e+01] [-5.25204804e-03 -3.39903092e-05 9.99986207e-01 -5.61802293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.90, Y:-75.82, Z:-5.62 [[ 9.89155065e-01 1.46713619e-01 6.88267832e-03 4.26902508e+02] [-1.46710542e-01 9.89179008e-01 -9.52532315e-04 -7.58226191e+01] [-6.94795037e-03 -6.75593022e-05 9.99975860e-01 -5.61683418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.93, Y:-75.82, Z:-5.62 [[ 9.88863488e-01 1.48577043e-01 8.59444117e-03 4.26931226e+02] [-1.48572320e-01 9.88900830e-01 -1.18894224e-03 -7.58247546e+01] [-8.67569953e-03 -1.01194499e-04 9.99962360e-01 -5.61644971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.96, Y:-75.83, Z:-5.62 [[ 9.88659519e-01 1.49839889e-01 1.00181754e-02 4.26958991e+02] [-1.49833542e-01 9.88710266e-01 -1.38534650e-03 -7.58263679e+01] [-1.01126531e-02 -1.31422712e-04 9.99948857e-01 -5.61677301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.99, Y:-75.83, Z:-5.62 [[ 9.88552163e-01 1.50638815e-01 8.51865744e-03 4.26986159e+02] [-1.50634259e-01 9.88588860e-01 -1.17758069e-03 -7.58253777e+01] [-8.59883921e-03 -1.19101717e-04 9.99963022e-01 -5.61849764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.02, Y:-75.83, Z:-5.62 [[ 9.88639813e-01 1.50128492e-01 7.26335267e-03 4.27015387e+02] [-1.50125170e-01 9.88666489e-01 -1.00351314e-03 -7.58266991e+01] [-7.33168929e-03 -9.82990047e-05 9.99973118e-01 -5.61989516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.04, Y:-75.83, Z:-5.62 [[ 9.88823505e-01 1.48949481e-01 6.49054914e-03 4.27043630e+02] [-1.48946804e-01 9.88844804e-01 -8.96555287e-04 -7.58255205e+01] [-6.55168723e-03 -8.02116108e-05 9.99978534e-01 -5.62034797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:427.07, Y:-75.83, Z:-5.62 [[ 9.89058548e-01 1.47364201e-01 6.85423133e-03 4.27072623e+02] [-1.47361181e-01 9.89082295e-01 -9.46280516e-04 -7.58279131e+01] [-6.91884673e-03 -7.41207926e-05 9.99976062e-01 -5.62063450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.75576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:427.10, Y:-75.83, Z:-5.62 [[ 9.89419181e-01 1.44893646e-01 7.45082467e-03 4.27099953e+02] [-1.44890010e-01 9.89447233e-01 -1.02829458e-03 -7.58308600e+01] [-7.52119120e-03 -6.21356796e-05 9.99971714e-01 -5.62095656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.13, Y:-75.84, Z:-5.62 [[ 9.90266986e-01 1.38954363e-01 7.93612876e-03 4.27128760e+02] [-1.38950052e-01 9.90298786e-01 -1.09471496e-03 -7.58351152e+01] [-8.01125409e-03 -1.86654210e-05 9.99967909e-01 -5.62092397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.16, Y:-75.84, Z:-5.62 [[ 9.90585930e-01 1.36649524e-01 8.15000029e-03 4.27155904e+02] [-1.36644902e-01 9.90619457e-01 -1.12385257e-03 -7.58388977e+01] [-8.22712278e-03 -3.83448396e-07 9.99966157e-01 -5.62083002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8457692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:427.18, Y:-75.84, Z:-5.62 [[ 9.90825360e-01 1.34884169e-01 8.44787096e-03 4.27184855e+02] [-1.34879144e-01 9.90861373e-01 -1.16435159e-03 -7.58420030e+01] [-8.52772161e-03 1.42274812e-05 9.99963638e-01 -5.62064006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.21, Y:-75.85, Z:-5.62 [[ 9.90823004e-01 1.34915459e-01 8.22151795e-03 4.27213622e+02] [-1.34910704e-01 9.90857113e-01 -1.13278201e-03 -7.58455624e+01] [-8.29917935e-03 1.32156992e-05 9.99965561e-01 -5.62132204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.24, Y:-75.85, Z:-5.62 [[ 9.90760763e-01 1.35391722e-01 7.88625443e-03 4.27242500e+02] [-1.35387365e-01 9.90792149e-01 -1.08619057e-03 -7.58488794e+01] [-7.96070018e-03 8.45578706e-06 9.99968313e-01 -5.62159727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.27, Y:-75.85, Z:-5.62 [[ 9.90734997e-01 1.35585246e-01 7.79785810e-03 4.27270842e+02] [-1.35580994e-01 9.90765684e-01 -1.07379395e-03 -7.58519069e+01] [-7.87144083e-03 6.60389465e-06 9.99969020e-01 -5.62127607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.30, Y:-75.85, Z:-5.62 [[ 9.90789346e-01 1.35145292e-01 8.49836593e-03 4.27298111e+02] [-1.35140229e-01 9.90825792e-01 -1.16983870e-03 -7.58543179e+01] [-8.57849834e-03 1.05926018e-05 9.99963204e-01 -5.62142229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.33, Y:-75.86, Z:-5.62 [[ 9.90853625e-01 1.34652292e-01 8.82347037e-03 4.27325701e+02] [-1.34646819e-01 9.90892911e-01 -1.21404048e-03 -7.58582036e+01] [-8.90658757e-03 1.48841871e-05 9.99960335e-01 -5.62213264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.35, Y:-75.86, Z:-5.62 [[ 9.91029647e-01 1.33352659e-01 8.79243957e-03 4.27354406e+02] [-1.33347179e-01 9.91068649e-01 -1.20921831e-03 -7.58628329e+01] [-8.87516369e-03 2.59241777e-05 9.99960615e-01 -5.62271359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.38, Y:-75.87, Z:-5.62 [[ 9.91159415e-01 1.32402836e-01 8.51484264e-03 4.27382749e+02] [-1.32397665e-01 9.91195989e-01 -1.17066300e-03 -7.58664530e+01] [-8.59487697e-03 3.29683673e-05 9.99963063e-01 -5.62302464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.41, Y:-75.87, Z:-5.62 [[ 9.91362227e-01 1.30982027e-01 6.68159723e-03 4.27411814e+02] [-1.30978812e-01 9.91384742e-01 -9.18427864e-04 -7.58689279e+01] [-6.74433109e-03 3.53470285e-05 9.99977256e-01 -5.62335321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.44, Y:-75.87, Z:-5.62 [[ 9.91383661e-01 1.30847698e-01 6.10880293e-03 4.27439330e+02] [-1.30845009e-01 9.91402481e-01 -8.39526823e-04 -7.58721758e+01] [-6.16613253e-03 3.29868017e-05 9.99980989e-01 -5.62374278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.47, Y:-75.88, Z:-5.62 [[ 9.91384524e-01 1.30826724e-01 6.41051820e-03 4.27467949e+02] [-1.30823766e-01 9.91405249e-01 -8.80530230e-04 -7.58754506e+01] [-6.47061828e-03 3.42959106e-05 9.99979065e-01 -5.62399240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.50, Y:-75.88, Z:-5.62 [[ 9.91336951e-01 1.31154789e-01 7.03356470e-03 4.27496886e+02] [-1.31151238e-01 9.91361902e-01 -9.65732255e-04 -7.58791039e+01] [-7.09946849e-03 3.49053503e-05 9.99974798e-01 -5.62404380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.53, Y:-75.88, Z:-5.62 [[ 9.91279519e-01 1.31503326e-01 8.47289525e-03 4.27525427e+02] [-1.31498190e-01 9.91315729e-01 -1.16286935e-03 -7.58822871e+01] [-8.55223551e-03 3.85581788e-05 9.99963428e-01 -5.62332085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.55, Y:-75.89, Z:-5.62 [[ 9.91280512e-01 1.31446859e-01 9.20159592e-03 4.27554283e+02] [-1.31440803e-01 9.91323218e-01 -1.26239457e-03 -7.58853155e+01] [-9.28769347e-03 4.19219831e-05 9.99956868e-01 -5.62441340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.58, Y:-75.89, Z:-5.62 [[ 9.91301441e-01 1.31293373e-01 9.13796235e-03 4.27581650e+02] [-1.31287399e-01 9.91343557e-01 -1.25324378e-03 -7.58881056e+01] [-9.22340270e-03 4.26430559e-05 9.99957463e-01 -5.62492832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.61, Y:-75.89, Z:-5.63 [[ 9.91373538e-01 1.30794126e-01 8.45017905e-03 4.27609889e+02] [-1.30789003e-01 9.91409549e-01 -1.15843723e-03 -7.58878400e+01] [-8.52910499e-03 4.32535270e-05 9.99963626e-01 -5.62537270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.64, Y:-75.89, Z:-5.63 [[ 9.91344426e-01 1.31042095e-01 8.01234048e-03 4.27637724e+02] [-1.31037501e-01 9.91376804e-01 -1.09794536e-03 -7.58888722e+01] [-8.08712556e-03 3.85249400e-05 9.99967298e-01 -5.62588612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.67, Y:-75.89, Z:-5.63 [[ 9.91274393e-01 1.31571917e-01 7.99425876e-03 4.27666153e+02] [-1.31567365e-01 9.91306627e-01 -1.09498683e-03 -7.58905647e+01] [-8.06883121e-03 3.36488400e-05 9.99967446e-01 -5.62642305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.38576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:427.69, Y:-75.89, Z:-5.63 [[ 9.91261470e-01 1.31685785e-01 7.71698599e-03 4.27694684e+02] [-1.31681549e-01 9.91291508e-01 -1.05671929e-03 -7.58906552e+01] [-7.78893758e-03 3.13004516e-05 9.99969665e-01 -5.62688181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.41576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:427.72, Y:-75.89, Z:-5.63 [[ 9.91354840e-01 1.30978920e-01 7.75270684e-03 4.27722722e+02] [-1.30974626e-01 9.91385153e-01 -1.06115418e-03 -7.58931008e+01] [-7.82490728e-03 3.65724538e-05 9.99969384e-01 -5.62757194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.44576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:427.75, Y:-75.90, Z:-5.63 [[ 9.91513569e-01 1.29755557e-01 8.02113281e-03 4.27751912e+02] [-1.29750925e-01 9.91546012e-01 -1.09739236e-03 -7.58956593e+01] [-8.09571500e-03 4.73300185e-05 9.99967228e-01 -5.62778357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.4757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:427.78, Y:-75.90, Z:-5.63 [[ 9.91943418e-01 1.26433805e-01 7.92139668e-03 4.27780926e+02] [-1.26429184e-01 9.91975044e-01 -1.08340816e-03 -7.58966659e+01] [-7.99480724e-03 7.31838771e-05 9.99968038e-01 -5.62799442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.81, Y:-75.90, Z:-5.63 [[ 9.92214428e-01 1.24311038e-01 7.56928169e-03 4.27808441e+02] [-1.24306759e-01 9.92243296e-01 -1.03499143e-03 -7.58996357e+01] [-7.63922987e-03 8.60205549e-05 9.99970817e-01 -5.62830667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.84, Y:-75.90, Z:-5.63 [[ 9.92782928e-01 1.19613483e-01 8.64129593e-03 4.27837315e+02] [-1.19607733e-01 9.92820525e-01 -1.18099681e-03 -7.59038684e+01] [-8.72051911e-03 1.38907653e-04 9.99961966e-01 -5.62840628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.86, Y:-75.91, Z:-5.63 [[ 9.93125444e-01 1.16671241e-01 9.46963803e-03 4.27864270e+02] [-1.16664207e-01 9.93170574e-01 -1.29372892e-03 -7.59085085e+01] [-9.55590679e-03 1.80067293e-04 9.99954325e-01 -5.62886021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.89, Y:-75.91, Z:-5.63 [[ 9.93466009e-01 1.13710591e-01 9.75653976e-03 4.27892459e+02] [-1.13702987e-01 9.93513893e-01 -1.33228793e-03 -7.59137925e+01] [-9.84475304e-03 2.14235059e-04 9.99951516e-01 -5.62852168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.62576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:427.92, Y:-75.92, Z:-5.63 [[ 9.94063473e-01 1.08476653e-01 8.40397662e-03 4.27920124e+02] [-1.08470827e-01 9.94098971e-01 -1.14732500e-03 -7.59215114e+01] [-8.47884249e-03 2.28927585e-04 9.99964028e-01 -5.62896274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.95, Y:-75.93, Z:-5.63 [[ 9.94304212e-01 1.06342895e-01 7.09390838e-03 4.27947565e+02] [-1.06338691e-01 9.94329495e-01 -9.68279435e-04 -7.59272329e+01] [-7.15665198e-03 2.08407389e-04 9.99974369e-01 -5.62960292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.98, Y:-75.94, Z:-5.63 [[ 9.94735290e-01 1.02341389e-01 5.28609787e-03 4.27975604e+02] [-1.02338999e-01 9.94749320e-01 -7.21315130e-04 -7.59359390e+01] [-5.33216266e-03 1.76543649e-04 9.99985768e-01 -5.63044657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.00, Y:-75.94, Z:-5.63 [[ 9.94875497e-01 1.00958316e-01 5.49225352e-03 4.28003703e+02] [-1.00955717e-01 9.94890638e-01 -7.49168411e-04 -7.59423752e+01] [-5.53982639e-03 1.90854903e-04 9.99984637e-01 -5.63063485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.03, Y:-75.95, Z:-5.63 [[ 9.94879044e-01 1.00923354e-01 5.49229876e-03 4.28032773e+02] [-1.00920756e-01 9.94894185e-01 -7.48836569e-04 -7.59462536e+01] [-5.53983120e-03 1.90714866e-04 9.99984637e-01 -5.63098805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.06, Y:-75.95, Z:-5.63 [[ 9.94966348e-01 1.00020427e-01 6.15470671e-03 4.28060621e+02] [-1.00017149e-01 9.94985360e-01 -8.38949329e-04 -7.59521674e+01] [-6.20775514e-03 2.19150134e-04 9.99980708e-01 -5.63073250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.09, Y:-75.96, Z:-5.63 [[ 9.95051585e-01 9.90582932e-02 7.73296035e-03 4.28088752e+02] [-9.90530932e-02 9.95081592e-01 -1.05351301e-03 -7.59612508e+01] [-7.79928570e-03 2.82326144e-04 9.99969545e-01 -5.62972803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.12, Y:-75.97, Z:-5.63 [[ 9.95109888e-01 9.83919052e-02 8.68007373e-03 4.28118244e+02] [-9.83853316e-02 9.95147692e-01 -1.18214508e-03 -7.59680788e+01] [-8.75426884e-03 3.22372330e-04 9.99961629e-01 -5.62988126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.15, Y:-75.98, Z:-5.63 [[ 9.95120189e-01 9.82230014e-02 9.38357936e-03 4.28146345e+02] [-9.82153138e-02 9.95164368e-01 -1.27771020e-03 -7.59782677e+01] [-9.46370436e-03 3.49864021e-04 9.99955157e-01 -5.62980659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.18, Y:-75.98, Z:-5.63 [[ 9.95066429e-01 9.88061316e-02 8.95262050e-03 4.28175361e+02] [-9.87991593e-02 9.95106648e-01 -1.21883056e-03 -7.59849877e+01] [-9.02924011e-03 3.28305989e-04 9.99959182e-01 -5.63086723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.20, Y:-75.99, Z:-5.63 [[ 9.94934009e-01 1.00188890e-01 8.27675761e-03 4.28204143e+02] [-1.00182980e-01 9.94968392e-01 -1.12659545e-03 -7.59910422e+01] [-8.34798456e-03 2.91697887e-04 9.99965112e-01 -5.63134848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.23, Y:-76.00, Z:-5.63 [[ 9.94419300e-01 1.05243728e-01 7.34945479e-03 4.28232450e+02] [-1.05239206e-01 9.94446433e-01 -1.00036677e-03 -7.59975267e+01] [-7.41392143e-03 2.21333228e-04 9.99972492e-01 -5.63130718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.26, Y:-76.00, Z:-5.63 [[ 9.94091341e-01 1.08311157e-01 7.14831861e-03 4.28261647e+02] [-1.08306960e-01 9.94117023e-01 -9.72801618e-04 -7.60028758e+01] [-7.21163049e-03 1.92841007e-04 9.99973977e-01 -5.63183456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.29, Y:-76.01, Z:-5.63 [[ 9.93662153e-01 1.12217350e-01 6.54149244e-03 4.28290922e+02] [-1.12213921e-01 9.93683674e-01 -8.90088973e-04 -7.60101438e+01] [-6.60005766e-03 1.50401213e-04 9.99978208e-01 -5.63258081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.32, Y:-76.02, Z:-5.63 [[ 9.93597805e-01 1.12762913e-01 6.92294614e-03 4.28319051e+02] [-1.12759086e-01 9.93621911e-01 -9.41871223e-04 -7.60153165e+01] [-6.98499911e-03 1.55216101e-04 9.99975593e-01 -5.63323912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.35, Y:-76.02, Z:-5.63 [[ 9.93635946e-01 1.12400142e-01 7.33579738e-03 4.28347909e+02] [-1.12395838e-01 9.93663011e-01 -9.97709774e-04 -7.60206025e+01] [-7.40145324e-03 1.66847203e-04 9.99972595e-01 -5.63388727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.38, Y:-76.03, Z:-5.63 [[ 9.93715634e-01 1.11693869e-01 7.32932203e-03 4.28376277e+02] [-1.11689554e-01 9.93742648e-01 -9.96703547e-04 -7.60262139e+01] [-7.39478556e-03 1.71831189e-04 9.99972643e-01 -5.63465343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.40, Y:-76.03, Z:-5.64 [[ 9.93949357e-01 1.09645985e-01 6.51417622e-03 4.28404975e+02] [-1.09642536e-01 9.93970689e-01 -8.85385509e-04 -7.60340543e+01] [-6.57197919e-03 1.65797559e-04 9.99978391e-01 -5.63534395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.43, Y:-76.04, Z:-5.64 [[ 9.94030590e-01 1.08918261e-01 6.32439384e-03 4.28434383e+02] [-1.08914993e-01 9.94050695e-01 -8.59880262e-04 -7.60391717e+01] [-6.38042475e-03 1.65925976e-04 9.99979631e-01 -5.63537896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.46, Y:-76.04, Z:-5.64 [[ 9.94074657e-01 1.08507191e-01 6.46262352e-03 4.28463942e+02] [-1.08503771e-01 9.94095649e-01 -8.78521312e-04 -7.60438283e+01] [-6.51979180e-03 1.72096751e-04 9.99978731e-01 -5.63536982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.49, Y:-76.05, Z:-5.63 [[ 9.93964807e-01 1.09436515e-01 7.59019948e-03 4.28491889e+02] [-1.09431826e-01 9.93993768e-01 -1.03162110e-03 -7.60489057e+01] [-7.65750801e-03 1.94785672e-04 9.99970662e-01 -5.63446622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.52, Y:-76.05, Z:-5.64 [[ 9.93830139e-01 1.10575473e-01 8.64403552e-03 4.28521245e+02] [-1.10569438e-01 9.93867708e-01 -1.17444453e-03 -7.60534952e+01] [-8.72089252e-03 2.11432228e-04 9.99961950e-01 -5.63524161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.55, Y:-76.06, Z:-5.64 [[ 9.93428219e-01 1.13999047e-01 1.02269843e-02 4.28549888e+02] [-1.13990783e-01 9.93480836e-01 -1.38922321e-03 -7.60581261e+01] [-1.03186830e-02 2.14311593e-04 9.99946738e-01 -5.63620040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.58, Y:-76.06, Z:-5.64 [[ 9.93244248e-01 1.15616095e-01 9.93890694e-03 4.28579289e+02] [-1.15608374e-01 9.93293955e-01 -1.34984527e-03 -7.60622648e+01] [-1.00283200e-02 1.91705182e-04 9.99949697e-01 -5.63642708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.61, Y:-76.07, Z:-5.64 [[ 9.93057999e-01 1.17289053e-01 8.89314840e-03 4.28609201e+02] [-1.17282941e-01 9.93097807e-01 -1.20756098e-03 -7.60670879e+01] [-8.97339985e-03 1.56163496e-04 9.99959726e-01 -5.63651354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.64, Y:-76.07, Z:-5.64 [[ 9.92774279e-01 1.19798311e-01 6.89892674e-03 4.28638512e+02] [-1.19794693e-01 9.92798244e-01 -9.36836337e-04 -7.60735703e+01] [-6.96147377e-03 1.03612207e-04 9.99975763e-01 -5.63616159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.67, Y:-76.08, Z:-5.64 [[ 9.92691347e-01 1.20488332e-01 6.81553555e-03 4.28666560e+02] [-1.20484817e-01 9.92714739e-01 -9.25550841e-04 -7.60784373e+01] [-6.87740067e-03 9.76177575e-05 9.99976346e-01 -5.63691826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.70, Y:-76.08, Z:-5.64 [[ 9.92612088e-01 1.21124813e-01 7.07262826e-03 4.28696284e+02] [-1.21121046e-01 9.92637280e-01 -9.60141225e-04 -7.60828860e+01] [-7.13685141e-03 9.64036515e-05 9.99974528e-01 -5.63768463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.72, Y:-76.09, Z:-5.64 [[ 9.92343736e-01 1.23242152e-01 8.07975900e-03 4.28724814e+02] [-1.23237308e-01 9.92376624e-01 -1.09662654e-03 -7.60888578e+01] [-8.15331457e-03 9.25027337e-05 9.99966757e-01 -5.63786353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.75, Y:-76.09, Z:-5.64 [[ 9.92215980e-01 1.24271772e-01 7.99850501e-03 4.28754178e+02] [-1.24267060e-01 9.92248215e-01 -1.08533141e-03 -7.60945082e+01] [-8.07137838e-03 8.29324639e-05 9.99967422e-01 -5.63848107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.78, Y:-76.10, Z:-5.64 [[ 9.91899890e-01 1.26809098e-01 7.35266970e-03 4.28782952e+02] [-1.26805187e-01 9.91927139e-01 -9.97676221e-04 -7.61005977e+01] [-7.41982704e-03 5.72382811e-05 9.99972471e-01 -5.63890698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.81, Y:-76.10, Z:-5.64 [[ 9.91635738e-01 1.28859927e-01 7.32682223e-03 4.28813051e+02] [-1.28856100e-01 9.91662804e-01 -9.93895798e-04 -7.61049894e+01] [-7.39381041e-03 4.14768543e-05 9.99972665e-01 -5.63898672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.84, Y:-76.11, Z:-5.64 [[ 9.91356866e-01 1.30996489e-01 7.17521645e-03 4.28842590e+02] [-1.30992874e-01 9.91382832e-01 -9.73387869e-04 -7.61090740e+01] [-7.24089680e-03 2.50725200e-05 9.99973784e-01 -5.63919493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.87, Y:-76.11, Z:-5.64 [[ 9.91053542e-01 1.33284708e-01 6.93280946e-03 4.28870992e+02] [-1.33281389e-01 9.91077790e-01 -9.40603598e-04 -7.61129900e+01] [-6.99632156e-03 8.17405494e-06 9.99975525e-01 -5.63954742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.90, Y:-76.12, Z:-5.64 [[ 9.90297518e-01 1.38801821e-01 6.69935357e-03 4.28899267e+02] [-1.38798850e-01 9.90320177e-01 -9.08627899e-04 -7.61154243e+01] [-6.76062423e-03 -3.00506188e-05 9.99977146e-01 -5.63909742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.93, Y:-76.12, Z:-5.64 [[ 9.89938936e-01 1.41325373e-01 6.93123724e-03 4.28926956e+02] [-1.41322257e-01 9.89963200e-01 -9.39783138e-04 -7.61170220e+01] [-6.99448499e-03 -4.92101699e-05 9.99975537e-01 -5.63886707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.96, Y:-76.12, Z:-5.64 [[ 9.89609501e-01 1.43583634e-01 7.53492507e-03 4.28955923e+02] [-1.43580021e-01 9.89638184e-01 -1.02106618e-03 -7.61190220e+01] [-7.60345796e-03 -7.14079130e-05 9.99971091e-01 -5.63894993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.99, Y:-76.12, Z:-5.64 [[ 9.89162790e-01 1.46507594e-01 9.61764937e-03 4.28985363e+02] [-1.46501851e-01 9.89209538e-01 -1.30268131e-03 -7.61198910e+01] [-9.70472319e-03 -1.20439557e-04 9.99952901e-01 -5.63935048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.01, Y:-76.12, Z:-5.64 [[ 9.88981366e-01 1.47696552e-01 1.00790206e-02 4.29014547e+02] [-1.47690313e-01 9.89032714e-01 -1.36465571e-03 -7.61192769e+01] [-1.01700360e-02 -1.38954640e-04 9.99948274e-01 -5.63873977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.79576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:429.04, Y:-76.12, Z:-5.64 [[ 9.88947234e-01 1.47957175e-01 9.59386097e-03 4.29042243e+02] [-1.47951538e-01 9.88993759e-01 -1.29855566e-03 -7.61191036e+01] [-9.68039926e-03 -1.35223461e-04 9.99953135e-01 -5.63996208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.07, Y:-76.12, Z:-5.64 [[ 9.88866908e-01 1.48536923e-01 8.88933472e-03 4.29069915e+02] [-1.48532111e-01 9.88906854e-01 -1.20270890e-03 -7.61191582e+01] [-8.96937071e-03 -1.31032626e-04 9.99959766e-01 -5.64089934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.10, Y:-76.12, Z:-5.64 [[ 9.88826176e-01 1.48815930e-01 8.75280871e-03 4.29099222e+02] [-1.48811281e-01 9.88864906e-01 -1.18368928e-03 -7.61193809e+01] [-8.83149718e-03 -1.32053733e-04 9.99960993e-01 -5.64138502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.13, Y:-76.12, Z:-5.64 [[ 9.88788542e-01 1.49025828e-01 9.40863015e-03 4.29127438e+02] [-1.49020471e-01 9.88833293e-01 -1.27191223e-03 -7.61158689e+01] [-9.49311451e-03 -1.44426249e-04 9.99954929e-01 -5.63997034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.16, Y:-76.12, Z:-5.64 [[ 9.88775483e-01 1.49099534e-01 9.61110446e-03 4.29156100e+02] [-1.49093953e-01 9.88822182e-01 -1.29866147e-03 -7.61153949e+01] [-9.69730310e-03 -1.48872935e-04 9.99952969e-01 -5.64000101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.18, Y:-76.11, Z:-5.64 [[ 9.88779052e-01 1.49069320e-01 9.71207913e-03 4.29184499e+02] [-1.49063624e-01 9.88826737e-01 -1.31185974e-03 -7.61118198e+01] [-9.79912155e-03 -1.50578275e-04 9.99951976e-01 -5.64188056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.21, Y:-76.11, Z:-5.64 [[ 9.88977672e-01 1.47752300e-01 9.61359109e-03 4.29213097e+02] [-1.47746662e-01 9.89024388e-01 -1.29796385e-03 -7.61132281e+01] [-9.69985319e-03 -1.36718726e-04 9.99952946e-01 -5.64313238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.24, Y:-76.12, Z:-5.64 [[ 9.89308364e-01 1.45536583e-01 9.38423221e-03 4.29242190e+02] [-1.45531116e-01 9.89352864e-01 -1.26656601e-03 -7.61151828e+01] [-9.46864871e-03 -1.12673440e-04 9.99955165e-01 -5.64337114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.27, Y:-76.12, Z:-5.64 [[ 9.90231632e-01 1.39140186e-01 9.01794304e-03 4.29270025e+02] [-1.39134875e-01 9.90272693e-01 -1.21675983e-03 -7.61155670e+01] [-9.09952292e-03 -4.98363018e-05 9.99958597e-01 -5.64313303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.30, Y:-76.12, Z:-5.64 [[ 9.90741369e-01 1.35479173e-01 8.77112021e-03 4.29298850e+02] [-1.35474010e-01 9.90780194e-01 -1.18292112e-03 -7.61179933e+01] [-8.85051337e-03 -1.62899348e-05 9.99960833e-01 -5.64348582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.33, Y:-76.12, Z:-5.64 [[ 9.91526335e-01 1.29562269e-01 9.44171270e-03 4.29326982e+02] [-1.29556022e-01 9.91571287e-01 -1.27287968e-03 -7.61213595e+01] [-9.52704839e-03 3.88629812e-05 9.99954616e-01 -5.64418610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.35, Y:-76.13, Z:-5.64 [[ 9.91757427e-01 1.27813354e-01 8.99741252e-03 4.29354819e+02] [-1.27807612e-01 9.91798237e-01 -1.21263607e-03 -7.61250286e+01] [-9.07860896e-03 5.27030234e-05 9.99958787e-01 -5.64420181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.38, Y:-76.13, Z:-5.65 [[ 9.91869119e-01 1.27012114e-01 7.97335594e-03 4.29383417e+02] [-1.27007582e-01 9.91901165e-01 -1.07414443e-03 -7.61287404e+01] [-8.04521040e-03 5.27340223e-05 9.99967635e-01 -5.64542073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.41, Y:-76.13, Z:-5.65 [[ 9.91929820e-01 1.26692499e-01 4.92375425e-03 4.29410982e+02] [-1.26690767e-01 9.91942039e-01 -6.63374117e-04 -7.61331497e+01] [-4.96812336e-03 3.42263657e-05 9.99987658e-01 -5.64639926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2157692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.44, Y:-76.14, Z:-5.64 [[ 9.91949549e-01 1.26562027e-01 4.25986302e-03 4.29439261e+02] [-1.26560730e-01 9.91958695e-01 -5.73729501e-04 -7.61379253e+01] [-4.29822053e-03 2.99793469e-05 9.99990762e-01 -5.64358550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.47, Y:-76.14, Z:-5.65 [[ 9.92021225e-01 1.25988859e-01 4.54928798e-03 4.29466267e+02] [-1.25987375e-01 9.92031656e-01 -6.12574481e-04 -7.61440237e+01] [-4.59021525e-03 3.45340367e-05 9.99989464e-01 -5.64691407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.49, Y:-76.15, Z:-5.65 [[ 9.92175166e-01 1.24643634e-01 7.23903259e-03 4.29494710e+02] [-1.24639847e-01 9.92201573e-01 -9.73663983e-04 -7.61525052e+01] [-7.30394054e-03 6.37733073e-05 9.99973324e-01 -5.64609420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.52, Y:-76.16, Z:-5.65 [[ 9.92192928e-01 1.24417467e-01 8.57251312e-03 4.29522296e+02] [-1.24412153e-01 9.92229957e-01 -1.15257490e-03 -7.61576932e+01] [-8.64930478e-03 7.70518590e-05 9.99962591e-01 -5.64606968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.55, Y:-76.16, Z:-5.65 [[ 9.92086973e-01 1.25249676e-01 8.71531970e-03 4.29550502e+02] [-1.25244219e-01 9.92125251e-01 -1.17124293e-03 -7.61629328e+01] [-8.79338654e-03 7.04314458e-05 9.99961335e-01 -5.64631554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.58, Y:-76.17, Z:-5.65 [[ 9.91572877e-01 1.29320361e-01 7.71198787e-03 4.29577571e+02] [-1.29316214e-01 9.91602866e-01 -1.03617181e-03 -7.61684655e+01] [-7.78122738e-03 3.01547918e-05 9.99969725e-01 -5.64636419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.61, Y:-76.17, Z:-5.65 [[ 9.91239091e-01 1.31887100e-01 7.13149928e-03 4.29605664e+02] [-1.31883623e-01 9.91264744e-01 -9.57779141e-04 -7.61725506e+01] [-7.19552252e-03 8.86016481e-06 9.99974112e-01 -5.64642117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.63, Y:-76.18, Z:-5.65 [[ 9.90904962e-01 1.34388940e-01 6.85346904e-03 4.29633039e+02] [-1.34385790e-01 9.90928662e-01 -9.20215053e-04 -7.61751429e+01] [-6.91496563e-03 -9.16318723e-06 9.99976091e-01 -5.64648382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:429.66, Y:-76.18, Z:-5.65 [[ 9.90243824e-01 1.39177607e-01 6.83836994e-03 4.29661568e+02] [-1.39174587e-01 9.90267435e-01 -9.17869611e-04 -7.61753293e+01] [-6.89956195e-03 -4.28125973e-05 9.99976197e-01 -5.64703688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.48576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:429.69, Y:-76.18, Z:-5.65 [[ 9.90025747e-01 1.40727311e-01 6.69659079e-03 4.29689639e+02] [-1.40724453e-01 9.90048393e-01 -8.98417908e-04 -7.61775685e+01] [-6.75638089e-03 -5.29172174e-05 9.99977174e-01 -5.64751390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.51576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:429.72, Y:-76.18, Z:-5.65 [[ 9.89968012e-01 1.41131275e-01 6.73042076e-03 4.29717152e+02] [-1.41128401e-01 9.89990889e-01 -9.02514759e-04 -7.61804673e+01] [-6.79042829e-03 -5.63927777e-05 9.99976943e-01 -5.64798071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.54576923100007 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:429.75, Y:-76.18, Z:-5.65 [[ 9.90383829e-01 1.38175540e-01 6.88420139e-03 4.29745066e+02] [-1.38172464e-01 9.90407754e-01 -9.22613530e-04 -7.61836631e+01] [-6.94564906e-03 -3.74655519e-05 9.99975878e-01 -5.64863891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.57576923100004 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:429.77, Y:-76.19, Z:-5.65 [[ 9.90688136e-01 1.35987733e-01 6.65985977e-03 4.29773522e+02] [-1.35984808e-01 9.90710521e-01 -8.92152634e-04 -7.61873742e+01] [-6.71931496e-03 -2.17947231e-05 9.99977425e-01 -5.64919749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.60576923100007 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:429.80, Y:-76.19, Z:-5.65 [[ 9.91028556e-01 1.33509544e-01 6.13219116e-03 4.29801562e+02] [-1.33507018e-01 9.91047527e-01 -8.21237455e-04 -7.61914465e+01] [-6.18693593e-03 -4.82078837e-06 9.99980861e-01 -5.64943003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.63576923100004 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:429.83, Y:-76.20, Z:-5.65 [[ 9.91037470e-01 1.33443354e-01 6.13220462e-03 4.29830642e+02] [-1.33440828e-01 9.91056442e-01 -8.21136991e-04 -7.61952252e+01] [-6.18693617e-03 -4.50893596e-06 9.99980861e-01 -5.64978318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.66576923100007 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:429.86, Y:-76.20, Z:-5.65 [[ 9.91808323e-01 1.27606342e-01 5.73345804e-03 4.29858905e+02] [-1.27604039e-01 9.91824894e-01 -7.67287930e-04 -7.62013509e+01] [-5.78449722e-03 2.93901513e-05 9.99983269e-01 -5.64927822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.69576923100004 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:429.89, Y:-76.21, Z:-5.65 [[ 9.92078493e-01 1.25503383e-01 5.40044830e-03 4.29885863e+02] [-1.25501309e-01 9.92093191e-01 -7.22568022e-04 -7.62064258e+01] [-5.44843272e-03 3.90808646e-05 9.99985156e-01 -5.64849114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7257692310001 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:429.91, Y:-76.21, Z:-5.65 [[ 9.92235463e-01 1.24254279e-01 5.44619248e-03 4.29913966e+02] [-1.24252153e-01 9.92250408e-01 -7.28257619e-04 -7.62118000e+01] [-5.49447583e-03 4.59018930e-05 9.99984904e-01 -5.64863683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.75576923100004 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:429.94, Y:-76.22, Z:-5.65 [[ 9.92304198e-01 1.23619800e-01 7.10800373e-03 4.29941278e+02] [-1.23616167e-01 9.92329653e-01 -9.49986511e-04 -7.62215778e+01] [-7.17092002e-03 6.40114282e-05 9.99974287e-01 -5.64771821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7857692310001 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:429.97, Y:-76.23, Z:-5.65 [[ 9.92271230e-01 1.23840981e-01 7.82421210e-03 4.29969519e+02] [-1.23836589e-01 9.92302074e-01 -1.04522081e-03 -7.62285259e+01] [-7.89342306e-03 6.82187987e-05 9.99968844e-01 -5.64751837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.81576923100005 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:430.00, Y:-76.24, Z:-5.65 [[ 9.92018851e-01 1.25892658e-01 7.04545311e-03 4.29996631e+02] [-1.25889149e-01 9.92043868e-01 -9.41078058e-04 -7.62367686e+01] [-7.10787338e-03 4.66210745e-05 9.99974738e-01 -5.64728453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8457692310001 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:430.03, Y:-76.24, Z:-5.65 [[ 9.91816046e-01 1.27509773e-01 6.49527698e-03 4.30026057e+02] [-1.27537393e-01 9.91825573e-01 4.03053584e-03 -7.62446612e+01] [-5.92824911e-03 -4.82594082e-03 9.99970783e-01 -5.64806711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.87576923100005 meters Centerline goodness : 0.990420 Centerline is valid? [True, True] Translation: X:430.05, Y:-76.25, Z:-5.65 [[ 9.91568912e-01 1.29440043e-01 6.03053475e-03 4.30054677e+02] [-1.29435734e-01 9.91587202e-01 -1.10097950e-03 -7.62485814e+01] [-6.12231191e-03 3.11130356e-04 9.99981210e-01 -5.64918389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9057692310001 meters Centerline goodness : 0.987362 Centerline is valid? [True, True] Translation: X:430.08, Y:-76.26, Z:-5.66 [[ 9.90915900e-01 1.34181692e-01 8.99735097e-03 4.30080395e+02] [-1.34134091e-01 9.90946780e-01 -5.70307006e-03 -7.62550232e+01] [-9.68114356e-03 4.44441131e-03 9.99943260e-01 -5.65623550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.93576923100005 meters Centerline goodness : 0.985499 Centerline is valid? [True, True] Translation: X:430.11, Y:-76.26, Z:-5.66 [[ 9.90647439e-01 1.36045130e-01 1.04582347e-02 4.30110419e+02] [-1.35853552e-01 9.90578696e-01 -1.72528210e-02 -7.62554135e+01] [-1.27068667e-02 1.56706746e-02 9.99796462e-01 -5.66297127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9657692310001 meters Centerline goodness : 0.975191 Centerline is valid? [True, True] Translation: X:430.16, Y:-76.20, Z:-5.68 [[ 9.90812321e-01 1.35207765e-01 -3.13116668e-03 4.30162492e+02] [-1.33786051e-01 9.76478050e-01 -1.69091428e-01 -7.62043524e+01] [-1.98049585e-02 1.67956777e-01 9.85595396e-01 -5.67831311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.99576923100005 meters Centerline goodness : 0.955210 Centerline is valid? [True, True] Translation: X:430.21, Y:-76.25, Z:-5.67 [[ 9.90129853e-01 1.39936494e-01 7.78792048e-03 4.30211607e+02] [-1.38764258e-01 9.86607155e-01 -8.57368171e-02 -7.62510562e+01] [-1.96813277e-02 8.38098971e-02 9.96287381e-01 -5.66540465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0257692310001 meters Centerline goodness : 0.931770 Centerline is valid? [True, False] Translation: X:430.19, Y:-76.26, Z:-5.67 [[ 9.89923240e-01 1.40995233e-01 1.31271879e-02 4.30188993e+02] [-1.40042913e-01 9.88518887e-01 -5.67308704e-02 -7.62609773e+01] [-2.09752555e-02 5.43208374e-02 9.98303203e-01 -5.66740839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.05576923100006 meters Centerline goodness : 0.968214 Centerline is valid? [False, True] Translation: X:430.19, Y:-76.27, Z:-5.67 [[ 9.90056824e-01 1.39474758e-01 1.82832468e-02 4.30192519e+02] [-1.38683645e-01 9.89565043e-01 -3.90880158e-02 -7.62691868e+01] [-2.35442534e-02 3.61637695e-02 9.99068491e-01 -5.67214229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0857692310001 meters Centerline goodness : 0.864986 Centerline is valid? [True, False] Translation: X:430.20, Y:-76.27, Z:-5.67 [[ 9.89746806e-01 1.41822332e-01 1.69613205e-02 4.30198545e+02] [-1.41176276e-01 9.89378856e-01 -3.46228068e-02 -7.62738561e+01] [-2.16914590e-02 3.18732764e-02 9.99256511e-01 -5.67290389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.11576923100006 meters Centerline goodness : 0.852294 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.28, Z:-5.67 [[ 9.89740161e-01 1.41394718e-01 2.05413746e-02 4.30212797e+02] [-1.40913538e-01 9.89748975e-01 -2.32452480e-02 -7.62810427e+01] [-2.36175598e-02 2.01121977e-02 9.99518739e-01 -5.67105163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1457692310001 meters Centerline goodness : 0.116852 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.29, Z:-5.67 [[ 9.89732433e-01 1.41351503e-01 2.12005497e-02 4.30211746e+02] [-1.40873767e-01 9.89770562e-01 -2.25569415e-02 -7.62853806e+01] [-2.41721375e-02 1.93387353e-02 9.99520746e-01 -5.67265104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.17576923100006 meters Centerline goodness : 0.113998 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.29, Z:-5.67 [[ 9.89712302e-01 1.41394656e-01 2.18428403e-02 4.30210525e+02] [-1.40910321e-01 9.89770657e-01 -2.23232390e-02 -7.62870142e+01] [-2.47757891e-02 1.90157026e-02 9.99512163e-01 -5.67394731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.20576923100003 meters Centerline goodness : 0.916169 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.29, Z:-5.68 [[ 9.89677505e-01 1.41472232e-01 2.28920002e-02 4.30208798e+02] [-1.40967895e-01 9.89762351e-01 -2.23280474e-02 -7.62876060e+01] [-2.58164386e-02 1.88705291e-02 9.99488577e-01 -5.67502038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.23576923100006 meters Centerline goodness : 0.910146 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.28, Z:-5.68 [[ 9.90182018e-01 1.37849689e-01 2.31740020e-02 4.30207352e+02] [-1.37207070e-01 9.90164611e-01 -2.73543884e-02 -7.62825867e+01] [-2.67168706e-02 2.39061866e-02 9.99357145e-01 -5.67568356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26576923100004 meters Centerline goodness : 0.905918 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.28, Z:-5.68 [[ 9.90163586e-01 1.37838981e-01 2.40101622e-02 4.30206077e+02] [-1.37163094e-01 9.90157258e-01 -2.78368315e-02 -7.62807384e+01] [-2.76108369e-02 2.42697088e-02 9.99324083e-01 -5.67710520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.29576923100007 meters Centerline goodness : 0.094556 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.28, Z:-5.68 [[ 9.90157228e-01 1.37753435e-01 2.47518841e-02 4.30205129e+02] [-1.37044769e-01 9.90158853e-01 -2.83580252e-02 -7.62786119e+01] [-2.84147126e-02 2.46867874e-02 9.99291332e-01 -5.67865545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32576923100004 meters Centerline goodness : 0.084603 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.27, Z:-5.68 [[ 9.90202321e-01 1.37352833e-01 2.51706537e-02 4.30207703e+02] [-1.36608093e-01 9.90193292e-01 -2.92484889e-02 -7.62748622e+01] [-2.89411752e-02 2.55234066e-02 9.99255205e-01 -5.68222523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.35576923100007 meters Centerline goodness : 0.082888 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.27, Z:-5.69 [[ 9.90741043e-01 1.33465354e-01 2.48834226e-02 4.30209159e+02] [-1.32584968e-01 9.90581532e-01 -3.41973025e-02 -7.62700230e+01] [-2.92132140e-02 3.05815033e-02 9.99105280e-01 -5.68502012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.38576923100004 meters Centerline goodness : 0.084200 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.27, Z:-5.69 [[ 9.90743563e-01 1.33346018e-01 2.54171549e-02 4.30209261e+02] [-1.32439350e-01 9.90589384e-01 -3.45324527e-02 -7.62687511e+01] [-2.97827289e-02 3.08465738e-02 9.99080316e-01 -5.68751325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.41576923100007 meters Centerline goodness : 0.084899 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.26, Z:-5.69 [[ 9.90781128e-01 1.32924508e-01 2.61501625e-02 4.30210302e+02] [-1.31969317e-01 9.90622128e-01 -3.53821794e-02 -7.62649288e+01] [-3.06080884e-02 3.16049765e-02 9.99031666e-01 -5.68924926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.44576923100004 meters Centerline goodness : 0.082887 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.26, Z:-5.69 [[ 9.90801241e-01 1.32603171e-01 2.70055571e-02 4.30210007e+02] [-1.31591513e-01 9.90638536e-01 -3.63175597e-02 -7.62605908e+01] [-3.15685691e-02 3.24297811e-02 9.98975342e-01 -5.69190318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.4757692310001 meters Centerline goodness : 0.084320 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.26, Z:-5.69 [[ 9.90826005e-01 1.32256501e-01 2.77857196e-02 4.30209698e+02] [-1.31183271e-01 9.90650979e-01 -3.74377791e-02 -7.62551761e+01] [-3.24773399e-02 3.34493035e-02 9.98912592e-01 -5.69413558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.50576923100004 meters Centerline goodness : 0.083076 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.25, Z:-5.70 [[ 9.90713004e-01 1.32924039e-01 2.86172024e-02 4.30212271e+02] [-1.31827356e-01 9.90570497e-01 -3.73046762e-02 -7.62511556e+01] [-3.33060447e-02 3.31856977e-02 9.98894097e-01 -5.69947837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5357692310001 meters Centerline goodness : 0.082886 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.24, Z:-5.70 [[ 9.90829856e-01 1.31793755e-01 2.97758786e-02 4.30214225e+02] [-1.30588120e-01 9.90655592e-01 -3.93476903e-02 -7.62422636e+01] [-3.46834205e-02 3.50984903e-02 9.98781836e-01 -5.70267787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.56576923100005 meters Centerline goodness : 0.139188 Centerline is valid? [False, False] Translation: X:430.21, Y:-76.24, Z:-5.70 [[ 9.90871547e-01 1.31309732e-01 3.05177317e-02 4.30213902e+02] [-1.30060304e-01 9.90704932e-01 -3.98504113e-02 -7.62396076e+01] [-3.54668141e-02 3.55174932e-02 9.98739512e-01 -5.70482122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5957692310001 meters Centerline goodness : 0.070702 Centerline is valid? [False, False] Translation: X:430.24, Y:-76.24, Z:-5.71 [[ 9.91973617e-01 1.23284332e-01 2.80947911e-02 4.30238799e+02] [-1.22124818e-01 9.91716037e-01 -3.98099343e-02 -7.62354752e+01] [-3.27699960e-02 3.60593333e-02 9.98812221e-01 -5.70549938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.62576923100005 meters Centerline goodness : 0.069993 Centerline is valid? [False, False] Translation: X:430.24, Y:-76.23, Z:-5.71 [[ 9.92274126e-01 1.20894286e-01 2.78680800e-02 4.30244243e+02] [-1.19679859e-01 9.91933706e-01 -4.17642778e-02 -7.62347363e+01] [-3.26923504e-02 3.81063643e-02 9.98738762e-01 -5.71235307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6557692310001 meters Centerline goodness : 0.069996 Centerline is valid? [False, False] Translation: X:430.26, Y:-76.24, Z:-5.71 [[ 9.93016605e-01 1.15429637e-01 2.43725546e-02 4.30262918e+02] [-1.14424393e-01 9.92656271e-01 -3.92502997e-02 -7.62378456e+01] [-2.87242170e-02 3.61873846e-02 9.98932126e-01 -5.70788147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.68576923100005 meters Centerline goodness : 0.089692 Centerline is valid? [False, False] Translation: X:430.29, Y:-76.24, Z:-5.71 [[ 9.93826075e-01 1.07011222e-01 2.92972973e-02 4.30285251e+02] [-1.05893443e-01 9.93675170e-01 -3.73662422e-02 -7.62427386e+01] [-3.31106042e-02 3.40331541e-02 9.98872080e-01 -5.71491163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7157692310001 meters Centerline goodness : 0.089870 Centerline is valid? [False, False] Translation: X:430.30, Y:-76.25, Z:-5.71 [[ 9.94503485e-01 1.01292533e-01 2.65073671e-02 4.30303650e+02] [-1.00371713e-01 9.94367904e-01 -3.40292565e-02 -7.62481822e+01] [-2.98049847e-02 3.11816243e-02 9.99069251e-01 -5.70966349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.74576923100005 meters Centerline goodness : 0.091702 Centerline is valid? [False, False] Translation: X:430.32, Y:-76.25, Z:-5.71 [[ 9.95148809e-01 9.55588582e-02 2.33955641e-02 4.30322359e+02] [-9.48038239e-02 9.94997539e-01 -3.14981195e-02 -7.62536574e+01] [-2.62884530e-02 2.91273271e-02 9.99229962e-01 -5.70581727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7757692310001 meters Centerline goodness : 0.110582 Centerline is valid? [False, False] Translation: X:430.35, Y:-76.26, Z:-5.71 [[ 9.95677688e-01 8.81922053e-02 2.91217460e-02 4.30345177e+02] [-8.73539078e-02 9.95757915e-01 -2.89044974e-02 -7.62637614e+01] [-3.15473605e-02 2.62356648e-02 9.99157872e-01 -5.71400911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.80576923100006 meters Centerline goodness : 0.063810 Centerline is valid? [False, False] Translation: X:430.35, Y:-76.27, Z:-5.72 [[ 9.95868442e-01 8.58685190e-02 2.95405488e-02 4.30348607e+02] [-8.49643113e-02 9.95913582e-01 -3.06137844e-02 -7.62674690e+01] [-3.20485941e-02 2.79774094e-02 9.99094666e-01 -5.72039516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8357692310001 meters Centerline goodness : 0.067807 Centerline is valid? [False, False] Translation: X:430.35, Y:-76.27, Z:-5.72 [[ 9.95848920e-01 8.57754935e-02 3.04547621e-02 4.30347942e+02] [-8.48742529e-02 9.95947510e-01 -2.97475958e-02 -7.62735844e+01] [-3.28829592e-02 2.70392860e-02 9.99093383e-01 -5.72262457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.86576923100006 meters Centerline goodness : 0.070745 Centerline is valid? [False, False] Translation: X:430.37, Y:-76.29, Z:-5.73 [[ 9.95847020e-01 8.26306000e-02 3.82216703e-02 4.30373684e+02] [-8.16551443e-02 9.96310484e-01 -2.64169764e-02 -7.62905720e+01] [-4.02635015e-02 2.31862712e-02 9.98920040e-01 -5.73203709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8957692310001 meters Centerline goodness : 0.068642 Centerline is valid? [False, False] Translation: X:430.38, Y:-76.29, Z:-5.74 [[ 9.95968889e-01 8.10843826e-02 3.83574522e-02 4.30378293e+02] [-8.00559792e-02 9.96407362e-01 -2.76298609e-02 -7.62946302e+01] [-4.04599980e-02 2.44477385e-02 9.98882023e-01 -5.73919862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.92576923100006 meters Centerline goodness : 0.070731 Centerline is valid? [False, False] Translation: X:430.40, Y:-76.31, Z:-5.74 [[ 9.96602791e-01 7.41621384e-02 3.58169612e-02 4.30403933e+02] [-7.32860240e-02 9.96992902e-01 -2.51855416e-02 -7.63076634e+01] [-3.75770697e-02 2.24750984e-02 9.99040957e-01 -5.73780566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.95576923100003 meters SLAMing on 447.98576923100006 meters Centerline goodness : 0.214311 Centerline is valid? [False, False] Translation: X:430.45, Y:-76.33, Z:-5.74 [[ 9.96866097e-01 7.25916691e-02 3.14393847e-02 4.30450169e+02] [-7.18543958e-02 9.97126845e-01 -2.39791866e-02 -7.63277197e+01] [-3.30897436e-02 2.16449801e-02 9.99217976e-01 -5.73592268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.01576923100004 meters SLAMing on 448.04576923100007 meters SLAMing on 448.07576923100004 meters SLAMing on 448.10576923100007 meters SLAMing on 448.13576923100004 meters SLAMing on 448.16576923100007 meters Centerline goodness : 0.303694 Centerline is valid? [False, False] Translation: X:430.60, Y:-76.38, Z:-5.75 [[ 9.94430825e-01 9.97726860e-02 3.39521031e-02 4.30600060e+02] [-9.89348338e-02 9.94766457e-01 -2.55263417e-02 -7.63762028e+01] [-3.63212450e-02 2.20251354e-02 9.99097423e-01 -5.74996821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.19576923100004 meters SLAMing on 448.2257692310001 meters Centerline goodness : 0.773387 Centerline is valid? [False, False] Translation: X:430.65, Y:-76.39, Z:-5.76 [[ 9.94005950e-01 1.02149505e-01 3.89570340e-02 4.30648332e+02] [-1.01186850e-01 9.94529336e-01 -2.59349370e-02 -7.63895749e+01] [-4.13931541e-02 2.18375421e-02 9.98904264e-01 -5.75907395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.25576923100004 meters SLAMing on 448.2857692310001 meters SLAMing on 448.31576923100005 meters SLAMing on 448.3457692310001 meters SLAMing on 448.37576923100005 meters Centerline goodness : 0.744344 Centerline is valid? [False, False] Translation: X:430.80, Y:-76.43, Z:-5.77 [[ 9.93202684e-01 1.10730361e-01 3.58777937e-02 4.30795428e+02] [-1.09758716e-01 9.93563475e-01 -2.80115169e-02 -7.64252241e+01] [-3.87485908e-02 2.38832132e-02 9.98963532e-01 -5.76736227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4057692310001 meters Centerline goodness : 0.745550 Centerline is valid? [False, False] Translation: X:430.80, Y:-76.43, Z:-5.77 [[ 9.92904809e-01 1.13315268e-01 3.60512270e-02 4.30801048e+02] [-1.12464683e-01 9.93345873e-01 -2.48127150e-02 -7.64280695e+01] [-3.86229970e-02 2.05821742e-02 9.99041860e-01 -5.77356982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.43576923100005 meters Centerline goodness : 0.626851 Centerline is valid? [False, False] Translation: X:430.80, Y:-76.43, Z:-5.78 [[ 9.92871197e-01 1.13506484e-01 3.63739353e-02 4.30802848e+02] [-1.12647395e-01 9.93323922e-01 -2.48626505e-02 -7.64275860e+01] [-3.89531721e-02 2.05879805e-02 9.99028921e-01 -5.77681555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4657692310001 meters Centerline goodness : 0.730639 Centerline is valid? [False, False] Translation: X:430.84, Y:-76.44, Z:-5.78 [[ 9.92569026e-01 1.14700601e-01 4.06263636e-02 4.30844244e+02] [-1.13728220e-01 9.93184720e-01 -2.54951706e-02 -7.64365252e+01] [-4.32737950e-02 2.06853526e-02 9.98849085e-01 -5.78143726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.49576923100005 meters Centerline goodness : 0.253004 Centerline is valid? [False, False] Translation: X:430.85, Y:-76.44, Z:-5.78 [[ 9.92498458e-01 1.15099249e-01 4.12185988e-02 4.30845057e+02] [-1.14127317e-01 9.93146175e-01 -2.52117313e-02 -7.64383220e+01] [-4.38379450e-02 2.03184364e-02 9.98832016e-01 -5.78388518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5257692310001 meters Centerline goodness : 0.617527 Centerline is valid? [False, False] Translation: X:430.85, Y:-76.44, Z:-5.79 [[ 9.92445349e-01 1.15348448e-01 4.17967075e-02 4.30845663e+02] [-1.14365843e-01 9.93119252e-01 -2.51913580e-02 -7.64382350e+01] [-4.44148989e-02 2.02209304e-02 9.98808506e-01 -5.78562523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.55576923100006 meters Centerline goodness : 0.617527 Centerline is valid? [False, False] Translation: X:430.85, Y:-76.44, Z:-5.79 [[ 9.92445349e-01 1.15348448e-01 4.17967075e-02 4.30845663e+02] [-1.14365843e-01 9.93119252e-01 -2.51913580e-02 -7.64382350e+01] [-4.44148989e-02 2.02209304e-02 9.98808506e-01 -5.78562523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5857692310001 meters Centerline goodness : 0.605178 Centerline is valid? [False, False] Translation: X:430.89, Y:-76.44, Z:-5.79 [[ 9.91852523e-01 1.18503651e-01 4.67488836e-02 4.30886495e+02] [-1.17452855e-01 9.92773036e-01 -2.46277250e-02 -7.64414548e+01] [-4.93295064e-02 1.89362813e-02 9.98603033e-01 -5.79060113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.61576923100006 meters Centerline goodness : 0.604811 Centerline is valid? [False, False] Translation: X:430.89, Y:-76.44, Z:-5.80 [[ 9.91552574e-01 1.21029027e-01 4.66419085e-02 4.30893197e+02] [-1.20112410e-01 9.92516766e-01 -2.19881566e-02 -7.64416909e+01] [-4.89540813e-02 1.62001413e-02 9.98669642e-01 -5.79719910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6457692310001 meters Centerline goodness : 0.660972 Centerline is valid? [False, False] Translation: X:430.92, Y:-76.44, Z:-5.80 [[ 9.90606608e-01 1.29749513e-01 4.31695752e-02 4.30920151e+02] [-1.28899728e-01 9.91415119e-01 -2.19299422e-02 -7.64431491e+01] [-4.56443688e-02 1.61593991e-02 9.98827045e-01 -5.79688069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.67576923100006 meters Centerline goodness : 0.632640 Centerline is valid? [False, False] Translation: X:430.92, Y:-76.44, Z:-5.80 [[ 9.90591540e-01 1.29930062e-01 4.29718423e-02 4.30924048e+02] [-1.29060255e-01 9.91382748e-01 -2.24432074e-02 -7.64392544e+01] [-4.55175904e-02 1.66860945e-02 9.98824170e-01 -5.80071433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.7057692310001 meters Centerline goodness : 0.281964 Centerline is valid? [False, False] Translation: X:430.93, Y:-76.44, Z:-5.80 [[ 9.90599169e-01 1.29891133e-01 4.29136326e-02 4.30927136e+02] [-1.28994156e-01 9.91377188e-01 -2.30603254e-02 -7.64351186e+01] [-4.55389282e-02 1.73079314e-02 9.98812616e-01 -5.80418416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.73576923100006 meters Centerline goodness : 0.631541 Centerline is valid? [False, False] Translation: X:430.93, Y:-76.43, Z:-5.81 [[ 9.90610661e-01 1.29766806e-01 4.30243390e-02 4.30929534e+02] [-1.28838488e-01 9.91382312e-01 -2.37013774e-02 -7.64309287e+01] [-4.57292207e-02 1.79356463e-02 9.98792847e-01 -5.80712692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76576923100004 meters Centerline goodness : 0.624946 Centerline is valid? [False, False] Translation: X:430.93, Y:-76.43, Z:-5.81 [[ 9.90626223e-01 1.29609425e-01 4.31402752e-02 4.30931772e+02] [-1.28653041e-01 9.91392776e-01 -2.42643572e-02 -7.64272813e+01] [-4.59138466e-02 1.84867810e-02 9.98774328e-01 -5.81001464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.79576923100007 meters Centerline goodness : 0.623148 Centerline is valid? [False, False] Translation: X:430.95, Y:-76.42, Z:-5.81 [[ 9.91311344e-01 1.25128359e-01 4.05550528e-02 4.30954292e+02] [-1.24239574e-01 9.91967952e-01 -2.37509999e-02 -7.64211672e+01] [-4.32012363e-02 1.85060932e-02 9.98894978e-01 -5.80830849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82576923100004 meters Centerline goodness : 0.687150 Centerline is valid? [False, False] Translation: X:430.96, Y:-76.42, Z:-5.81 [[ 9.91442766e-01 1.24175601e-01 4.02698720e-02 4.30959268e+02] [-1.23242591e-01 9.92064447e-01 -2.48877001e-02 -7.64168208e+01] [-4.30407534e-02 1.97117669e-02 9.98878841e-01 -5.81339753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.85576923100007 meters Centerline goodness : 0.641492 Centerline is valid? [False, False] Translation: X:430.99, Y:-76.41, Z:-5.82 [[ 9.92152045e-01 1.19499446e-01 3.67994771e-02 4.30987419e+02] [-1.18680812e-01 9.92649864e-01 -2.36877884e-02 -7.64122234e+01] [-3.93596736e-02 1.91344959e-02 9.99041885e-01 -5.81726131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.88576923100004 meters Centerline goodness : 0.081866 Centerline is valid? [False, False] Translation: X:430.99, Y:-76.41, Z:-5.82 [[ 9.92265720e-01 1.18650811e-01 3.64791074e-02 4.30992493e+02] [-1.17798237e-01 9.92730274e-01 -2.47017948e-02 -7.64086939e+01] [-3.91448023e-02 2.02135696e-02 9.99029077e-01 -5.82230702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.91576923100007 meters Centerline goodness : 0.080308 Centerline is valid? [False, False] Translation: X:431.02, Y:-76.40, Z:-5.82 [[ 9.93013201e-01 1.13027285e-01 3.39059885e-02 4.31016704e+02] [-1.12232785e-01 9.93380067e-01 -2.44917091e-02 -7.64020064e+01] [-3.64497646e-02 2.05152269e-02 9.99124887e-01 -5.82143596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.94576923100004 meters SLAMing on 448.9757692310001 meters SLAMing on 449.00576923100004 meters Centerline goodness : 0.083168 Centerline is valid? [False, False] Translation: X:431.08, Y:-76.40, Z:-5.82 [[ 9.93106211e-01 1.11705079e-01 3.55250479e-02 4.31079839e+02] [-1.11061047e-01 9.93619912e-01 -1.96192419e-02 -7.64014293e+01] [-3.74899639e-02 1.55385420e-02 9.99176189e-01 -5.82481131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0357692310001 meters Centerline goodness : 0.081908 Centerline is valid? [False, False] Translation: X:431.11, Y:-76.40, Z:-5.82 [[ 9.93851705e-01 1.05529606e-01 3.35006168e-02 4.31105060e+02] [-1.04928328e-01 9.94293834e-01 -1.92306478e-02 -7.63952766e+01] [-3.53388594e-02 1.55972484e-02 9.99253667e-01 -5.82469016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.06576923100005 meters Centerline goodness : 0.081012 Centerline is valid? [False, False] Translation: X:431.11, Y:-76.39, Z:-5.83 [[ 9.94037197e-01 1.03935647e-01 3.29762455e-02 4.31111635e+02] [-1.03290737e-01 9.94435855e-01 -2.06967073e-02 -7.63921555e+01] [-3.49438865e-02 1.71671562e-02 9.99241819e-01 -5.83042011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0957692310001 meters Centerline goodness : 0.082027 Centerline is valid? [False, False] Translation: X:431.14, Y:-76.39, Z:-5.84 [[ 9.94371246e-01 9.81808437e-02 3.98289737e-02 4.31136847e+02] [-9.75286002e-02 9.95069825e-01 -1.80059701e-02 -7.63934488e+01] [-4.14004512e-02 1.40201548e-02 9.99044262e-01 -5.84097714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.12576923100005 meters Centerline goodness : 0.081882 Centerline is valid? [False, False] Translation: X:431.16, Y:-76.39, Z:-5.84 [[ 9.95083695e-01 9.21516889e-02 3.62836976e-02 4.31158691e+02] [-9.15844161e-02 9.95652173e-01 -1.70013033e-02 -7.63936292e+01] [-3.76926412e-02 1.35946985e-02 9.99196902e-01 -5.83955800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1557692310001 meters Centerline goodness : 0.081728 Centerline is valid? [False, False] Translation: X:431.18, Y:-76.40, Z:-5.84 [[ 9.95832348e-01 8.32671420e-02 3.72091096e-02 4.31183608e+02] [-8.27405582e-02 9.96450929e-01 -1.54773030e-02 -7.63959637e+01] [-3.83658026e-02 1.23340965e-02 9.99187638e-01 -5.84130821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.18576923100005 meters Centerline goodness : 0.721174 Centerline is valid? [False, False] Translation: X:431.20, Y:-76.40, Z:-5.84 [[ 9.96363379e-01 7.83158049e-02 3.35656414e-02 4.31203294e+02] [-7.78709011e-02 9.96859953e-01 -1.43651489e-02 -7.63971469e+01] [-3.45852619e-02 1.16991216e-02 9.99333273e-01 -5.83987428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2157692310001 meters Centerline goodness : 0.079066 Centerline is valid? [False, False] Translation: X:431.22, Y:-76.40, Z:-5.84 [[ 9.96887712e-01 7.28330691e-02 3.01700824e-02 4.31223817e+02] [-7.24692862e-02 9.97286152e-01 -1.29820741e-02 -7.63988504e+01] [-3.10337297e-02 1.07552658e-02 9.99460470e-01 -5.83791277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.24576923100005 meters Centerline goodness : 0.065755 Centerline is valid? [False, False] Translation: X:431.25, Y:-76.41, Z:-5.85 [[ 9.97035996e-01 6.67342997e-02 3.82851821e-02 4.31247107e+02] [-6.63447266e-02 9.97732106e-01 -1.13587745e-02 -7.64074373e+01] [-3.89563752e-02 8.78508713e-03 9.99202293e-01 -5.84684916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2757692310001 meters Centerline goodness : 0.325174 Centerline is valid? [False, False] Translation: X:431.27, Y:-76.41, Z:-5.84 [[ 9.97474542e-01 6.15383947e-02 3.54621584e-02 4.31265763e+02] [-6.12595718e-02 9.98082213e-01 -8.89719846e-03 -7.64111056e+01] [-3.59416689e-02 6.70233231e-03 9.99331414e-01 -5.84237563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.30576923100006 meters Centerline goodness : 0.341236 Centerline is valid? [False, False] Translation: X:431.29, Y:-76.42, Z:-5.84 [[ 9.97865367e-01 5.52345046e-02 3.48404834e-02 4.31291979e+02] [-5.50742979e-02 9.98466878e-01 -5.54208396e-03 -7.64179085e+01] [-3.50931830e-02 3.61143848e-03 9.99377519e-01 -5.84352236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3357692310001 meters Centerline goodness : 0.340179 Centerline is valid? [False, False] Translation: X:431.30, Y:-76.42, Z:-5.85 [[ 9.97970939e-01 5.38539708e-02 3.39669511e-02 4.31300045e+02] [-5.36621079e-02 9.98537762e-01 -6.53574308e-03 -7.64202499e+01] [-3.42692591e-02 4.69974346e-03 9.99401586e-01 -5.85009563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.36576923100006 meters Centerline goodness : 0.346695 Centerline is valid? [False, False] Translation: X:431.31, Y:-76.42, Z:-5.86 [[ 9.98065596e-01 5.26128689e-02 3.31202715e-02 4.31307945e+02] [-5.23957521e-02 9.98599054e-01 -7.39014266e-03 -7.64230761e+01] [-3.34626884e-02 5.64048561e-03 9.99424051e-01 -5.85659183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3957692310001 meters Centerline goodness : 0.554647 Centerline is valid? [False, False] Translation: X:431.32, Y:-76.43, Z:-5.86 [[ 9.98138432e-01 5.16317465e-02 3.24627852e-02 4.31315069e+02] [-5.13945675e-02 9.98645583e-01 -8.09919949e-03 -7.64250501e+01] [-3.28369928e-02 6.41571148e-03 9.99440129e-01 -5.86275817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.42576923100006 meters Centerline goodness : 0.071531 Centerline is valid? [False, False] Translation: X:431.36, Y:-76.43, Z:-5.86 [[ 9.98201611e-01 5.27637561e-02 2.84522308e-02 4.31359669e+02] [-5.25824568e-02 9.98591462e-01 -7.08356459e-03 -7.64330680e+01] [-2.87859102e-02 5.57473739e-03 9.99570054e-01 -5.85864821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.4557692310001 meters Centerline goodness : 0.172546 Centerline is valid? [False, False] Translation: X:431.37, Y:-76.44, Z:-5.86 [[ 9.98140306e-01 5.42222194e-02 2.78546334e-02 4.31366564e+02] [-5.40904391e-02 9.98521094e-01 -5.46344726e-03 -7.64359990e+01] [-2.81096793e-02 3.94661757e-03 9.99597054e-01 -5.86445252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.48576923100006 meters Centerline goodness : 0.563465 Centerline is valid? [False, False] Translation: X:431.37, Y:-76.44, Z:-5.87 [[ 9.98126196e-01 5.46605177e-02 2.75013575e-02 4.31370730e+02] [-5.45400226e-02 9.98498493e-01 -5.11317569e-03 -7.64371587e+01] [-2.77395528e-02 3.60366994e-03 9.99608689e-01 -5.86779100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.51576923100004 meters Centerline goodness : 0.134429 Centerline is valid? [False, False] Translation: X:431.41, Y:-76.44, Z:-5.87 [[ 9.97818959e-01 5.75952503e-02 3.22507827e-02 4.31410496e+02] [-5.74890429e-02 9.98337254e-01 -4.21158951e-03 -7.64428839e+01] [-3.24397254e-02 2.34833723e-03 9.99470935e-01 -5.87042638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.54576923100007 meters Centerline goodness : 0.132916 Centerline is valid? [False, False] Translation: X:431.42, Y:-76.44, Z:-5.88 [[ 9.97677698e-01 6.01976824e-02 3.18661164e-02 4.31417613e+02] [-6.01770875e-02 9.98186425e-01 -1.60581929e-03 -7.64434824e+01] [-3.19049914e-02 -3.15519978e-04 9.99490856e-01 -5.87623832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.57576923100004 meters Centerline goodness : 0.273483 Centerline is valid? [False, False] Translation: X:431.44, Y:-76.44, Z:-5.88 [[ 9.97032787e-01 6.68649367e-02 3.81405553e-02 4.31440991e+02] [-6.66897027e-02 9.97756616e-01 -5.84975206e-03 -7.64396891e+01] [-3.84461346e-02 3.28881231e-03 9.99255262e-01 -5.88492333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.60576923100007 meters Centerline goodness : 0.142275 Centerline is valid? [False, False] Translation: X:431.45, Y:-76.44, Z:-5.89 [[ 9.97014163e-01 6.75164961e-02 3.74737523e-02 4.31445894e+02] [-6.73373873e-02 9.97712084e-01 -6.02275550e-03 -7.64367063e+01] [-3.77946508e-02 3.48138796e-03 9.99279463e-01 -5.88810965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.63576923100004 meters Centerline goodness : 0.113740 Centerline is valid? [False, False] Translation: X:431.45, Y:-76.43, Z:-5.89 [[ 9.97002207e-01 6.80470660e-02 3.68265804e-02 4.31450734e+02] [-6.78606221e-02 9.97674979e-01 -6.29070641e-03 -7.64334781e+01] [-3.71690219e-02 3.77277352e-03 9.99301871e-01 -5.89128020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.66576923100007 meters Centerline goodness : 0.066179 Centerline is valid? [False, False] Translation: X:431.45, Y:-76.43, Z:-5.89 [[ 9.97006746e-01 6.82565757e-02 3.63123661e-02 4.31454884e+02] [-6.80542055e-02 9.97658576e-01 -6.78160470e-03 -7.64294915e+01] [-3.66902325e-02 4.29009641e-03 9.99317478e-01 -5.89414479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.69576923100004 meters Centerline goodness : 0.240869 Centerline is valid? [False, False] Translation: X:431.46, Y:-76.42, Z:-5.90 [[ 9.96824082e-01 7.10116820e-02 3.60429082e-02 4.31462534e+02] [-7.08971109e-02 9.97473714e-01 -4.44854998e-03 -7.64247850e+01] [-3.62677525e-02 1.87908369e-03 9.99340342e-01 -5.90044476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7257692310001 meters Centerline goodness : 0.381639 Centerline is valid? [False, False] Translation: X:431.46, Y:-76.42, Z:-5.90 [[ 9.96840721e-01 7.08267726e-02 3.59464209e-02 4.31464507e+02] [-7.06924992e-02 9.97485653e-01 -4.99431212e-03 -7.64213089e+01] [-3.62097701e-02 2.43739137e-03 9.99341239e-01 -5.90244934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.75576923100004 meters Centerline goodness : 0.176197 Centerline is valid? [False, False] Translation: X:431.47, Y:-76.42, Z:-5.90 [[ 9.96860801e-01 7.06013250e-02 3.58329011e-02 4.31466348e+02] [-7.04459911e-02 9.97499984e-01 -5.58072126e-03 -7.64179315e+01] [-3.61373246e-02 3.03891803e-03 9.99342213e-01 -5.90431823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7857692310001 meters Centerline goodness : 0.366272 Centerline is valid? [False, False] Translation: X:431.47, Y:-76.41, Z:-5.91 [[ 9.96905932e-01 7.00718242e-02 3.56160291e-02 4.31470793e+02] [-6.98681726e-02 9.97532146e-01 -6.93231085e-03 -7.64107943e+01] [-3.60138936e-02 4.42243494e-03 9.99341504e-01 -5.90864272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.81576923100005 meters Centerline goodness : 0.381653 Centerline is valid? [False, False] Translation: X:431.47, Y:-76.41, Z:-5.91 [[ 9.96924045e-01 6.98413696e-02 3.55616484e-02 4.31472132e+02] [-6.96146564e-02 9.97545193e-01 -7.57551063e-03 -7.64069446e+01] [-3.60034355e-02 5.07659677e-03 9.99338772e-01 -5.91016584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8457692310001 meters Centerline goodness : 0.065009 Centerline is valid? [False, False] Translation: X:431.47, Y:-76.40, Z:-5.91 [[ 9.96935044e-01 6.96862684e-02 3.55575751e-02 4.31474323e+02] [-6.94264907e-02 9.97550938e-01 -8.49047885e-03 -7.64003080e+01] [-3.60621622e-02 5.99581825e-03 9.99331562e-01 -5.91257929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.87576923100005 meters Centerline goodness : 0.067250 Centerline is valid? [False, False] Translation: X:431.48, Y:-76.40, Z:-5.91 [[ 9.96951531e-01 6.94627645e-02 3.55326494e-02 4.31475421e+02] [-6.91795950e-02 9.97562359e-01 -9.13908992e-03 -7.63965465e+01] [-3.60808601e-02 6.65309539e-03 9.99326727e-01 -5.91383340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9057692310001 meters Centerline goodness : 0.221006 Centerline is valid? [False, False] Translation: X:431.48, Y:-76.39, Z:-5.91 [[ 9.96970935e-01 6.92276707e-02 3.54469115e-02 4.31476577e+02] [-6.89216776e-02 9.97574093e-01 -9.78424766e-03 -7.63928463e+01] [-3.60382612e-02 7.31154993e-03 9.99323664e-01 -5.91490640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.93576923100005 meters Centerline goodness : 0.378347 Centerline is valid? [False, False] Translation: X:431.48, Y:-76.39, Z:-5.92 [[ 9.97012662e-01 6.87557113e-02 3.51909644e-02 4.31479388e+02] [-6.84113899e-02 9.97597671e-01 -1.08981243e-02 -7.63866326e+01] [-3.58557324e-02 8.45810510e-03 9.99321183e-01 -5.91728315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9657692310001 meters Centerline goodness : 0.065394 Centerline is valid? [False, False] Translation: X:431.48, Y:-76.38, Z:-5.92 [[ 9.97041077e-01 6.84098013e-02 3.50598182e-02 4.31481719e+02] [-6.80372045e-02 9.97614015e-01 -1.17139483e-02 -7.63820258e+01] [-3.57775148e-02 9.29391564e-03 9.99316563e-01 -5.91964774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 10021.71 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/14976 [00:00